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1 Safety precautions

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1. Parameter name Description Setting range Initial value Sets the mode for return to home 0 2 sensor mode Home seeking mode i 1 3 sensor mode 1 operation i 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 Sets the acceleration deceleration rate for 1 E 1000 000 1 0 001 ms kHz or 1000 rate of home seeking return to home operation 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 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 perati acurrentot Sets the operating current based on the P 9 rated current being 100 for push motion 0 to 1000 1 0 1 1000 push motion home seeking 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 th
2. No of Reset Motor ALARM using the AEA 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 host system 84h icati errors reached the value set and driver communication error in the communication error e Check the setting of alarm parameter RS 485 communication gt e Possible Excitation RS 485 commana dane Check the connection on vias parameter has elapsed and 85h communication mip between the host system and timeout yet the communication could driver not be established with the host system 8Eh Network converter The network converter Check the alarm code of the error generated an alarm network converter FOh Lit CPU error CPU malfunctioned Cycle the power Not excaton possible off 163 17 Alarms and warnings 17 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 output will turn OFF automatically 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 Red ce the loader increase the E Pa position and actual position exceeded the ccelorati n deceleration rate qoh Excessive position value set in the parameter for overflow P deviation war
3. 59 11 Operation Operating method Check the READY output is ON Turn the SSTART input ON The motor starts positioning operation Check that the READY output has been turned OFF and turn the SSTART input OFF When the positioning operation is completed the READY output will be turned ON Motor operation SSTART i a input OFF READY output a OFF MOVE on output OFF END 2 output OFF Key points about sequential positioning operation When performing any of the following operations while sequential positioning operation is performed the starting 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 24 VDC 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
4. ee NPN sensor A24 VDC nel N 4 4ko 1ko A C LS 1 4 4kQ t 1kQ HOMES i 44kQ 1kQ K i 1 kal IN7 1 4 4 KQ T 1 kQ IN COM1 J SLIT i 4 4kQ oo 1 ka aC IN COM2 i voV 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 28 8 Connection 8 2 Grounding the motor and driver E Grounding the motor Be sure to ground the Protective Earth Terminal of the motor 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 Be sure to ground the Protective Earth Terminal screw size M4 of the driver Grounding wire AWG16 to 14 1 25 to 2 0 mm Tightening torque 1 2 N m 170 oz in You can ground either of the two Protective Earth Terminals The terminal that is not grounded is used as a service terminal Use the service terminal according to your specific need such as connecting it to the motor in order to ground the motor Do not share the grounding wire with a welder or any other power equipment
5. When installing an arm or table on the flange surface Model Permissible moment L calculate the moment load using the formula below if the load N m oz in _ F flange surface receives any eccentric load The moment AR46 5 6 790 load should not exceed the permissible value specified in AR66 11 6 1640 the table _ Moment load M N m 0z in F x L fe D 7 5 Installing the driver The driver is designed so that heat is dissipated via air convection and 35 1 38 20 0 79 or more conduction through the enclosure Install the driver on a flat metal plate material aluminium 200x200x2 mm 7 87x7 87x0 08 in equivalent having excellent heat conductivity When two or more drivers are to be installed side by side provide 20 mm 0 79 in and 25 mm 0 98 in clearances in the horizontal and vertical directions respectively When installing the driver in an enclosure use two screws M4 not supplied to affix the driver through the mounting holes 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 Check ventilation if the ambient temperature of the driver exceeds 55 C 131 F e Be sure to install the dri
6. Applicable Standards Applicable Standards Certification Body Standards File No UL 1004 UL 2111 CSA C22 2 No 100 uE Eo Motor CSA C22 2 No 77 EN 60034 1 TUV R 50124201 EN 60034 5 Conforming to the respective standards UL 508C Driver CSA C22 2 No 14 L E1edaog EN 61800 5 1 Conforming to the respective standards 4 Introduction E WARNING FOR CE MARKING e Installation conditions EN Standard Motor Driver Motor is to be used as a component within Driver is to be used as a component within other equipment other equipment Overvoltage category I Overvoltage category I Pollution degree 3 2 for double shaft Pollution degree 2 Protection against electric shock Class I Protection against electric shock Class I e Low Voltage Directives The product is a type with machinery incorporated so it should be installed within an enclosure This product cannot be used with cables normally used for IT equipment Install the product within the enclosure in order to avoid contact with hands Be sure to maintain a protective ground in case hands should make contact with the product Be sure to connect the Protective Earth lead of the cable for motor to the Protective Earth Terminal on the driver and ground the driver s Protective Earth Terminal To protect against electric shock using an earth leakage breaker RCD connect a type B earth leakage breaker to the primary s
7. ceeeereeeeetees 113 E Reading from a holding register s 03h 113 E Writing to a holding register O6h 114 E Diagnosis O8h cccccseceseeeeeeneeseeeneesees 115 E Writing to multiple holding registers TOH visiera tes 115 13 8 Setting of RS 485 communication 116 13 9 Register address list ee 117 E Operation commands cece 117 E Maintenance command6 cccceeeeees 118 E Monitor commands ccceeceeeeseeeereeeees 119 E Parameter R W commanda cccccce 122 13 10 Group SENd eee eeeteeteeeeeeeeteteeee 129 13 11 Detection of communication errors 130 13 12 Timing Charts 00 0 eeeeeeeeteeeeetees 131 14 Method of control via CC Link communication 132 14 1 Guidance eeeeeeeeeeeeeeeeee 132 14 2 Setting the switches 00 ee 135 14 3 Remote register list eee 136 14 4 Assignment of remote I O 00 136 15 Method of control via MECHATROLINK communication 138 15 1 GUIDANCE tati 138 15 2 Setting the switches 0 141 15 3 I O field map for the NETCO1 M2 142 15 4 I O field map for the NETCO1 M3 143 15 5 Communication format 0 144 16 Details of network converter 146 16 1 Remote VO ceeeeeeeeeseseseeeeeeeees 146 E Input signals to the driver eee 146 E Output signals from the driver 147 16 2 Command code list 148 E Group function ecccceceeseeseete
8. 250 ms or less 6 ms or less Delay time when the motor is not excited 220 ms or less 200 ms or less 60 ms or less 250 ms or less The specific time varies depending on the load operating speed speed filter and other 96 E FREE input FREE i oe input OFF C ON i o input OFF READY On output SFF Excitation Motor excitation otorexcitatio Not excitation Hold Electromagnetic brake Release E ALM RST input 4 ms or more 12 Method of control via I O e When an alarm generates and the motor maintains excitation Alarm generation ALM RST i t ie pre NPE Gee ALM output ee OFF 6 ms or less READY ios output opp 6 ms 250 ms 6 ms or less or less or less 200 ms 200 ms 200 ms or less or less or less 60 ms 60 ms 60 ms or less or less or less 1sormore 4 ms or more 6 ms or less 6 ms or less 6 ms or less 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 ALM RST i input OFF ON x ALM output OFF READY ia output OFF eat Excitation Motor excitation nen Not excitation Hold Electromagnetic brake Release 1 s or more 4 ms or more 60 m
9. The specific time varies depending on the load operating speed speed filter and other 98 12 Method of control via I O E Linked motion operation positioning operation 4 ms or more START i o input OFF 4 ms or more MO to M5 i oN No 0 No 1 to input OFF o o 6 ms or less MOVE oN output OFF 6 ms or less END oN 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 Linked motion operation 2 positioning operation 4 ms or more START i an input OFF 4 ms or more ON MO to M5 input No 0 OFF No 1 6 ms or less MOVE ON output OFF 6 ms or less END oN output OFF 6 ms or less READY ON output OFF No 1 2 rs Motor operation 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 99 12 Method of control via I O E Push motion operation e When the positioning operation is completed before turning to the push motion status START i bl input OFF MO to M5 i oC to input OFF MOVE ON output OFF END oe output OFF READY a output OFF TLC i output OFF Motor operation 4 ms or more 0 ms or more
10. 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 13 Method of control via Modbus protocol Exception Communication me Cause Description code error code 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 a Downloading or initialization is in progress using the 04h 8Ch Slave error MEXEO2 8Dh e NV 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 execute disable 8Dh Example of exception response Master Query Slave Slave address Oth lt _ Slave address Oth Function code 06h Response Function code 86h Register address upper 02h Data Exception code 04h Dat Register address lower 40h Error check lower 02h ata Value written upper FFh Error check upper 61h Value written lower FFh Error check lower 88h Error check upper 16
11. Approx Approx 200 ms T 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 94 for the timing chart Turn the ALM RST input from ON to OFF The alarm will be reset at the OFF edge of the ALM RST input Perform an alarm reset using RS 485 communication Perform an alarm reset using the OPX 2A or MEXEO2 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 position 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 NV memory in order of the latest to oldest Alarm records saved in the NV 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 E Alarm list 1 When an alarm generates the motor operates as f
12. Other than transmission error A response may not be returned without any transmission error being detected Cause Description Broadcast not return a response If the query was broadcast the slave executes the requested process but does Mismatched slave address driver The slave address in the query was found not matching the slave address of the 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 Exce ption code Error check 8 bits 8 bits 8 bits 16 bits 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 Exception code This code indicates why the process cannot be executed Exception code Communication error code Cause Description Oth 02h 88h 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 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
13. 116 13 9 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 E Operation commands Commands related to motor operation Operation commands are not saved in the NV memory 13 Method of control via Modbus protocol Register address er READ Name Description Setting range Dec Hex i WRITE giana 48 0030h Group upper Sets the address 1 No group specification Group send number for the group R W is not performed 49 0031h Group lower send 1 to 31 Sets a group address 124 007Ch coe command Bl tae P D pp anul J o h COMER R W See the following explanation 125 007Dh river input comman lower 126 007Eh Driver output command upper Sets the output status of Drveroutoureonmand the driver R See the following explanation 127 007Fh P 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 129 for group details The initial value is 1 When setting a group read write to the upper and lower at the same time Address a N Hex Description of address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 0030h
14. 36 9 Explanation of I O signals Assignment Signal name Function Setting range value aS S 0 Motor operating 69 END Output when the positioning operation is 1 Motor operating completed completion 70 HOME P Output when the motor is in home position o Nothome position 1 Home position Output when the load is outside of the motor 0 Inside torque range 71 TLC torque range 1 Outside torque range 72 TIM Output once every 7 2 rotation of the motor 0 OFF output shaft 1 ON 73 AREA Output when the motor is within the area 1 Goud San Outside area 74 AREA2 Output when the motor is within the area 2 i 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 Output the ON OFF state of the main power 0 Main power supply OFF 82 MPS Gee supply 1 Main power supply 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 65 ALM NET OUTS8 ou
15. AR46 1 5 A or more AR66 3 6 Aor more AR66 2 3 Aor more AR69 4 9 Aor more AR69 3 0 Aor more AR98 4 6 A or more AR98 2 9 A or more AR911 5 9 Aor more AR911 3 7 Aor more E Pin assignment list e CN1 Display Description 24V oa voc power supply input 24V4 e Applicable lead wire 24V 24V AWG28 to 16 A TH1 Regeneration unit thermal input If these TH1 0 08 to 1 25 mm terminals are not used short circuit them using TH2 e Length of the insulation cover TH2 a jumper wire ey which can be peeled MB1 Electromagnetic brake 7 mm 0 28 in MB2 Electromagnetic brake e CN3 Display Description RG1 7 RG1 e Applicable lead wire Re Regeneration unit input RG2 AWG 16 to 14 1 25 to 2 0 mm NC e Length of the insulation cover NG Notused L which can be peeled L Main power supply input N 8 to 9 mm 0 32 to 0 35 in N L Live N Neutral e CN5 Pin No Signal name Description e Applicable lead wire 1 LS Limit sensor input 1 AWG26 to 20 2 LS Limit sensor input 0 14 to 0 5 mm 3 HOMES Mechanical home sensor input e Length of the insulation cover 4 SLIT Slit sensor input 2 ila o peeled 5 IN COM2
16. 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 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 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 O Command code TRIG DATA e Explanation of command Name Description Setting range Command code parameters Bad The command sets the command code for write and read of monitor and maintenance TRIG This is the trigger for handshake to execute the command code When turning the TRIG from 0 to 1 the command code and DATA will be executed 0 No Motion 1 Execution DATA This is the data writing to the driver little endian 144 15 Method of control via MECHATROLINK communication E 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 0 STATUS TRIG_R Command code DATA_R e Explanation of command Name Description Setting range Command code The response returns the command code of the command
17. l STEP 1 Check the installation and connection Check 24 VDC power supply connection Programmable controller Power supply connection oPE OPX 2A or MEXEO2 connection STEP 2 Turn on the power and set the operation data 1 Turn 24 VDC z Set the operation data power supply on z E corresponding to one motor E revolution e Operation data No 0 E e Position 1000 step Ou I Ou Sa IE 2 Turn power supply on 92 12 Method of control via I O STEP 3 Operate the motor 2 Confirm that the motor rotates without problem 1 Turn the START input ON Programmable controller STEP 4 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 e Are the regeneration unit thermal input terminals TH1 and TH2 on the CN1 short circuited e Is any alarm present e Are the power supply and motor connected securely For more detailed settings and functions refer to 11 Operation on p 54 93 12 Method of control via I O 12 2 Timing chart E When the power supply is turne
18. o C9 Termination resistor 110 Q 1 2 W 133 14 Method of control via CC Link communication l STEP 4 Turn on the power and check the setting Orientalmotor NETCO1 CC ARD CD pwpam Green Lit CN1 C DAT C ERR Green Lit Green Lit POWER L RUN Green Lit OFF ALARM L ERR OFF Green Lit C DAT SD Green Lit OFF C ERR RD Green Lit ID TERM D i 23 SA BC 5 wm Yorn o7o x10 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 positioning operation via remote I O of CC Link communication 1 Set the position 1200h and operating speed 1240h of the operation data No 0 of the driver 2 Execute positioning operation by turning the START of the CC Link remote I O address number 0 to ON 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 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 yo
19. AWG18 e Before connecting the regeneration unit be sure to remove the jumper wire from the CN1 connector e If the allowable power consumption of the regeneration unit exceeds the allowable level the thermostat will be triggered and the regeneration unit overheat alarm of the driver will generate If the regeneration unit overheat alarm generates turn off the power and check the connection or operating condition 29 8 Connection Regeneration unit specifications Model RGB100 Allowable current consumption Continuous regenerative power 50 W Instantaneous regenerative power 600 W Resistance value 150 O Thermostat operating temperature Operation Opens at 150 7 C 302413 F Reset Closes at 145412 C 293422 F normally closed Thermostat electrical rating 120 VAC 4A 30 VDC 4A minimum current 5 mA Install the regeneration unit in a location where heat dissipation capacity equivalent to a level achieved with a heat sink made of aluminum 350 350x3 mm 13 78x13 780 12 in is ensured 8 4 Connecting the data setter Connect OPX 2A cable or supplied cable with the MEXEO072 to the data edit connector CN4 on the driver Cable for OPX 2A or cable supplied with the MEXEO2 EE Il inan AN Caution The data edit connector CN4 and RS 485 communication connector CN6 CN7 of the driver are not electrically insulated When
20. Electromagnetic brake Deviation 0 Position deviation Operating speed of mman i Internal speed command automatic return Acceleration deceleration of automatic return The specific time varies depending on the load operating speed speed filter and other e When the automatic return operation is performed using the C ON input C ON i an input OFF 6 ms or less READY A output OFF 250 ms or less MOVE te output OFF 250 ms or less END gt output opp 200 ms or less a Excitation Motor excitation Not excitation 250 ms or less Hold Release Electromagnetic brake Deviation 0 Position deviation Internal speed command The specific time varies depending on the load operating speed speed filter and other 103 12 Method of control via I O e When the operation is completed using the STOP input C ON input STOP input ON OFF 2 ms or more sen o OFF READY S output opp l 2 ms or less MOVE au output opp 250 ms or less 250 ms or less END ON output Spp o Excitation Motor excitation aai Not excitation 250 ms or less 200 ms or less n Hold Electromagnetic brake Release Deviation 0 Position deviation L 2 ms or less Internal speed command The specific time varies depending on the load operating speed speed fil
21. Name Setting range Initial value Effective Dec Hex 706 02C2h Operating speed of home seeking upper 4 to 1 000 000 Hz 4000 707 02C3h Operating speed of home seeking lower 708 02C4h ei ce of home seeking 4 to 1 000 000 Accel raisnidecderdi Eh k 1 0 001 ms kHz or 1000 709 02C5h cceleration deceleration of home seeking 1 0 001 s 2 lower 710 02C6h Starting speed of home seeking upper 1 to 1 000 000 Hz 500 711 02C7h Starting speed of home seeking lower 712 02C8h Position offset of home seeking upper 8 388 608 to 0 713 02C9h_ Position offset of home seeking lower 8 388 607 step 714 02CAh_ Starting direction of home seeking upper 0 Negative direction 1 B 715 02CBh Starting direction of home seeking lower 1 Positive direction 716 02CCh SLIT detection with home seeking upper 717 02CDh SLIT detection with home seeking lower TIM signal detection with home seeking 0 Disable 718 02CEh upper 1 Enable 0 719 02CFh TIM signal detection with home seeking lower 720 02D0h Se liglcriealbit AN adidas el 0 to 1000 1 0 1 1000 Operating current of push motion 721 02D1h home seeking lower 768 0300h Overload verl ad upper 1 to 300 1 0 1 s 50 769 0301h Overload lower 770 0302h a rotation alarm during current on A on 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 0 c 777 0309h Return to home inc
22. Sensor common input De Ne e CN8 Pin No Signal name Description 1 INO Control input0 HOME 1 2 IN1 Control input1 START O e Applicable lead wire 3 IN2 Control input2 MO 5 AWG26 to 20 4 IN3 Control input3 M1 Oj 0 14 to 0 5 mm 5 IN4 Control input4 M2 e Length of the insulation cover 6 IN5 Control input5 FREE S 9 Wwhichican beipeeled i 8 mm 0 32 in 7 ING Control input6 STOP 8 IN7 Control input7 ALM RST 9 IN COM1 Input signal common Initial value e CNO Pin No Signal name Description 1 OUTO Control output0 HOME P 1 e Applicable lead wire 2 OUT1 Control output1 END AWG26 to 20 3 OUT2 Control output2 AREA1 0 14 to 0 5 mm 4 OUT3 Control output3 READY 7 e Length of the insulation cover 5 OUT4 Control output4 WNG 7 which can be peeled 8 mm 0 32 in 6 OUT5 Control output5 ALM 7 OUT COM Output signal common X Initial value 26 8 Connection E Connecting to a current source output circuit PNP specifications Controller Driver 12 to 24 VDCA Deg Ro lt 10 mA or less OUTO J 1 2 Y eb Ro OUTI z tt tt F AAYYVAAYY Ro OUT2 if T PH an i lt Output saturated Ro OUT3 o is voltage i ie XY 3 V max HH Ro OUT4 Dr a penne SH Dy i gt Tt Ro OUTS oe Hh T bt
23. 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 escaping from the limit sensor the motor will move 200 steps and stop and then the stop position will be the home position 2 e 2 external sensors are needed e Operating speed is low Starting speed of return 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 rega
24. brake terminals Connect the lead wires from the electromagnetic brake CN1 MB1 MB2 MB1 Electromagnetic brake Black P 25 MBz2 Electromagnetic brake White Motor connector CN2 Connect the motor P 25 This LED is lit while the main power is input After the main power has CHARGE LED Red been turned off the LED will turn off once the residual voltage in the driver drops to a safe level Regeneration unit terminals CN3 RG1 RG2 Connect the accessory regeneration unit RGB100 sold separately P 29 Main power supply input terminals Connect the main power supply CN3 L N L Live P 25 N Neutral Mounting holes 2 locations at the back These mounting holes are used to affix the driver with screws P 22 Use this switch when controlling the system via RS 485 Transmission rate setting switch SW2 communication Set the transmission rate of RS 485 communication Factory setting 7 Use this switch when controlling the system via RS 485 P109 communication P135 e No 1 Using this switch and the address number setting switch ID P141 Function setting switches SW4 set the address number of RS 485 communication Factory setting OFF e No 2 Set the protocol of RS 485 communication Factory setting OFF Battery connector CN10 Connect the accessory battery BATO1B sold separately P 23 17 6 Preparation 18 E Motor Example ARM66MC Protective Earth Terminal M4 Mounting holes 4 locations Outp
25. 1 as the overflow bit calculate an XOR of the result of step 2 and A001h Repeat steps 2 and 3 until a shift is performed eight times aR O N Calculate an XOR of the result of step 4 and function code 8 bits Repeat steps 2 to 4 for all bytes The final result gives the result of CRC 16 calculation 111 13 Method of control via Modbus protocol 112 E 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 N x8 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 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
26. 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 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 33 9 Explanation of I O signals Assignment No Signal name Function 69 END Output when the positioning operation is completed 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 82 MPS Output the ON OFF state of the main power supply 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 OUTO to OUT5 73 AREA1 OUT3 output function selection of the output terminals 67 READY OUT4 output function selection 66 WNG OUT5 output function selection 65 ALM 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_ 7
27. 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 82 MPS 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 156 Details of network converter 16 e Communication C d cod eae Description Setting range Initial value Effective READ WRITE TERORO 0 Not monitored 0900h 1900h Communication timeout 0 to 10000 ms 0 A Communication error alarm 1 to 10 times 3 0901h 1901h Indicates the timing for the data to become effective A Effective immediately 157 17 Alarms and warnings 17 Alarms 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 17 1 Alarms 158 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
28. 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 OT 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 slot on the load e 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 ee Load mounting holes Flange Bolts gt
29. It takes approx 32 hours pe to fully charge the battery at an ambient temperature of 20 C 68 F Le spieetaee See p 171 for accessories 9 Explanation of I O signals 9 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 9 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 38 Poe 19 Initial setting mee vo Initial setting signal name signal name 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
30. Note You can also clear the warning records by turning off the driver power e Communication switch setting error When setting the transmission 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 Descripu n Description of error A warning generates when one RS 485 communication error 84h has been detected Warning bate If normal reception occurs while the warning is present the warning will be reset automatically Alder An alarm generates when a RS 485 communication error 84h has been detected consecutively by the number of times set in the communication error alarm parameter 130 13 Method of control via Modbus protocol 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 13 12 Timing charts E Communication start E Operation start E Operation stop speed change E General signals E Configuration Master P ly i sa ower supply input OFF _1s or more ___ __ Master uer Communication Query Slave Response Tb2 transmission waiting time C3 5 silent interval command processing tim
31. P29 i Connect this battery if you Connedtto Data sett r Laan aT AN Connect to CN10 CN4 OPX 2A P30 TIREE sold separatery P 30 5 Single phase 100 120 V Single phase 200 240 V Power supply Use the power supply within the rated voltage range P 25 Circuit breaker or ground fault interrupt circuit Be sure to connect a circuit breaker or ground fault interrupt circuit to protect the wiring on the primary side Noise filter Use a noise filter to eliminate noise It has the effect of reducing noise generated from the power supply and driver P 23 PC in which the data setting software MEXE02 sold separatery has been installed TI rrr rri t jam ei FEE ITT The customer must provide a PC 4 Introduction 4 Introduction 10 Before use Only qualified personnel should work with the product Use the product correctly after thoroughly reading the section 1 Safety precautions on p 4 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 Operating Manuals for the AR Series After reading the following manuals keep them in a convenient place so that you can reference them at any time AR Series Motor OPERATING MANUAL This manual e
32. Protective Earth Terminal When grounding the Protective Earth Terminal use a round terminal and affix Ground one of these terminals the grounding point near the driver 8 3 Connecting the 24 VDC power supply input and regeneration unit E Connecting the 24 VDC power supply input The 24 VDC power supply is for the control circuit of the driver Connect a power supply of 24 VDC 5 0 75 A or more 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 cycling the 24 VDC power supply turn off the power and turn on the power again after waiting for 1 second or more E Connecting the regeneration unit Use the accessory regeneration unit RGB100 sold separately if gravitational operation or other operation involving up down movement or sudden starting stopping of a large inertia load will be repeated frequently e The two thin lead wires AWG22 0 3 mm of the regeneration unit are the thermostat outputs Connect them to the TH1 and TH2 terminals using the CN1 connector e Regenerative current flows through the two thick lead wires AWG18 0 75 mm of the regeneration unit Connect them to the RG1 and RG2 terminals using the CN3 connector Regeneration unit RGB100 To TH1 and TH2 terminals on CN1 To RG1 and RG2 terminals on CN3
33. 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 Seka HOMES belween LS Sa as and LS return to home operation in 3 sensor mode 161 17 Alarms and warnings No of Reset Motor Code rene 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 SLIT signal output could be detected e Set the SLIT detection with 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 seeking parameter to disable if the TIM output are not used with HOMES Reset alarm using the A LS or LS signal was ALM RST input and then pull 66h Hardware overtravel detected when hardware out from the limit sensor via overtravel was enabled continuous operation or return to home operation Excitation In single motion operation Possible on check to see if the position A software limit was reached exceeds the softlimit In 67h Software overtravel when software overtravel was linked motion operati
34. on p 10 for the applicable standards E Connecting noise filter for power supply line e Connect a noise filter in the AC input line to prevent the noise generated in the driver from propagating externally through the power supply line For a noise filter use MC1210 TDK Lambda Corporation or equivalent product e Install the noise filter as close to the driver as possible e Use cable clamps and other means to secure the 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 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 Connecting surge arrester For a surge arrester use R A V 781BWZ 4 OKAYA ELECTRIC INDUSTRIES CO LTD When measuring dielectric strength of the equipment be sure to remove the surge arrester or the surge arrester may be damaged E Connecting the AC power line reactor When inputting single phase 240 V insert a reactor 5 A 5 mH in the AC power line to ensure compliance with EN 61000 3 2 E Connecting the 24 VDC power supply Use a 24 VDC power supply conforming to the EMC Directive Use a shielded cable for wiring and wire ground the
35. 0 5000 Position Operating method Check the READY output is ON Select the operation data No 1 by turning the MO input ON and turn the START input ON The motor starts the positioning operation for the operation data No 1 Check that the READY output has been turned OFF and turn the START input OFF 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 No 0 X No 1 ON MO to M5 input OFF ON i START input OFF READY n output OFF MOVE an 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 aed Not used Not used Not used No 2 5000 500 Not used Not used INC ade Not used 500 Not used Operation example Speed Operating speed of No 1 5000 Push motion status Operating speed of No 2
36. 0500h Operation mode No 0 upper 1281 0501h Operation mode No 0 lower sineremental to uo K 1 Absolute 0 1406 057Eh Operation mode No 63 upper 1407 057Fh Operation mode No 63 lower 1408 0580h Operation function No 0 upper nes 1409 0581h Operation function No 0 lower a E nA to to fo 2 Linked motion 2 0 1534 O5FEh Operation function No 63 upper 3 Pushemotion 1535 O5FFh_ Operation function No 63 lower i 1536 0600h Acceleration No 0 upper 1537 0601h Acceleration No 0 lower to to to B 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 06FEh Deceleration No 63 upper 1791 06FFh 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 p 10 to 1 Enable o 2046 O7FEh Sequential positioning No 63 upper i 2047 O7FFh_ Sequential positioning 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 Indica
37. 100 to 2000 1 0 1 ms 1000 10 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 171 for accessory Related parameter Parameter name Description Setting range Initial value Absolute position backup Sets enable or disable of the absolute position 0 Disable 0 system backup system 1 Enable E Setting of the absolute position backup system 1 Turn off the driver power and 24 VDC power supply and then connect the battery to the battery connector CN10 OOA Ww ND Turn on the driver power and 24 VDC power supply Set the absolute position backup system parameter to enable Perform the return to home operation or P PPRESET input Turn off the driver power and 24 VDC power supply and then turn on again Since the absolute position error alarm generates at this time reset the alarm with reference to p 158 e Do not turn off the 24 VDC power supply before the return to home operation or PP PPRESET input is completed The absolute position error alarm may generate when turning on the 24 VDC power supply next time e Even when the absolute position backup system is used the absolute position
38. 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 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 Return to home incomplete alarm Se
39. 4 ms or more No 0 X No 1 No 2 6 ms or less 6 ms or less 6 ms or less i 6 ms or less 6 ms or less 6 ms or less n E No 1 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 ON MOVE ui output opp END pl output Ope READY ON output opp ON OFF TLC output Motor operation 100 4 ms or more 0 ms or more No 2 4 ms or more No 0 X No 1 No 2 6 ms or less 6 ms or less 6 ms or less 6 ms or less 6 ms or less 6 ms or less No 1 12 Method of control via I O E Direct positioning operation 4 ms or more MSi ON input OFF 6 ms or less MOVE N output OFF 6 ms or less END output ck as GEE 6 ms or less READY oo output OFF Motor operation The specific time varies depending on the load operating speed speed filter and other E Sequential positioning operation 4 ms or more SSTART i sae input OFF 6 ms or less MOVE a output OFF 6 ms or less END output On PUIPUI Gee 6 ms or less READY a output OFF Motor operation The specific time varies depending on the load operating speed speed filter and other E Continuous operation WD RVS i put X F inpu o MO to M5 i X t
40. 500 0 5000 10000 Position 66 Operating method Check the READY output is ON Select the operation data No 1 by turning the MO input ON and turn the START input ON The motor starts the positioning operation in which the operation data No 1 and No 2 are linked Check that the READY output has been turned OFF and turn the START input OFF When the motor becomes push motion status the TLC output will be turned ON and then the READY output will be turned ON Motor operation MO to M5 i pe to input OFF START input a HIDEO OFF READY output MOVE output END output TLC output No 1 No 2 No 1 ON OFF ON OFF ON OFF ON OFF 11 Operation Push motion status 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 11 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 Item Description Feature 3 sensor mode The motor operates at the operating speed of home seeking
41. 8 lower 168 OOA8h_ Warning record 9 upper 169 OOA9h_ Warning record 9 lower 170 OOAAh_ Warning record 10 upper 171 OOABh _ Warning record 10 lower 172 OOACh Communication error code l l ae upper Monitors the last received communication error icati code 173 OOADh Communication error code lower 174 OOAEh Communication error code record 1 upper 175 OOAFh ee error code ae 00h to FFh 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 OOBGh Communication error code Monitors the communication error records 1 to record 5 upper 10 that have occurred in the past 183 00B7h Communication error code record 5 lower 184 00B8h Communication error code record 6 upper 185 00B9h Communication error code record 6 lower 186 OOBAh Communication error code record 7 upper 187 00BBh Communication error code record 7 lower 188 00BCh Communication error code record 8 upper 189 00BDh Communication error code record 8 lower 190 OOBEh Communication error code record 9 upper 120 13 Method of control via Modbus protocol Register address Name Description Setting range D
42. A Effective immediately 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 82 MPS 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 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 128 13 Method of control via Mod
43. Acceleration deceleration type e Starting speed of automatic return e JOG travel amount Return to home p 88 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 p 88 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 p 89 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 e Data setter speed display oa e Data setter edit e Absolute position backup system r e INO to IN7 input function selection A e e INO to IN7 input logic level setting e OUTO to OUT5 output function selection I O function e NET INO to NET IN15 input function selection coo e NET OUTO to NET OUT15 output function selection p Communication p 91 e Communication timeout e Communication error alarm e Communication pari
44. B lec l bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO FFFFh Address Ta z Hex Description of address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 0031h 1 to 31 Sets a group address FFFFh bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO 1 to 31 Sets a group address FFFFh e Driver input command 007Ch 007Dh These are the driver input signals that can be accessed via RS 485 communication See p 38 for each input signal Initial value pines Description of address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 007Ch a a z z bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO Ge Description of address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 NET IN15 NET IN14 NET IN13 NET IN12 NET IN11 NET IN10 NET IN9Q NET IN8 007Dh 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 117 13 Method of control via Modbus protocol e Driver output command 007Eh 007Fh These are the driver output signals that can be received via RS 485 communication See p 43 for each output signal ey Description of address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 007Eh bit7 bit6 bit5 bit4
45. Connection device Network converter p CC Link baud rate e Address number 0 cee Same as master device i i SW4 No 1 OFF z SW4 No 2 OFF RS 485 transmission rate H a 625 000 bps H e Operation mode ET i 6 axes connection mode SEE SW2 7 7 QoS o N SW2 No 1 OFF nN E Using the parameter 1 Set the connection address number 0 1D80h parameter of the NETC01 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 132 14 Method of control via CC Link communication STEP 2 Check the connection Driver RS 485 24 VDC communication cable Hi power supply Ni Pt e I nercor cc E mal tI A aE AN Im i Programmable controller or master device F l Sn CC Link onl communication cable 50 Mail power supply _ B W U m Termination resistor ON CON TERM No 1 0m and No 2 ON We Termination ai lec te D resistor or master device 110 Q 1 2 W oog CC Link communication cable TE 4
46. Description Setting range Initial value F Sets whether to use the common acceleration Acceleration h ar 0 Common f deceleration or the acceleration deceleration specified 5 1 deceleration type 1 Separate for the operation data 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 77 for the acceleration deceleration when performing variable speed operation 50 10 Adjustment and setting 10 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 use Related parameter Parameter name Description Setting range Initial value 0 Disable Smooth drive Sets whether to enable or disable smooth drive 1 Enable 1 10 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
47. 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 E Communication errors A communication error record will be saved in the RAM You can check the communication errors using the communication error record command 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 Re Wee comm nication error 84h A transmission error was detected See Transmission error on p 112 Command not yet defined 88h An exception response exception code 01h 02h was detected See p 112 E tion disable due t I F iA H seuss 89h An exception response exception code 04h was detected See p 112 NV memory processing in progress 8Ah An exception response exception code 03h 04h was Outside setting range 8Ch detected See p 112 C mmand execute disabie 8Dh An exception response exception code 04h was detected See p 112 E 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
48. Effective after executing the configuration 154 16 Details of network converter e Common C d cod A Omme Na oone Description Setting range Initial value Effective READ WRITE 01E0h 11E0h Data setter speed display A a vale 0 A 01E1h 11E1h Data setter edit 1 Absolut ition back 0 Disable O1E2h 11E2h solute position backup 1 Enable 0 system Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration e 1 O function Gotmendiesde 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 below 0884h 1884h IN4 input function 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 IN
49. HOME P 9 MS1_R 34 R2 44 R12 60 LS_R 71 TLC 155 16 Details of network converter e I O function RS 485 Command code Description Setting range Initial value Effective READ WRITE O8BOh 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 below 08B8h 18B8h NET IN8 input function selection 8 MSO 08B9h 18B9h NET INQ input function selection 9 MS1 08BAh 18BAh NET IN10 input function selection 10 MS2 08BBh 18BBh NET IN11 input function selection 5 SSTART 08BCh 18BCh NET IN12 input function selection 6 JOG O8BDh 18BDh NET IN13 input function selection 7 JOG O8BEh 18BEh_ NET IN14 input function selection 1 FWD O8BFh 18BFh_ NET IN15 input function selection 2 RVS c 08COh 18C0h NET OUTO output function selection 48 MO_R 08C1h 18C1h NET OUT1 output function selection 49 M1_R 08C2h 1
50. 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 OUTO 73 AREA1 See table next OUT3 output function selection 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 89 11 Operation 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 ST
51. If only one of No 1 or No 2 is turned ON a communication error may occur 135 14 Method of control via CC Link communication 14 3 Remote register list Remote register is common to 6 axes connection mode and 12 axes connection mode Monitor read and write of parameters and maintenance command for the driver or NETCO1 CC are executed using remote register n 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 monitor 4 upper 16 bit RWwnA Command code of monitor 5 RWrnA Data of monitor 5 lower 16 bit RWwnB Ad
52. Positive side Negative side LS HOMES LS LS HOMES LS side a VR 4 side a ESE VL 1 VS D A vs LS i v rN H rN side y TYS _ side sg VL TVS See VR See VR LS HOMES LS LS HOMES LS aa VR wns VR side via _vys t side _ys LS v i v rN t rN side SON TVS _ side o N NS See VR See VR LS HOMES LS LS HOMES LS VR side side _ys HOMES i VS side side _ vp LS LS LS VR side side ys Between HOMES and LS VS side side VR LS LS LS VR side side vs Between HOMES and LS VS side side yR 70 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 Starting direction of Signal type return to home operation return to home operation Positive side Negative side LS HOMES LS LS HOMES LS F ens VR wens VR side vL ae _vs side SLIT input A side side SLIT 2 SLIT A OFF OF LS HOMES LS LS HOMES LS i KEN VR wns VR side vin _vs side 7 _vs P 4 m TIM signal i i i E q side No amp v
53. 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 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 Description Initial value INO input logic level setting to IN7 input logic level setting Changes the logic level setting for input terminals INO to IN7 0 Normally open 1 Normally closed 0 Normally open 32 9 Explanation of I O signals E Assignment to the output terminals The output signals shown below can be assigned to the o
54. Sets the LS input logics E HOMES input The HOMES input is the input for the mechanical home sensor when setting the home seeking mode operation parameter to the 3 sensor mode See p 67 for return to home operation Related parameters Parameter name Description Setting range Initial value 0 Normally open 1 Normally closed HOMES logic level setting Sets the HOMES input logic 0 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 67 for return to home operation Related parameters Parameter name Description Setting range Initial value 0 Normally open 1 Normally closed SLIT logic level setting Sets the SLIT input logic 0 47 9 Explanation of I O signals 9 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 device 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 device 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 I
55. 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 bedt operation DATA_R This is the data reading from the driver little endian z 145 16 Details of network converter 16 Details of network converter 16 1 Remote I O This is common to NETCO1 CC NETCO1 M2 and NETCO1 M3 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 on p 156 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 z FWD Continuous operation in the positive direction 0 Deceleration stop RVS Continuous operation in the negative direction 1 Ope
56. 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 setting e Monitor function e Maintenance function 3 System configuration Regeneration unit RGB100 sold separatery Connect this unit if gravitational operation or other operations involving up down movement 3 System configuration or sudden starting stopping of a large inertial load will be repeated frequently C 24 VDC a power supply P 29 Cable for motor H a to 24 VDC Be sure to connect a This cable is used to Thermostat 24 VDC power supply connect the motor and output AWG22 GND P29 N driver P 25 Programmable Connect to N2 controller P 25 an Output signals O Connect to CN9 Input signals Regeneration z 0 anit AWG18 a D Connect to CN8 lt OBS N X A ga Sensor signals Battery BATO1B PE o ee sold separatery
57. after stopping the operation C Effective after executing the configuration e Operation C d cod Omman R288 Description Setting range Initial value Effective READ WRITE 0140h 1140h Common acceleration 1 to 1 000 000 gt 4000 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 1 to 1 000 000 B 0144h 1144h OG 1 0 001 ms kHz or 1 0 001 s 1009 0145h 1145h JOG starting speed 0 to 1 000 000 Hz 500 0146h 1146h Acceleration deceleration type A esi 1 Separate 0147h 1147h Acceleration deceleration unit tes 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 0822h 1822h automatic return 1 0 001 ms kHz or 1 0 001 s iz 1000 B 0823h 1823h AN speed of automatic to 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
58. battery was not y connected e The power was turned on while operation range of multi rotation was exceeded the specification Check the electronic gear The command pulse Command pulse parameter setting and reduce i 34h 2 frequency exceeded the Possible error specified value the speed of the motor output P i shaft to 4500 r min or less 41h 9 EEPROM error The storeg cataiwas Initialize the all parameters damaged Turn off the power and check 42h fhitialsen oreroi A sensor error occurred when the connection of the motor the power was turned on cable and driver and then Excitation cycle the power off Make sure the motor output Not Initial rotor rotation The motor output shaft did shaft does not turn by an possible 43h 8 not stand still when the power error external force when the was turned on power is turned on Check the model name of 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 The positioning operation 3 gs 4Ah 7 Return to home was started when the position Perform the position preset Possible Excitation incomplete or return to home operation on origin has not been set 160 17 Alarms and warnings No of Reset Motor Code rene Alarm type Cause Remedial action eee excitation blinks input Turn off the power and turn on the power again after checking the follo
59. bit3 bit2 bit1 bitO pee 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 007Fh 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 E Maintenance commands These commands are used to reset alarms and warnings They are also used to execute the batch processing for the NV memory All commands can be read and written READ WRITE Executes when writing from 0 to 1 Initial value Register add i ode ee Name Description Setting Dec Hex range 384 0180h Reset alarm upper Resets the alarms that are present Some alarms cannot 385 0181h Reset alarm lower be reset with the reset alarm 386 0182h Absolute position error alarm reset upper ae Absolut iti i Resets the absolute position error alarm 387 0183h solute position error alarm reset lower 388 0184h CI d pal alarmifecords upper Clears alarm records 389 0185h Clear alarm records lower 390 0186h Cl i d Sar Warmy records upper Clears warning records 391 0187h Clear warning records lower 392 0188h ie error Cl pp icai Clears the communication error reco
60. bit6 bit5 bit4 bit3 bit2 bit1 bitO RYn7 to RYn0 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 RYnF to RYn8 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 e 12 axes connection mode Device No bit7 bit6 bits bit4 bit3 bit2 bit1 bitO RYn7 to RYn0 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 E Remote I O output _ Initial value e 6 axes connection mode Device No bit7 bit6 bits bit4 bit3 bit2 bit1 bitO RXn7 to RXn0 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 RXnF to RXn8 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 e 12 axes connection mode Device No bit7 bit6 bits bit4 bit3 bit2 bit1 bitO RXn7 to RXn0 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 137 15 Method of control via MECHATROLINK communication 15 Method of control via MECHATROLINK communication See the following explanation when using the AR Series AC power input built in controller type in combination with
61. communication Provide the OPX 2A or MEXEO2 as necessary E Related products The AR Series AC power input built in controller type can be used via various network when connecting to a network converter Network converter model Supported network NETCO1 CC CC Link communication NETCO1 M2 MECHATROLINK I communication NETCO1 M3 MECHATROLINK II communication 2 Overview of the product E Function list Return to home operation Setting by parameters 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
62. data No 2 Hz s e Calculation method for acceleration deceleration rate TAR1 VR1 VS TAC TAR2 VR2 VS TAC TDR2 VR2 VS TDC 11 Operation 11 4 Other operation E JOG 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 Travel amount for JOG operation 1 to 8 388 607 step 1 JOG operating speed Operating speed for JOG operation 1 to 1 000 000 Hz 1000 Acceleration deceleration Acceleration deceleration rate or 1 to 1 000 000 acceleration deceleration time for JOG 1 0 001 ms kHz or 1000 rate of JOG A operation 1 0 001 s JOG starting speed Starting speed for JOG operation 0 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 sate input OFF Ol JOG input N OFF l Eee e Operating method Check the READY output is ON Turn the JOG input ON The motor starts positioning operation Check the READY output has been turned OFF and tur
63. determined by the setting of overtravel j action parameter Software limit The operation example shown on the right applies when an operation where a software limit is to be exceeded is started Motor operation Time Software overtravel will become effective after the position origin is set See p 81 for setting the position origin e 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 A Allowed to operate able to escape Test operation Allowed to operate able to escape Return to home 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 169 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 po
64. 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 8 5 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 171 You can also use a commercial LAN cable to link drivers RS 485 communication connector CN6 CN7 PD 3 TR T 6 TR 5V r4 TERM 1 KQ No 1 j gt 120 h ko OV Drivers can be linked CN6 CN7 pin assignments Pin No Signal name Description 1 N C Not used 2 GND GND 1 3 TR RS 485 communication signal 4 N C g 5 NC Not used 6 TR RS 485 communication signal 8 7 N C 3 Nc Not used 8 6 Connecting and charging the battery 30 Connect an accessory battery set BATO1B sold separately for the absolute position Batten power backup system supply GND When the battery is connected to the battery connector CN10 of the driver and the Battery power 24 VDC power is turned on the battery will start charging
65. may be lost if the motor cable is disconnected If this occurs turn off the main power and 24 VDC power supply 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 multi rotation 167 772 to 167 772 revolutions 53 11 Operation 11 Operation This chapter explains the types of operation and timing charts Setting by operation data and parameters Positioning operation Operating pattern e Single motion operation e Linked motion operation Speed Speed Operation Operation Operation Operation rting meth data No 0 data No 1 data No 0 data No 1 Starting method Time f Time e Data number selecting Starting A N Starting operation command command e Direct positioning operation e Linked motion operation 2 e Push motion operation e Sequential positioning Speed Dwell time Speed operation Operation Operation data No 0 data No 1 Operation data No 0 Starting M me Starting H uun command command Return to home operation e 3 sensor mode e 2 sensor mode e Push mode e Position preset LS HOMES LS LS L
66. 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 The motor and driver are designed with Class I equipment basic insulation When installing the motor and driver install them inside enclosures so that they are out of the direct reach of users Be sure to ground if users can touch them Failure to do so may result in electric shock e Install the motor and driver in the enclosure in order to prevent electric shock or injury Connection e Keep the driver s input power voltage within the specified range Failure to do so may result in electric shock or fire e Connect the cables securely according to the wiring diagram Failure to do so may result in electric shock or fire e Do not forcibly bend pull or pinch the cable Doing so may cause electric shock or fire 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 result in injury or damage to equipment Maintenance and inspec
67. 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 temperature 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 250 X 2506 mm 9 84 9 84x0 24 in is ensured Maximum static torque at excitation When the motor stops the maximum static torque at excitation of the motor will drop by about 50 by the current cutback function When operating the motor take account of the motor torque drop at the time of stopping 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
68. of network converter E Operation data The parameters required for motor operation are available in the following two types e Operation data e User parameters The parameters are saved in the RAM or NV 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 NV memory will be retained even after the power supply is turned off When turning the driver power ON the parameters saved in the NV 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 0 cece eeceteeecreeeeeeeees Executes the recalculation and setup immediately when writing 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 NV memory execute batch NV memory write of the maintenance command e The NV memory can be rewritten approx 100
69. of operation data are linked to perform multi variable speed P61 operation Linked motion2 Dwell time stop waiting time can be set between operation data Operation data P62 whose rotation direction is different can also be linked Push motion This is an operation of continuously applying pressure on the load when pressing P65 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 input 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 corresponding to the input data No will perform When any of the MSO to MS5 inputs is turned ON the positioning operation Sequential positioning operation SSTART input signal is input Positioning operation is performed to the next operation data No every time a e Data number selecting operation Select an operation data based on a combination of Operation ON OFF status of the MO to MS inputs See p 39 for dataNo MS M4 M3 m2 m Mo details 0 OFF OFF OFF OFF OFF OFF 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 e 61 ON ON ON ON OFF ON 62 ON ON ON ON ON OFF 6
70. operating pattern for each component or each process of works When the operating pattern is one type The positioning operation for the operation data No 0 is performed by turning the SSTART input ON After the operation is completed when turning the SSTART input ON again the positioning operation for the operation data No 1 will be performed After the operation is completed when turning the SSTART input ON again the positioning operation for the operation data No 2 will be performed After the operation is completed when turning the SSTART input ON again 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 Sequential SSTART SSTART SSTART SSTART data positioning ON Operation _ ON Operation _ ON Operation _ ON No 0 data No 0 data No 1 data No 2 No 1 Enable No 2 No 3 Disable 11 Operation When the operating patterns are multiple 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 After the operation is completed when turning the SSTART input ON again the positioning operation for the operation data No 4 will be performed After the operation is compl
71. 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 operation 2 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 will 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 operation 2 Operation Position Operating Accelerati n Desslaration Operation Operation Dwell Push Sequential data speed mode function time current positioning No 1 5000 5000 1000 1000 INC Linked 4000 Notused Not used motion2 Single No 2 3000 3000 1000 1000 INC A 0 Not used Not used motion 62 11 Operation Operation example Speed Operating speed of No 1 5000 Operation data No 1 Stop for 1000 ms 4 5000 Position Starting speed 500 0 Operating speed of No 2 3000 Operating method Check the READY output i
72. operation command will be sent to the child slaves in the same group by sending it to the parent slave 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 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 NV memory even when the maintenance command batch NV memory write executes Command code 7 F oi Description Setting range Initial value Read Write Set the group 0018h 1018h Group 1 Individual No group setting 1 Individual 0 to 31 Set the group 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 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 Parent slave Driver of address number 0 Driver of address number 1 Driver of address number 2 group command 1 group command 0 group command 0 individual 148 16 Details of network converter This is a timing chart for when assigning the START signal to NET IN3 remote I O of the dri
73. operation data TAR1 Acceleration rate of operation data TAR1 VR1 VS TA1 No 1 Hz No 1 Hz s TAR2 VR2 VS TA2 VR2 Operating speed of operation data TAR2 Acceleration rate of operation data TDR2 VR2 VS TD2 No 2 Hz No 2 Hz s TA1 Acceleration of operation data No 1 TDR2 Deceleration rate of operation data TA2 Acceleration of operation data No 2 No 2 Hz s 7 7 11 Operation e When acceleration deceleration is common e Acceleration deceleration unit ms kKHz When accelerating When decelerating VR2 VR1 TAC TDC TAC TDC VR1 VR2 TAC TBG VS VS ON E ON FWD input pn FWD input opf 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 TAR1 TDR2 VR1 7 VR2 TAR1 a Tee vs TEC TDC vs TAC TDC ON f ON FWD input opp FWD input opf Operation Operation data No No 1 No 2 data No No 1 No 2 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 78 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
74. output turns ON corresponding to the setting of the HOME P function selection parameter See p 81 for setting the position origin e When HOME P function selection parameter is set to home output When the command 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 e Related parameters Parameter name Description Setting range Initial value HOME P function Selects the HOME P output 0 Home output 0 selection function 1 Return to home 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 Sets the minimum ON time for MOVE 0 to 255 ms 0 MOVE output output E END output 9 Explanation of I O signals When the motor has completed its movement the END output will turn ON When the motor was converged in a position of the po
75. ovy OUT COM i EF A24 VDC sadad INO Jem 4 4 KQ a 1kQ VAs IN1 i 4 4 KQ gt 5 lt 1kQ IN2 I f 4 4 KQ i 1ko IN3 I i 4 4 KQ 1 ka IN4 4 4kQ q 3 1ko IN5 4 4kQ q 1 ka IN6 i 4 4 KQ a 1 kal IN7 I 4 4 KQ INCOM ik f PNP sensor A24 VDC HO es et kG HOMES 1 kQ SLIT 44 kO a 1 kal IN COM2 voVv 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 27 8 Connection E Connecting to a current sink output circuit NPN specifications Controller Driver 12 to 24 VDCA Jf Ro 10 mAorless gt OUTO ae ee _ pe et i Ly Ro T1 aes OU TS i D i KH Ro OUT2 if eS 7 iT BH De Output saturated zo OUT3 T ae voltage i S y 3 V max H Ro OUT4 HT a iT BH Dey i kH Ro OUT5 S iLe hH F eH PY OUT COM Si smig ino ENS 44ko i 1kQ IN1 i 4 4kQ T 1 1 KQ IN2 4 4 kQ a 1ko 4 IN3 i 4 4kQ 1 kQ IN4 I 1 4 4kQ q H 1kQ z INS Lf 4 4 ko 1kQ W A ING 1 4 4kQ 7 q
76. performed only once using a single operation data set Example of single motion operation Operation Position Operating Acceleration Decel rati n Operation Operation Dwell Push Sequential data speed mode function time current positioning No 1 5000 5000 1000 1000 INC ai ie 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 60 11 Operation Operating method Check the READY output is ON Select the operation data No 1 by turning the MO input ON and turn the START input ON The motor starts the positioning operation for the operation data No 1 Check that the READY output has been turned OFF and turn the START input OFF When the positioning operation is completed the READY output will be turned ON No 1 Motor operation V No 0 X ON MO to M5 input OFF No 1 ON i START input OFF READY sal output OFF MOVE oN output opp 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 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 s
77. power cables and signal cables have to cross cross them at a right angle Place the 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 connection cable 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 Motor Motor cable Shielded cable PE OPX 2A BREBBBE RS 485 communication cable oO oO Controller A Te Shielded y Sensor A _ cable T OR Noise Driver Filter power Shielded g cable A Jh Tro HE FG H PE PE h al Surge Noise 2 arrester Filter Sal E AC A onl i H H Sol C PE Grounded panel PE 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 el
78. power supply cable over the shortest possible distance Refer to Wiring the power supply cable and signal cable for how to ground the shielded cable E How to ground The cable used to ground the motor 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 See p 29 for grounding the motor and driver E Wiring the power supply cable and signal cable e Use a shielded cable for the power supply cable and 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 circumference of the cable Shielded cable Cable cramp Attach a cable clamp as close to the end of the cable as possible and connect it as shown in the figure 23 7 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
79. 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 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 The position distance is not set in the operation data while positioning operation Turn the STOP input OFF Check the operation data The FWD input and RVS 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 parameter for rotation direction is set wrong Check the setting of the parameter for rotation direction 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 Mo
80. the condition of Maximum Surrounding Air Temperature 55 C 131 F Class 2 Drivers have no provision for solid state short circuit protection Short circuit protection is required at end application For a circuit breaker or fuse that connects in the power line of the driver use the UL listing product E Hazardous substances RoHS Directive 2002 95 EC 27Jan 2003 compliant 11 5 Precautions for use 5 Precautions for use 12 This section covers limitations and requirements 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 169 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 See p 21 for details Use the motor in conditions where its surface temperature will
81. the network converter NETCO1 M2 or NETCO1 M3 via MECHATROLINK communication Refer to 16 Details of network converter on p 146 for remote I O and command code 15 1 Guidance If you are new to the AR Series AC 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 NETCO1 M3 USER MANUAL for how to set the parameter STEP 1 Set the transmission rate station address and address number E Using the switches Setting condition of driver Setting condition of NETCO1 M2 MECHATROLINK II station address 61 RS 485 transmission rate 625 000 bps Remote I O occupied size 16 bit mode Number of transmission bytes 32 bytes e Address number of the driver 0 e RS 485 transmission rate 625 000 bps e SW4 No 2 of the function setting switch OFF Driver Address number 0 RS 485 MECHATROLINK I SED transmission rate Station address 61 oeh ID 0 625 000 bps NETCO1 M2 ASD S SNe x10 6 CD NED eGA SW1 7 z 2 x1 1 26568 e Connection device Network converter e Address number 0 e Number of transmission LIL E ee Bee bytes 32 bytes No 2 OFF e Remote I O occupied size 16 b
82. 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 When the speed filter parameter is set to 0 ms When the speed filter parameter is set to 200 ms Setting speed Motor speed MOVE output END output Setting speed Motor speed MOVE output END output a E O Note When setting the value of the speed filter parameter to 0 this function will be invalid 51 10 Adjustment and setting 10 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
83. 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 the condition at which an overspeed 1 to 5000 r min 4500 warning generates Overvoltage warning Sets the voltage at which an overvoltage 120 to 450 V 435 warning generates Undervoltage warning Sets the voltage at which an undervoltage 120 to 280 V 120 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 MEXEQ2 Configuration commands all data initialization commands and batch NV memory read commands are not executed via RS 485 communication E HOME P output The HOME P
84. 000 times Command code Read Write 0200h 1200h Position No 0 to to to 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 f 0 Incremental to to to 1 Absolute 0 02BFh 12BFh Operation mode No 63 j Name Setting range Initial value Effective 8 388 608 to 8 388 607 step 02C0h 12C0h Operation function No 0 Q Single motion 1 Linked motion to to to 0 02FFh 12FFh Operation function No 63 2 Linked monon 3 Push motion 0300h 1300h Acceleration No 0 B to to to 1 to 1 000 000 033Fh 133Fh Acceleration No 63 DNTP SESE O 1 0 001 ms kHz or 1000 0340h 1340h Deceleration No 0 x 243 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 03BFh 13BFh Push current No 63 03COh 13C0h Sequential positioning No 0 0 Disable to to 1 1 Enable a 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 Indicates the timing for the data to become effective B Effective after stopping the operation 2 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 para
85. 0VARBT 15 49 2 CC200VART 20 65 6 CC200VARBT 20 65 6 21 Accessories sold separately e Connector pin assignments e Pin assignment of cable for motor e Motor side Pin No Color Lead size 1 White AWG26 0 14 mm 2 Purple 3 Red 4 Blue AWG22 0 3 mm Model 5559 10P 210 Molex 5 Green e Driver side Black AWG26 0 14 mm 7 Brown 6 7 8 9 40 8 G ray AWG22 0 3 mm NOE 9 Orange 10 Drain wire AWG26 0 14 mm Model 5557 10R 210 Molex e Pin assignment of cable for electromagnetic brake Pin No Color Lead size 1 Whit re awG20 0 5 mm 2 Black AWG21 0 5 mm for flexible cable Model 5559 02P 210 Molex E Data setter The data setter lets you set operation data and parameters for your AR Series FLEX AC power input built in controller 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 FLEX AC power input built in controller type 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
86. 3 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 Ge 250 56 270 60 300 67 340 76 390 87 PS geared AR66 25 100 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 AR46 100 22 120 27 150 33 190 42 5 200 45 220 49 250 56 280 63 320 72 7 2 40 250 56 270 60 300 67 340 76 390 87 100 22 AR66 25 36 330 74 360 81 400 90 450 101 520 117 PN geared 50 5 480 108 520 117 550 123 580 130 620 139 Ws 480 108 540 121 600 135 680 153 790 177 ARIS 25 850 191 940 210 1050 230 1110 240 1190 260 200 6 36 930 200 1030 230 1150 250 1220 270 1300 290 50 1050 230 1160 260 1300 290 1380 310 1490 330 y AR46 180 40 220 49 270 60 360 81 510 114 220 49 o AR66 320 72 370 83 440 99 550 123 720 162 450 101 AR98 1090 240 1150 250 1230 270 1310 290 1410 310 1300 290 21 7 Installation E Permissible moment load of the Harmonic geared type
87. 3 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 82 MPS 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 9 2 Assignment of network I O Assign the I O function via RS 485 communication 34 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 Assignment Signal name Function Setting range value 0 Not used Set when the input terminal is not used 1 FWD Continuous operation in the positive direction 0 Deceleration stop 2 RVS Continuous operation in the negative direction 1 Operation 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 f 0 No operation 8 MSO 1 Start operation 9 MS1 10 MS2 ae i Direct positioning operation 11 MS3 12 MS4 13 MS5 Stop the motor excitation and release the O No operation 16 FREE 1 Electromagnetic brake elec
88. 3 ON ON ON ON ON ON 11 Operation Operating method Check the READY output is ON Select the operation data No by a combination of the MO to M5 inputs and turn the START input ON The motor starts positioning operation Check that the READY output has been turned OFF and turn the START input OFF 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 sal output OFF MOVE oN output opp END R 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 MS4 operation No selection MS5 operation No selection Parameter name Description Setting range Initial value MSO operation No selection 0 MS1 operation No selection 1 MS2 operation No selection Sets the operation data
89. 3 operation No selection upper 3 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 100Bh_ MS5 operation No selection lower 4108 100Ch_ HOME P function selection upper 0 Home output 1 Return to home 0 4109 100Dh_ HOME P function selection lower complete output 576 0240h RUN current upper 0 to 1000 1 0 1 4000 A 577 0241h RUN current lower 578 0242h STOP current upper 0 to 500 1 0 1 500 579 0243h STOP current lower Effective Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 123 13 Method of control via Modbus protocol Register address Name Setting range Initial value Effective Dec Hex 580 0244h Position loop gain upper 1 to 50 10 581 0245h Position loop gain lower 582 0246h Speed loop gain upper 10 to 200 180 583 0247h Speed loop gain lower 584 0248h Speed loop integral time constant upper 100 to 2000 1 0 1 ms 1000 585 0249h Speed loop integral time constant lower 586 024Ah Speed filter upper disoe 1
90. 30000 1 0 01 rev 300 current on 0184h 1184h Return to home incomplete 0 Disable 0 c alarm 1 Enable 0840h 1840h Overflow rotation alarm during 4 4 30000 1 0 01 rev 10000 current off 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 120 to 450 V 435 01A4h 11A4h Undervoltage warning 120 to 280 V 120 o1a5h 11a5h Overflow rotation warning 1 to 30000 1 0 01 rev 300 during current on Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration e Coordination Command code Description Setting range Initial value Effective READ WRITE 01COh 11COh Electronic gear A 1 to 65535 4 01Cth 11C1h Electronic gear B c p EINE 0 Positive direction CCW 01C2h 11C2h_ Motor rotation direction 1 Positive direction CW 1 01C3h 11C3h Software overtravel 0 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 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
91. 4 Other operation ccceeeteeeees 79 E JOG operation eeceeeecsseseteeeeeeseeeeeeneeaees 79 ME Test operation ceceeeeccsseesecreeeeeeeeeeeesees 80 E Automatic return operation eee 80 E Stop operation eeececceeeeeeeereeceseeeeeeneeeees 81 E Position coordinate management 81 E Wrap function 0 eeceeeeesseeseesereeeeseeneeeees 82 11 5 Operation data and parameters 84 E Setting the operation data 84 E Parameter list cccccecesscesecsseeseesscsseeseees 85 Lk are een mR TSO Ee ee 86 M Mt eeen Eaa EE 87 E Oper tion snsecicnn iiridh 87 E Return to home cc cccccceccesecsseescesseseeseees 88 E Alarm warning eeceescsseeseeseceeeeeeeneenees 88 ME Coordination cccccecccsscescesecsseessessesseeseees 89 E Common ea ans S An 89 E J O FUMCtiON Lecce eccecceeeceseceeeeeeteenseeseees 89 E T O function RS 485 c ee ececeeeeteeeeeees 90 E Communication cccecccceseeeseeseeeeeeneeeeeees 91 12 Method of control via I O 05 92 12 1 Guidance eee eeeeeeceeeeeeeeteteeteees 92 12 2 Timing Chart eee a EE 94 13 Method of control via Modbus protocol ccccccceeeeeeeees 105 13 1 Guidance ceeeeeeeeeet eset 105 13 2 Communication specifications 108 13 3 Setting the switches 00 ee 109 13 4 Communication mode 000 110 13 5 Communication timing 110 13 6 Message 111 13 7 Function code
92. 4 VDC power supply input terminals CN1 Address number setting switch ID Regeneration unit thermal _ input terminals CN1 Termination resistor setting switch TERM Electromagnetic brake terminals CN1 m RS 485 communication connectors CN6 CN7 Output signal connector CN9 Motor connector CN2 CHARGE LED Input signal connector CN8 CN8 INPUT Regeneration unit terminals CN3 Sensor signal connector CN5 CN5 SENSOR Main power supply Data edit connector CN4 input terminals CN3 Protective Earth Terminals Mounting hole at the back CN10 SW4 SWw2 OT by 2 Transmission rate setting switch SW2 Function setting switches SW4 Battery connector CN10 16 6 Preparation Name Description Ref e PWR Green This LED is lit while the 24 VDC power is input PWR ALM LED ALM Red This LED will blink when an alarm generates It is P158 possible to check the generated alarm by counting the number of times the LED blinks e C DAT Green This LED will blink or illuminate steadily when the driver is comm
93. 44 R12 60 LS_R 71 TLC Communication Name Description Setting range Initial value Effective Communication tiniesut Condition in which a communication timeout 0 Not monitored 0 occurs in RS 485 communication 0 to 10000 ms Condition in which a RS 485 communication Communication error error alarm generates A communication error A alarm generates after a RS 485 1 to 10 times 3 alarm SR communication error has occurred by the number of times set here 0 None Communication parity Parity of RS 485 communication 1 Even number 1 2 Odd number ad E 0 1 bit D Communication stop bit Stop bit of RS 485 communication 1 2 bit 0 Transmission waiting 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 91 12 Method of control via I O 12 Method of control via I O This chapter explains the I O operation control to be performed based on operation data and parameters set by the accessory OPX 2A or MEXEO2 sold separately For the specific setting methods refer to each OPERATING MANUAL 12 1 Guidance If you are new to the AR Series AC 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
94. 5 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 below 08A3h 18A3h OUT3 output function selection 67 READY 08A4h 18A4h OUT4 output function selection 66 WNG 08A5h 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 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 82 MPS 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
95. 5000 Not used Not used INC motion Not used Not used Not used Linked No 3 25000 7000 Not used Not used INC P 1000 Not used Not used motion2 Single No 4 0 7000 1000 1000 ABS moti r Not used Not used Not used 63 11 Operation Operation example Speed Operating speed of No 3 7000 Operating speed of No 2 5000 Operating speed of No 1 3000 Starting speed 500 0 Operating speed of No 4 7000 Operating method Check the READY output is ON Stop for 1000 ms Je 15000 40000 Position Select the operation data No 1 by turning the MO input ON and turn the START input ON The motor starts the positioning operation in which the operation data from No 1 to No 3 are linked Check that the READY output has been turned OFF and turn the START input OFF When the positioning operation is completed the MOVE output will be turned OFF 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 When the positioning operation for the operation data No 4 is completed the READY output will be turned ON Motor operation Dwell time 1000 ms No 4 MO to M5 i s ON to MS input opp No 1 START i Pa input OFF READY output V OVE output ie END on output opp In direct I O turn the START inpu
96. 587 024Bh Speed filter lower B 588 024Ch Moving average time upper T eiobowas 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 filter 4130 1022h Speed error gain 1 upper 45 4131 1023h Speed error gain 1 lower 0 to 500 A 4132 1024h Speed error gain 2 upper 45 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 e 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 1000 642 0282h C Jecelerat 1 0 001 ms kHz or ommon decelera lon upper 1 0 001 s 2 1000 643 0283h Common deceleration lower 644 0284h starting speed upper 0 to 1 000 000 Hz 500 645 0285h Starting speed lower 646 0286h JOG operating speed upper 1 to 1 000 000 Hz 1000 5 647 0287h JOG operating speed lower 648 0288h Acceleration deceleration rate of JOG upper 1 to 1 000 000 1 0 001 ms kHz or 1000 649 0289h Acceleration deceleration rate of JOG lower 1 0 001 s 2 650 028Ah JOG starting speed upper 0 to 1 000 000 Hz 500 651 028Bh JOG starting speed lower 652 028Ch_ Acceleration deceleration type upper 0 Common 1 653 028Dh Acceleration deceleration type lower 1 Separate 654 028Eh Accelerat
97. 8 1 Connection example ce 25 8 2 Grounding the motor and driver 29 8 3 Connecting the 24 VDC power supply input and regeneration unit 29 8 4 Connecting the data setter 30 8 5 Connecting the RS 485 communication Cable vite Aw eead ee 30 8 6 Connecting and charging the battery 30 9 Explanation of I O signals 31 9 1 Assignment of direct I O ee 31 9 2 Assignment of network I O 34 9 3 Input Signals 00 ee eeeeeeeeneeeeeeeee 38 9 4 Output signals 0 0 0 ee eeeeeeeeeees 43 9 5 Sensor input ee eeeeeeeeeeeeeeees 47 9 6 General signals RO to R15 48 10 Adjustment and setting 49 10 1 Resolution 00 cccceeceeseceeeeeeeees 49 10 2 Operating current s 50 10 3 Standstill current 0000 eee 50 10 4 Acceleration deceleration rate and acceleration deceleration time 50 10 5 Smooth drive c ccceeeteteeeeeeeeees 51 10 6 Speed filter cccceecceeeeteeeeeeeeeees 51 10 7 Moving average filter eres 52 10 8 Speed error gain 52 10 9 Control MOde ccceeeeteeeeeeeeeees 52 10 10 Position loop gain speed loop gain speed loop integral time constant 53 10 11 Absolute position backup system 53 TATOO PSraliOn iiia s 54 11 1 Positioning operation 55 11 2 Return to home operation 67 11 3 Continuous operation ee 74 11
98. 8C2h_ NET OUT2 output function selection 50 M2_R 08C3h 18C3h NET OUT3 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 below 08C8h 18C8h_ NET OUTS8 output function selection 80 S BSY O08C9h 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 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_
99. 9 MS1 10 MS2 SERR Direct positioning operation 11 MS3 12 MS4 13 MS5 16 FREE Stop the motor excitation and release the 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 General signals Use these signals when controlling the system via RS 485 39 R7 communication 40 R8 41 R9 42 R10 43 R11 44 R12 45 R13 31 9 Explanation of I O signals Assignment No Signal name Function 46 R14 General signals Use these signals when controlling the system via RS 485 47 R15 communication 48 MO 49 M1 20 Me 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 INO to IN7 of the 49 M1 IN4 input function selection 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
100. 980CD TH O ARM980C TE AR980CD HE O ARM980C H E E PS geared type Model Motor model Driver model AR460AD PSH O ARM460C PSE AR660AD PSH O ARM66OC PSE ARD AD AR98DAD PSH O ARM980C PSE AR460CD PS O ARM460C PSE AR6601CD PS O ARM66OC PSE ARD CD AR980CD PSm O ARM980C PSE 6 4 input output power ratings e O indicates A single shaft B double shaft or M with electromagnetic brake In AR911 O indicates A single shaft or B double shaft For geared type O indicates A single shaft or M with electromagnetic brake e For geared type represents the type of gear and number indicating the gear ratio e O indicates the cable length Model Motor model Driver model Input Output current Voltage Frequency Current AR460AD O ARM460C 2 4A 0 49 A AR66O0AD O ARM66OC 3 6A 0 74A AR690AD O ARM69OC ARD AD EN 4 9A 0 92 A AR980AD6 O ARM980C 4 6A 1 13A AR9110AD O ARM9110C 5 9A 1 27 A 50 60 Hz AR460CD O ARM460C 1 5A 0 49 A AR66OCDe O ARM66OC 2 3A 0 74A AR69LICD O ARM69DC AD Cor eee 3 0A 0 92A AR98OICDe O ARM980C 2 9A 1 13A AR9110CD O ARM91101C 3 7A 1 27A 15 6 Preparation 6 5 Names and functions of parts E Driver Example ARD CD m Mounting hole at the back Orientalmotor ARD CD pwevam O m PWR ALM LED C DAT C ERR O C DAT C ERR LED o oP EEEToI 2
101. ART_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 82 MPS 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 O function RS 485 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 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 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 Function of NET OUTO to 65 ALM See
102. Area free of excessive salt Area not subject to continuous vibration or excessive shocks Area free of excessive electromagnetic noise from welders power machinery etc Area free of radioactive materials magnetic fields or vacuum 1000 m 3300 ft or lower above sea level e Installation method B Metal plate Type Frame size Nominal Tightening torque Effective depth Installation mm in size N m oz in of bolt mm in method 42 1 65 M3 1 142 4 5 0 177 A Standard 60 2 36 M4 2 280 B 85 3 35 M6 3 420 42 1 65 TH geared 60 pee M4 2 280 8 0 315 90 3 54 M8 4 560 15 0 591 PS geared 42 1 65 M4 2 280 8 0 315 A PN geared 60 2 36 M5 2 5 350 10 0 394 Harmonic geared 90 3 54 M8 4 560 15 0 591 Harmonic geared 90 3 54 M8 4 560 B 1 AR46 and AR66 type only 2 AR98 type only 19 7 Installation 7 3 20 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 When coupling the load to the motor pay 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
103. CC002 RS4 0 25 m 1 ft E Battery set This is a battery set including a battery and battery holder required in the absolute position backup system Model BATO1B E Regeneration unit Connect the regeneration unit if gravitational operation or other operations involving up down movement or sudden starting stopping of a large inertial load will be repeated frequently Always connect the regeneration unit if an overvoltage protection warning or alarm generates Model RGB100 171 22 Related products sold separately 22 Related products sold separately E Network converter NETCO1 CC supporting CC Link communication NETCO1 M2 supporting MECHATROLINK communication NETCO1 M3 supporting MECHATROLINK I _ communication When the AR Series FLEX AC power input built in controller type is used in a CC Link system or MECHATROLINK system while connecting the driver via the network converter the converted data from the each communication protocol to the RS 485 communication protocol can be sent to the driver Alarms and other data output from the driver which normally conform to the RS 485 communication protocol can also be converted to each communication protocol and sent to the master station accordingly Example Connecting to the network converter NETCO1 CC RS 485 communication cable LEELEE C H co Oa SOOO CC Link master CC Link communic
104. FB 15 49 2 CC200VAF 20 65 6 CC200VAFB 20 65 6 CC300VAF 30 98 4 CC300VAFB 30 98 4 e Flexible connection cable set e For motor e For electromagnetic brake Model Length m ft Model Length m ft CCO10VAR 1 3 3 CC0O10VARB 1 3 3 CCO20VAR 2 6 6 CC0O20VARB 2 6 6 CCO30VAR 3 9 8 CCO30VARB 3 9 8 CCO50VAR 5 16 4 CCOS50VARB 5 16 4 CCO70VAR 7 23 0 CCO70VARB 7 23 0 CC100VAR 10 32 8 CC100VARB 10 32 8 CC150VAR 15 49 2 CC150VARB 15 49 2 CC200VAR 20 65 6 CC200VARB 20 65 6 CC300VAR 30 98 4 CC300VARB 30 98 4 e Extension cable set e For motor e For electromagnetic brake Model Length m ft Model Length m ft CCO10VAFT 1 3 3 CCO10VAFBT 1 3 3 CCO20VAFT 2 6 6 CCO20VAFBT 2 6 6 CCO30VAFT 3 9 8 CCO30VAFBT 3 9 8 CCO50VAFT 5 16 4 CCOS50VAFBT 5 16 4 CCO70VAFT 7 23 0 CCO7OVAFBT 7 23 0 CC100VAFT 10 32 8 CC100VAFBT 10 32 8 CC150VAFT 15 49 2 CC150VAFBT 15 49 2 CC200VAFT 20 65 6 CC200VAFBT 20 65 6 e Flexible extension cable set e For motor e For electromagnetic brake Model Length m ft Model Length m ft CCO10VART 1 3 3 CCO10VARBT 1 3 3 CCO20VART 2 6 6 CCO20VARBT 2 6 6 CCO30VART 3 9 8 CCO30VARBT 3 9 8 CCO50VART 5 16 4 CCOS50VARBT 5 16 4 CCO70OVART 7 23 0 CCO70OVARBT 7 23 0 CC100VART 10 32 8 CC100VARBT 10 32 8 CC150VART 15 49 2 CC15
105. 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 35 9 Explanation of I O signals 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 Assignment Signal name Functi
106. NO to 0 the OUTO output turns OFF e When inputting the output of the external device to the master device 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 IN7 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 8 VO a RS 485 communication eer RO OUTO RO NET INO Programmable controller Sensor Touch panel e 1 0 RS 485 communication etc R1 IN7 R1 NET OUT15 48 10 Adjustment and setting 10 Adjustment and setting This chapter explains how to adjust set the motor and driver functions When a parameter is changed the timing to reflect the new value varies depending on the parameter See p 84 for details 10 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 Initi
107. No corresponding 9 to 63 2 MS3 operation No selection to MSO to MS5 input 3 4 5 57 11 58 Operation Operating method Check the READY output is ON Turn the MSO input ON The motor starts positioning operation Check that the READY output has been turned OFF and turn the MSO input OFF When the positioning operation is completed the READY output will be turned ON Operation data No corresponding to the MSO input Motor operation 4 MSO i PN input OFF om on Li READY output OFF Of MOVE on output OFF END a output OFF 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 MS inputs or the MSO to MS5 inputs multiple sequential positioning operations can be set It is convenient for setting a different
108. 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 I O the function will be executed when both of them are set to ON 42 9 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 E ALM output See p 158 for alarm e Direct I O 9 Explanation of I O signals E Internal output circuit OUTO o eH Y k K OUT1 o eH a D EL pa i lt OUT2 o eH re FIL i K OUTS o eH 7 ST D Pa ij lt OUT4 o pi a jj Y t k OUT5 o rH Dey KH g OUT COM o K 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 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 stop The ALM output is normally open e Related parameters Paramet
109. OMES 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 do not show the movement of the motor itself 46 9 Explanation of I O signals 9 5 Sensor input E Internal input circuit ees oe iko K LS input iko K HOMES input o 2 p a K SLIT input ml Ke IN COM2 o 4 of ie 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 81 for hardware overtravel Related parameters Parameter name Description Setting range Initial value Sets whether to enable or disable hardware Disable overtravel detection using LS inputs Enable 0 1 Sets the motor stop action to take place upon 0 Immediate stop 1 0 1 Hardware overtravel 1 Overtravel action 0 the occurrence of overtravel Deceleration stop Normally open 0 Normally closed LS contact setting
110. Orientalmotor HV Stepping motor and driver package Ws7erP High efficiency AR Series CLEXO AC power input Built in Controller Type USER MANUAL cAi us C 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 Table of contents 1 Safety precautions ee 4 2 Overview of the product 05 7 3 System configuration cece 9 4 Introduction is cacc ties ekeegseraass toecadiceee tes 10 5 Precautions for use 12 6 Preparation ccccceeeeeeeeeeeeees 14 6 1 Checking the product 14 6 2 How to identify the product model 14 6 3 Combinations of motors and drivers 15 6 4 Input output power ratings 15 6 5 Names and functions of parts 16 T MS TAA OM ass ccacetendevetavetavecsviedeaensaintes 19 7 41 Location for installation 19 7 2 Installing the Motor eee 19 7 3 Installing a badae enoaan 20 7 4 Permissible overhung load and permissible thrust load 06 21 7 5 Installing the driver eee 22 7 6 Installing the regeneration unit 22 7 7 Installing the battery ee 23 7 8 Installing and wiring in compliance with EMC Directive c cccceceteeeteeees 23 8 COMME COM sac ccacaceceussesenesesersreceeseeess 25
111. RY n 2 8 Address number 5 remote I O RX n 2 F to RX n 2 8 Address number 5 remote 1 O input output RY n 3 7 to RY n 3 0 Address number 6 remote I O RX n 3 7 to RX n 3 0 Address number 6 remote O input output RY n 3 F to RY n 3 8 Address number 7 remote I O RX n 3 F to RX n 3 8 Address number 7 remote 1 O input output RY n 4 7 to RY n 4 0 Address number 8 remote I O RX n 4 7 to RX n 4 0 Address number 8 remote 1 O input output RY n 4 F to RY n 4 8 Address number 9 remote I O RX n 4 F to RX n 4 8 Address number 9 remote I O input output Address number 10 remote Address number 10 remote RY n 5 7 to RY n 5 0 VO input RX n 5 7 to RX n 5 0 V O output Address number 11 remote Address number 11 remote Control input of system area Status output of system area RY n 5 F to RY n 5 8 I O input RX n 5 F to RX n 5 8 I O output RY n 6 7 to RY n 6 0 Control input of NETCO1 CC RX n 6 7 to RX n 6 0 Status output of NETCO1 CC RY n 6 F to RY n 6 8 RX n 6 F to RX n 6 8 RY n 7 7 to RY n 7 0 RX n 7 7 to RX n 7 0 RY n 7 n 7 8 n 7 F to RY n 7 RX n 7 F to RX n 7 8 E Remote I O input Initial value See the network converter NETCO1 CC USER MANUAL for details e 6 axes connection mode Device No bit7
112. S side side os mechanical end mechanical end Mi i 7 a Ly Continuous operation Other operations T e JOG operation Motor operation e Automatic return operation Time MO to M5 input FWD input RVS input Setting by parameters e O e Motor function e Operation function e Return to home function Input logic level Operating current Acceleration deceleration type Home position offset STOP input action Standstill current Acceleration deceleration unit External sensor signal detection Overtravel action Speed filter JOG operation Return to home speed Moving average filter Automatic return operation Return to home starting direction e I O function Input function e I O function RS 485 e Alarm warning e Coordination setting Input logic level Input function Alarm detection Resolution Electronic gear Output function Output function Warning detection Wrap function Motor rotation direction 54 11 1 Positioning operation 11 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 final
113. TROLINK communication l STEP 4 Turn on the power and check the setting Orientalmotor NETCO1 M2 ARD CD pwpam Green Lit Green Lit POWER CONT Green Lit CN1 C DAT C ERR Green Lit ETA OFF ALARM OFF Roe Green Lit C DAT 24V S T Ife EJ g OFF SER S m No 7 z gt 6 THe oY DD z wat HS o Hf _ CN ed 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 Positioning operation Control the I O signal of the driver using the I O command DATA_RWA 50h of MECHATROLINK II communication 1 Set the position 1200h and operating speed 1240h of operation data No 0 of the driver 2 Execute positioning operation by turning the START of the address number 0 to ON bit15 bit14 bit13 bit12 bit11 bit10 bit bits NET IN15 NET IN14 NET IN13 NET IN12 NET IN11 NET IN10 NET INQ NET IN8 RVS FWD JOG JOG SSTART MS2 MS1 MSO bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit NET IN7 NET IN6 NET INS NET IN4 NET IN3 NET IN2 NET IN1 NET INO Not used FREE STOP HOME START M2 M1 MO __ Initial value 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
114. VE output will be turned OFF 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 ON OFF MO to M5 input No 0 FWD input RVS input READY output MOVE output END Sn output opp In direct I O turn the FWD input or RVS 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 FWD RVS input ON simultaneously 11 Operation E Variable speed operation e When acceleration deceleration is separate e Acceleration deceleration unit ms kHz When accelerating When decelerating VR2 VR1 TA2 TD2 TA1 TD2 VR1 VR2 TA1 une VS VS ON ON FWD input opp FWD input opf 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 TAR1 TDR2 VR1 VR2 TARI x TDR2 vs A1 Uae TD2 vs EAI Tbe FWD i FWD i a input orp input opp Operation Operation data No No 1 No 2 data No No 1 No 2 e Explanation of labels e Calculation method for VS Starting speed Hz TD2 Deceleration of operation data No 2 acceleration deceleration rate VR1 Operating speed of
115. Wrap setting range 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 E Common Name Description Setting range Initial value Effective Data setter speed Display method of the speed monitor for the 0 Signed 0 display OPX 2A 1 Absolute value A Sets whether it is possible to edit using the Dat tt dit 1 oe ee OPX 2A 0 Disable Absolute position Sets enable or disable of the absolute position 1 Enable 0 c backup system backup system Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration E O function 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 to 49 M1 See table next IN4 input function selection 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 pat logic level setting INO to IN7 input logic 0 Normally open 0
116. X n 4 7 to RX n 4 0 Address number 4 remote I O ered 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 artes F to RY n 5 8 input X n 5 F to RX n 5 8 output Y n 6 7 to RY N46 0 Control input of NETCO1 CC X n 6 7 to RX n 6 0 Status output of NETCO1 CC a F to RY n 6 8 X n 6 F to RX n 6 8 Ue ee Control input of system area X nt 710 RX n7 Status output of system area ae F to RY n 7 8 RX n 7 F to RX n 7 8 136 See the network converter NETCO1 CC USER MANUAL for details E 12 axes connection mode 14 Method of control via CC Link communication Command RY Master to NETC0O1 CC Response RX NETCO1 CC to master Device No Description Device No Description RYn7 to RYn0 Address number 0 remote I O RXn7 to RXn0 Address number 0 remote O input output RYnF to RYn8 Address number 1 remote I O RXnF to RXn8 Address number 1 remote I O input output RY n 1 7 to RY n 1 0 Address number 2 remote I O RX n 1 7 to RX n 1 0 Address number 2 remote I O input output RY n 1 F to RY n 1 8 Address number 3 remote I O RX n 1 F to RX n 1 8 Address number 3 remote 1 O input output RY n 2 7 to RY n 2 0 Address number 4 remote I O RX n 2 7 to RX n 2 0 Address number 4 remote 1 O input output RY n 2 F to
117. al value Electronic gear A Set the denominator of electric gear ate a 1 to 65535 1 Electronic gear B Set the numerator of electric gear e If 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 If 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 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 Electroni B Resolution 1000 x eee Bell screw lead x Gear ratio Electronic gear A Minimum travel amount Electronic gear B 12mm In this example 1000 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
118. ame AR Series The model name is 7 for the gear ratio 7 2 of the PS geared type 14 6 3 Combinations of motors and drivers e O indicates A single shaft B double shaft or M with electromagnetic brake In AR911 O indicates A single shaft or B double shaft For geared type O indicates A single shaft or M with electromagnetic brake e W in the unit model represents a number indicating the gear ratio e O indicates the cable length 6 Preparation E Standard type E PN geared type Model Motor model Driver model Model Motor model Driver model AR460 AD O ARM4601C AR460AD N O ARM460C N AR660 AD O ARM6601C AR660AD N O ARM660C N ARD AD AR690 AD O ARM69L1C ARD AD AR98DAD N O ARM980C N AR980AD O ARM980C AR460CD N m O ARM460C NE AR9110AD O ARM9110C AR66O0CD N m O ARM66OC NE ARD CD AR460CD O ARM460C AR980CD N m O ARM980C NE AR66OCD O ARM660C AR690CD O ARM690C ARD CD AR980CD O ARM980C AR9110CD O ARM91 10C E TH geared type E Harmonic geared type Model Motor model Driver model Model Motor model Driver model AR460AD TH O ARM460C TE AR460AD HE O ARM460C H E AR660AD TH O ARM660C TE ARD AD AR66O0AD HE O ARM660C H E ARD AD AR980AD TH O ARM980C TE AR980 AD H O ARM980C H E AR460CD TH O ARM460C TE AR460CD HE O ARM460C H E AR66OCD TH O ARM660C TE ARD CD AR66OCD HE O ARM660C H E ARD CD AR
119. ameter name Description Setting range Initial value 0 Normal mode Control mode Set the control mode 1 Current control mode 0 10 Adjustment and setting 10 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 between 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
120. ample of push motion operation Operation Position Operating Acceleration Decel ratior Operation Operation Dwell Push Sequential data speed mode function time current positioning No 1 5000 500 Notused Not used INC Push Notused 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 Check the READY output is ON Select the operation data No 1 by turning the MO input ON and turn the START input ON The motor starts the positioning operation for the operation data No 1 Check that the READY output has been turned OFF and turn the START input OFF 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 MO to M5 input TN oX to input OFF O START i Ta input OFF READY Sn output OFF A MOVE on output opp END S output OFF ON TLC 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 65 11 Operation Operation example when it had not pressed against the load Speed Operating speed of No 1 500 Operation data No 1
121. 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 49 10 Adjustment and setting 10 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 Setting 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 10 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 parame
122. anical end VL i VR ents VR side a VS side vs TIM signal x v side See oe VS side ZVS saat VR VR tim ON E tim ON M OFF OFF side side side side mechanical end mechanical end mechanical end mechanical end VL VR wy ants VR side avs side ys v Between SLIT input a iT i side So VS side TVS and TIM signal sat yR yR VL ON ON SLIT SFF i eae 1 ON A ON TIM OFF TIM OFF The motor will move 200 steps from the mechanical end 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 gearhead e Do not perform push mode return to home operation for geared motors Doing so may cause damage to the motor or gearhead 73 11 Operation E Position preset 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 e Operating method Check the READY output is ON Turn the P PRESET input ON When the driver internal processing is completed th
123. ar Ti Metal plate Model Nominal Number of Tightening torque Effective depth size bolts N m oz in of bolt mm in AR46 M3 6 1 4 198 5 0 2 AR66 M4 6 2 5 350 6 0 24 Ka 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 7 Installation 7 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 amp Permissible overhung load N lb Permissible Type Model ae 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 ARS 35 7 8 44 9 9 58 13 85 19 1 ee AR46M 6 1 1 37 AR66 8 8 1 98 AREGM 90 20 100 22 130 29 180 40 270 60 1826h Standard AR69 13 7 3 AR69M 16 7 3 7 AR98 18 4 AR98M 260 58 290 65 340 76 390 87 480 108 24 5 4 AR911 29 6 5 AR46 10 2 2 14 3 1 20 4 5 30 6 7 15 3 3 TH geared 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 5 7 2 73 16 4 84 18 9 100 22 12
124. as query Register address upper 06h Same as query Data Register address lower 04h Number of registers upper 00h Samedsd st Number of registers lower 06h Error chieck lower eal Calculation result of CRC 16 Error check upper 17h 13 8 Setting of RS 485 communication Set parameters required RS 485 communication first 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 Parity for RS 485 communication 2 Odd number Communication stop bit ae 0 Stop bit for RS 485 communication Transmission waiting time 0 to 10000 1 0 1 ms 100 Transmission waiting time for 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 0 Not monitored 0 Condition in which a communication timeout timeout 0 to 10000 ms occurs in RS 485 communication Condition in which a RS 485 communication error Communication alarm generates A communication error alarm 1 to 10 times 3 DEEA error alarm generates after a RS 485 communication error has occurred by the number of times set here
125. assign the C ON input to the direct I O or network I O e Use the accessory regeneration unit RGB100 sold separately if gravitational operation or other operation involving up down movement or sudden starting stopping of a large inertial load will be repeated frequently An overvoltage protection alarm will generate depending on the operating condition If the overvoltage protection alarm is detected adjust the driving condition or use the accessory regeneration unit RGB100 sold separately e Note on connecting a power supply whose positive terminal is grounded The data edit connector CN4 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 13 6 Preparation 6 Preparation This chapter explains the items you should check as well as the name and function of each part 6 1 Checking the product Verify that the items listed below are included Report any missing or damaged items to the branch or sales office from which you purchased the product Verify the model number of the purchased unit against the number shown on the package label Check the model number of the motor and driver against the number shown on the nameplate The unit models and corresponding motor driver combinat
126. ation cable OTEO Driver NETCO1 CC 172 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 Qsrepr are registered trademark or trademark 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
127. ation data No 0 Operating speed FWD i e input OFF RVS i z 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 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 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 lees ge al ee Mg 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 MS inputs See p 39 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 61 ON ON ON ON OFF ON 62 ON ON ON ON ON OFF 63 ON ON ON ON ON ON e Operating method Check the READY output is ON Select the operation data No by a combination of the MO to M5 inputs and turn the FWD input ON The motor starts continuous operation The READY output will be turned OFF Select the operation data No 1 by turning the MO input ON The motor accelerates to the operating s
128. ation deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 84 E Parameter list The setting items for each parameter are as follows 11 Operation e STOP input action e Hardware overtravel e Overtravel action e Positioning completion signal range e Positioning completion signal offset e Minimum ON time for MOVE output e LS logic level e HOMES logic level e SLIT logic level e MSO operation No selection ees e AREA1 positive direction position e MS1 operation No selection e AREA1 negative direction position e MS2 operation No selection e AREA2 positive direction position e MS3 operation No selection e AREA2 negative direction position e MS4 operation No selection e AREAS positive direction position e MS5 operation No selection e AREA negative direction position e HOME P output function selection e RUN current e Moving average time e STOP current e Filter selection Motor e Position loop gain e Moving average p 87 e Speed loop gain e Moving average2 e Speed loop integral time constant e Control mode e Speed filter e Smooth driver e Common acceleration e Acceleration deceleration unit e Common deceleration e Automatic return operation i e Starting speed e Operating speed of automatic return roe e JOG operating speed e Acceleration deceleration of automatic return e Acceleration deceleration rate of JOG e JOG starting speed e
129. aved in the NV memory will be retained even after the 24 VDC power supply is turned off When turning the driver 24 VDC power supply on the parameters saved in the NV 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 0 eeeceeeecreeeeeeeeee Executes the recalculation and setup immediately when writing 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 24 VDC power ON again Note e The parameters are written in the RAM when writing via RS 485 communication e The NV memory can be rewritten approx 100 000 times Setting the operation data Up to 64 operation data can be set data Nos 0 to 63 Name Description Setting range Initial Effective value Position No 0 Position distance for positioning 8 388 608 to 0 operation 8 388 607 step 0 Position No 63 i aia Operating speed No 0 re 2 o sosten 4 000 000 H2 1000 Operating speed No 63 p i Operation mo
130. 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 2012 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 PM 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 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 Fax 089 3181225 25 SHANGHAI ORIENTAL MOTOR CO LTD Tel 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
131. bps The transmission rate to be set should be the same as the transmission rate of 0 9600 the master device 1 19200 Factory setting 7 2 38400 Note Do not set SW2 to positions 5 to F 3 57600 4 115 200 5 to F Not used E Termination resistor Use a termination resistor for the driver located farthest away positioned at the end from the programmable controller master device 2 GND 3 TR Turn the termination resistor setting switch TERM No 1 6 TR and No 2 ON to set the termination resistor for RS 485 lt ar 5V communication 120 Q TERM J4 po TERM Factory setting No 1 and No 2 Both OFF No 2 No 1 Seer 2 GND i termination resistor disabled 3 TR 120 Q TERM No 1 and No 2 Termination resistor 120 Q 6TR h ga Both are OFF Disabled ov Both are ON Enabled VON Note If only one of No 1 or No 2 is turned ON a communication error may occur 13 4 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 the Master process and returns a response Slave 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 respo
132. bus protocol 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 82 MPS 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 13 10 Group send Multiple slaves are made into a group and a query is sent to all slaves in the group at once Query sent to the parent slave e Group composition A group consists of one parent slave and child slaves and only the parent slave returns a response Parent slave Master Response e Group address Query sent to To perform a group send set a group address to the aster the parent slave child slaves to be included in the group Child slave Executes the The child slaves to which the group address has been process but does set can receive a query sent to the parent slave 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 exec
133. cceleration deceleration unit parameter initial value acceleration deceleration rate 87 11 Operation Name Description Setting range Initial value Effective Starting speed E Starting speed for automatic return operation O to 1 000 000 Hz 500 automatic return B JOG travel amount Travel amount for JOG operation 1 to 8 388 607 step 1 Indicates the timing for the data to become effective B Effective after stopping the operation E Return to home Name Description Setting range Initial value Effective 0 2 sensor mode Home seeking mode Mode for return to home operation 1 3 sensor mode 1 2 Push mode Operating speed of Operating speed for return to home 1 to 1 000 000 Hz 4000 home seeking operation Acceleration d celerationof Acceleration deceleration rate or 1 to 1 000 000 hormesse kin acceleration deceleration time for 1 0 001 ms kHz or 1000 9 return to home operation 1 0 001 s Starting speed of Starting speed for return to home 1 to 1 000 000 Hz 500 home seeking operation Position offset of 8 388 608 to B home seeking Amount of offset from mechanical home 8 388 607 step 0 Starting direction of Starting direction for home detection o Negative direction 1 home seeking 1 Positive direction SLIT detection with Sets whether or not to concurrently use the 0 home seeking SLIT input for return to home operation 0 Disable TIM signal detection with Sets wh
134. cessing time 1 s or less 4 Execute a query after the driver internal processing is completed 131 14 Method of control via CC Link communication 14 Method of control via CC Link communication See the following explanation when using the AR Series AC power input built in controller type in combination with the network converter NETCO1 CC via CC Link communication Refer to 16 Details of network converter on p 146 for remote I O and command code 14 1 Guidance If you are new to the AR Series AC 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 NETCO1 CC USER MANUAL for how to set the parameter STEP 1 Set the transmission rate station address and address number E Using the switches Setting condition of driver Setting condition of NETC0O1 CC CC Link station number 1 RS 485 transmission rate 625 000 bps CC Link baud rate Same as the master station Operation mode 6 axes connection mode e Address number of the driver 0 e RS 485 transmission rate 625 000 bps e SW4 No 2 of the function setting switch OFF Driver Address number 0 RS 485 CC Link station KASD transmission rate number 1 See ID 0 625 000 bps NETCO1 CC sy SCO Gos RELLA 2 amp 9 RASS LITI e
135. cion 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 funcNon Selection lower See P128 4360 1108h IN4 input function selection upper 50 M2 4361 1109h IN4 input function selection lower 4362 110Ah IN5 input function selection upper 16 FREE 4363 110Bh IN5 input function selection lower 4364 110Ch IN6 input inagHon sc SL upper 18 STOP 4365 110Dh IN6 input function selection lower 4366 110Eh IN7 input Tunen Selecion upper 24 ALM RST c 4367 110Fh IN7 input function selection lower 4384 1120h INO input logic level setting upper 4385 1121h INO input logic level setting lower 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 l
136. d and keep the total wiring distance including extension to 50 m 164 ft or less Electrical characteristics Transmission mode Half duplex Transmission rate Selectable from 9600 bps 19200 bps 38400 bps 57600 bps and 115 200 bps Asynchronous mode data 8 bits stop bit 1 bit 2 bits parity none even number odd Physical layer number Protocol Modbus RTU mode Connection figure Up to 31 drivers can be connected to one programmable controller master device E Connection example Programmable controller Termination resistor or master device TERM No 1 No 2 ON Address number 31 Address number 2 Oo z Driver 1 RS 485 TR e P TR r GND TERM fi V TERM ai ll No 2 1kQ No 1 OV 120 Q i kQ OV Driver 2 mI r gt GND TERM A5V TERM TR No 2 l kQ No 1 TR 1202 fliko GND oV Termination resistor 120 Q 2 Turn the termination resistor TERM No 1 and No 2 to ON 108 13 3 Setting the switches 13 Method of control via Modbus protocol Be sure to turn off the driver power before setting the switches If the switches are set while the power is stil
137. d ON ON 24 VDC power supply OFF f ON Main power supply opp o ON utput signals opp l l na ON nput signals OFF ON READY output OFF Excitation Motor excitation eat otorexeitatio Not excitation Hold Electromagnetic brake Release 1 s or more 0 s or more 0 s or more 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 1 25sorless 1s or less 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 a output opp ON OFF 250 ms or less 6 ms or less e Excitation Motor excitation hae Not excitation 200 ms or less 220 ms or less Hold 250 ms or less Electromagnetic brake pelease 94 60 ms or less E STOP input 12 e When the STOP input action parameter is immediate stop STOP i ON input OFF MOVE output i sae le 6 END il output OFF ON READY output OFF Motor operation ne Excitation Motor excitation eos Not excitation Hold Electromagnetic brake Release 4 ms or more 6 ms or less The specific time varies depending on the load operating speed speed fi
138. de No 0 Selects how to specify the position travel 0 INC Incremental to amount in positioning operation absolute 1 ABS Absolute 0 Operation mode No 63 mode or incremental mode A 0 Single motion pues function No Selects how to operate consecutive 1 Linked motion 0 5 operation data 2 Linked motion 2 Operation function No 63 3 Push motion Acceleration No 0 Acceleration rate or acceleration time in to positioning operation and continuous 1000 B Acceleration No 63 operation i Dry p Sr Deceleration No 0 Deceleration rate or deceleration time in 1 0 001 s 3 to positioning operation and continuous 1000 Deceleration No 63 operation Push current No 0 to Current value of push motion operation 0 to 500 1 0 1 200 Push current No 63 ibaa positioning No 0 Sets enable or disable sequential 0 Disable 0 Sequential positioning No 63 positioning operation 1 Enable DweilitimeNo 0 Dwell time to be used in linked motion 0 to 50000 to operation 2 1 0 001 s 0 Dwell time No 63 f 1 Indicates the timing for the data to become effective B Effective after stopping the operation 2 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 3 Acceleration deceleration rate ms kHz or acceler
139. deceleration rate applied for the time set in parameter for the geese i 30h Overload overload warning or longer if the driver is in the current control mode e The load is large or acceleration increase the current limit valye deceleration rate 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 acceleration increase the acceleration deceleration rate 48h Battery connection The battery was unconnected while the Check the battery connection error absolute position backup system was enable 71h 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 host 84h A RS 485 communication error was detected system and driver communication error e Check the setting of RS 485 communication 164 E Warning records Up to 10 generated warnings are saved in the RAM in order of the latest t
140. dress lower 4Bh Value write upper 00h Value written to the register Value write lower 50h address E heck I F8h rror cheek lower Calculation result of CRC 16 Error check upper 6Bh e Response Field name Data Description Slave address 02h Same as query Function code 06h Same as query Register add 02h egis er address upper Sames q e Data Register address lower 4Bh Val it 00h alue i e upper Sames diN Value write lower 50h E heck I F8h rfo chek lower Calculation result of CRC 16 Error check upper 6Bh 13 Method of control via Modbus protocol E Diagnosis 08h 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 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 functi d 00h ae aul code upper Return the query data Data Sub function code lower 00h Data val 12h ata Vale Upper Arbitrary data 1234h Data value lower 34h E heck I ECh or ch ck lowern Calculation result of CRC 16 Error check upper 9Eh e Response Field name Data Description Slave address 03h Same as query Function code 08h Same as query S
141. dress 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 14 4 Assignment of remote I O 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 or 12 axes mode E 6 axes connection mode Command RY Master to NETCO1 CC Response RX NETC0O1 CC to master Device No Description Device No Description RYn7 to RYnO RYnF to RYn8 amp Address number 0 remote I O input RXn7 to RXnO RXnF to RXn8 amp Address number 0 remote I O output 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 nt 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 erie 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 O eves 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
142. e 2 ___ _ Master Query Communication aay Slave Response 3 MOVE S OVE output OFF A message including a query to start operation 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 2 Master Query Communication Slave Response 43 4 Motor speed command 1 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 2 ___ _ Master Query Communication Slave Response 3 a AN 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 Query a Query Communication Slave Internal processing Response 3 Internal processing was in progress A message including a query for configuration via RS 485 communication 2 Tb2 transmission waiting time C3 5 silent interval command processing time 3 Command pro
143. e HOME P output will be turned ON Check the HOME P output has been turned ON and then turn the P PRESET input OFF P PRESET i NO E input OFF on e READY output OFF HOME P P output OFF Command position Preset position ON OFF 11 3 Continuous operation The motor operates continuously while 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 Operating speed in continuous operation 1 to 1 000 000 Hz 1000 Acceleration A al Gos er time in 1 to 1 000 000 p 3 1 0 001 ms kHz or 1000 Deceleration rate or deceleration time in Deceleration continuous operation 1 0 001 s 74 11 Operation Speed Operating speed Operation data Starting speed No 0 Time Starting speed i Oper
144. e 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 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 74 for continuous operation 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 79 for JOG operation 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 the operating speed for JOG 1 to 1 000 000 Hz 1000 operation Accelerati n deceleratior Sets the acceleration deceleration rate or 1 to 1 000 000 acceleration deceleration time for JOG 1 0 001 ms kHz or 1000 rate of JOG a operation 1 0 001 s JOG starting speed Sets the starting speed for JOG operation O to 1 000 000 Hz 500 41 9 Explanation of I O signals E STOP input W
145. eared 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 5 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 Toe ORGGAE Gear ratio Rotation direction YP 9 relative to the motor rotation direction TH geared 3 6 7 2 10 Same direction 20 30 Opposite direction PS geared a PN geared All gear ratios Same direction Harmonic geared All gear ratios Opposite direction e Do not perform push motion operation with geared types Doing so may cause damage to the motor or gearhead e Saving data to the non volatile memory Do not turn off the 24 VDC power supply while writing the data to the non volatile memory and 5 seconds after the completion of writing the data Doing so may abort writing the data and cause a EEPROM error alarm to generate The non volatile memory can be rewritten approx 100 000 times e Motor excitation at power ON The motor is excited when the 24 VDC and main power is on If the motor is required to be in non excitation status when turning on the power
146. ec Hex 191 OOBFh Communication error code record 9 lower Communication error code Monitors the communication error records 1 to 192 ORSON record 10 upper 10 that have occurred in the past OoNtO EEN 193 00C1h Communication error code record 10 lower Present selected data No 194 00C2h upper Monitors the operation data No currently ee 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 i aay upper operation This address is used in linked motion operation and sequential positioning 1 to 63 operation While the motor is stopped the last Present operation data No used operation data number is indicated 1 197 00C5h Paar i SS oun lower is indicated until the positioning operation is performed after turning the power on 198 00C6h C d iti guman iad an upper Monitors the command position 2 141 483 648 t0 199 00C7h Command position lower 2 147 483 647 step 200 00C8h Command speed upper a to ee r min Monitors the current command speed D chats 201 00C9h_ Command speed lower 0 Stop 204 0O0CCh Feedback iti 990999 Rosi lon upper Monitors the feedback position 2 147 483 648 to 205 00CDh Feedback position lower 2 147 483 647 step 206 OOCEh Feedback d esdba k speed Upper Monitors the feedback speed 4500 to 4500 r min 207 OOCFh_ Feedback speed lower 210 00D2h_ R
147. ectrostatic charge is impressed on the driver the driver may be damaged 24 BATO1B A Cable cramp 8 Connection 8 Connection This chapter explains how to connect the motor I O signals and power supply to the driver as well as grounding method 8 1 Connection example The following figure is a connection example when an electromagnetic brake motor is used Refer to p 29 for the connection method of 24 VDC power supply Wiring method of connector for CN1 Connector screw size M2 Connector screw size M2 5 Tightening torque 24 VDC power supply Tightening torque 0 4 N m 56 oz in 0 22 ot 0 25 Ne m 31 to 35 oz in amp Wiring method of connectors for CN5 CN8 and CN9 Lead wire Button of the orange color Connect to CN1 Black z Insert the lead wire while pushing the button of the orange color with a K aN slotted screwdriver Lead wire White L Cable for electromagnetic brake Connect to CN2 Output signals Cable for motor Connect to CN9 Connect to CN8 Sensor signals Connect to CN5 Connect to CN3 Main power supply Single phase 100 120 V or Single phase 200 240 V Input signals Wiring method of connector for CN3 Insert the lead wire while pu
148. eeeeeeees 148 E Maintenance comman d ccccceeceeee 149 E Monitor command ccccceceseeeceseeeeeee 150 E Operation data eseeeseeseeteeeeeseees 151 E User parameters cccccccceeecseseeseeeeeeeseees 152 17 Alarms and warnings ee 158 VE Alarm S ainaani eraai 158 17 2 WArningS aieiaa eiert 164 17 3 Communication errors 000008 165 18 Troubleshooting and remedial actions ccccceeeeeeeeeees 166 19 INSPECTION ee cceeeeeeeeeeeeeeeeeeees 167 20 General specifications 168 21 Accessories sold separately 169 22 Related products sold separately 172 1 Safety precautions 1 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 fully understanding these instructions A Warnin Handling the product without observing the instructions that accompany a Warning g symbol may result in serious injury or death A Caution Handling the product without observing the instructions that accompany a Caution 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 N Warning General e Do not use the product in explos
149. emaining dwell time upper Monitors how much of the dwell time used in F 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 Address Hex bit7 bit bit5 bit4 bit3 bit2 bit bito oop4hn PPer a z MB Lower E OUT5 OUT4 OUT3 OUT2 OUTI OUTO oopsny PPer 2 z IN7 ING IN5 IN4 IN3 IN2 Lower INI INO z SLIT HOMES LS ILS 121 13 Method of control via Modbus protocol E Parameter R W commands Write or read parameters All commands can be read and written READ WRITE For details on parameters see p 85 and later e Operation data Register address Initial Name Setting range Effective 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 Operating speed No 0 upper 1153 0481h Operating speed No 0 lower to to to 0 to 1 000 000 Hz 1000 1278 O4FEh Operating speed No 63 upper 1279 04FFh Operating speed No 63 lower 1280
150. emote 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 143 15 Method of control via MECHATROLINK communication 15 5 Communication format Communication format 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 146 Initial value 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 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 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 E Remote I O output __ Initial value 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
151. ential 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 sai Not used Not used Not used 61 11 Operation 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 Operating method Check the READY output is ON Select the operation data No 1 by turning the MO input ON and turn the START input ON The motor starts the positioning operation in which the operation data No 1 and No 2 are linked Check that the READY output has been turned OFF and turn the START input OFF When the positioning operation is completed the READY output will be turned ON No 1 No 2 Motor operation ON MO to M5 input opp NO 0 X No 1 ON START input OFF READY output oD Ore MOVE OR output OFF END ma 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 operation 2 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
152. er 18 to 18 1 0 1 0 521 0209h Positioning completion signal offset lower A 522 020Ah_ AREA1 positive direction position upper 523 020Bh AREA1 positive direction position lower 524 020Ch_ AREA1 negative direction position upper 525 020Dh_ AREA1 negative direction position lower 526 020Eh AREA2 positive direction position upper 527 020Fh_ AREA2 positive direction position lower 8 388 608 to 0 528 0210h AREA2 negative direction position upper 8 388 607 step 529 0211h AREA2 negative direction position lower 530 0212h AREAS positive direction position upper 531 0213h AREAS positive direction position lower 532 0214h AREAS negative direction position upper 533 0215h AREA3 negative direction position lower 534 0216h Minimum ON time for MOVE output upper 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 logic level lower 1 Normally closed 540 021Ch SLIT logic level upper 541 021Dh SLIT logic level lower 4096 1000h MSO operation No selection upper 0 4097 1001h MSO operation No selection lower 4098 1002h MS1 operation No selection upper 1 4099 1003h MS1 operation No selection lower 4100 1004h MS2 operation No selection upper 2 4101 1005h MS2 operation No selection lower 0 to 63 B 4102 1006h MS
153. er and turn Main circuit output The motor cable was on the power again after 2Dh 5 i error disconnected checking the connection for the motor cable and driver 159 17 Alarms and warnings No of Reset Motor ALARM using the AA Code LED Alarm type Cause Remedial action ALM RST excitation blinks input e Reduce the load or increase the acceleration A load exceeding the deceleration maximum torque was applied 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 Excitation 2 Possible electromagnetic brake off e Check the electronic gear setting and set the speed of The rotation speed of the the motor output shaft to 31h Overspeed motor output shaft exceeded 4500 r min or less approx 4500 r min e If the motor is overshooting at the time of acceleration increase the acceleration When one of the following conditions is satisfied while the absolute position backup system parameter was enable this alarm was generated e Perform the P PRESET or The power was tumecion return to home operation Possibl Absolute position while the position origin i ossibe Excitation 33h 7 Aor was not set e Check the connection of or not oe the battery Or change the possible e The power was turned on batter while the
154. er name Description Setting range Initial value Overload alarm Sets the condition in which the overload alarm 1 to 300 1 0 1 s 50 generates Overflow rotator diag Sets the condition under which an excessive 4 to 30000 position deviation alarm generates when the a 300 during current ON 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 Overflow rotation alarm Sets the condition under which an excessive 1 to 30000 duri position deviation alarm generates when the _ 10000 uring current OFF ra 1 0 01 rev motor is in a state of current OFF Gomunumieation timeout Sets the condition in which a communication 0 Not monitored 0 timeout occurs in RS 485 communication 0 to 10000 ms Sets the condition in which a RS 485 ee communication error alarm generates A Communication error Dap 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 43 9 Explanation of I O signals 44 E WNG output When a warning generates the WNG output turns ON See p 164 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
155. er was processing the complete 8Ah robes A NV memory e When the EEPROM error was 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 8Ch Outside setting master could not be executed due to Check the setting data range outside the range 8Dh Command execute When the command could not be Check the driver status disable executed it tried to do it 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 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 Read and clear the communication error records using the status monitor of the MEXE02 Note You can also clear the communication records by turning off the driver power 165 18 Troubleshooting and remedial actions 18 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
156. ess Name Setting range Initial value Effective Dec Hex 900 0384h Motor rotation direction upper 0 Say direction Ru ISA 1 C 901 0385h Motor rotation direction lower Ls eae alrecion 902 0386h Software overtravel upper 0 Disable 1 903 0387h Software overtravel lower 1 Enable 904 0388h Positive software limit upper 8 388 607 905 0389h Positive software limit lower A 906 038Ah Negative software limit upper 8 388 608 to f aaa 8 388 608 907 038Bh Negative software limit lower 8 388 607 step 908 038Ch Preset position upper 0 909 038Dh_ Preset position lower 910 038Eh Wrap setting upper 0 Disable 0 911 038Fh Wrap setting lower 1 Enable E 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 A 962 03C2h_ Data setter edit upper 4 963 03C3h_ Data setter edit lower 0 Disable 964 03C4h_ Absolute position backup system upper 1 Enable x 965 03C5h Absolute position backup system lower 4352 1100h INO input function selection upper 3 HOME 4353 1101h INO input function selection lower 4354 1102h IN1 input function Sele
157. eted when turning the SSTART input ON again the positioning operation for the operation data No 5 will be performed After the operation 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 After the operation 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 After the operation is completed when turning the SSTART input ON again the positioning operation for the operation data No 8 will be performed When turning the SSTART input ON again after the operation 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 data No 3 gt data No 4 data No 5 Mo M1 M2 ON START ON SSTART SSTART Operation ON Operation ON data No 7 data No 8
158. ether or not to concurrently use the 1 Enable 0 home seeking TIM signal for return to home operation Operating c rrent of 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 E Alarm warning Name Description Setting range Initial value Effective Ovstibad aiann Condition in which an overload alarm 1 to 300 1 0 1 s 50 generates mE FE A Overflow rotation alarm Condition tnat ari exceSsIveposition 1 to 30000 f deviation alarm generates when the motor i 300 during current on ke 1 0 01 rev is in a state of current ON Alarm signal status When the positioning Return to home incomplete operation is started while the position origin 0 Disable 0 c alarm has not been set selects whether the 1 Enable alarm generates or not Overflow rotation alarm Condition that an excessive position 1 to 30000 deviation alarm generates when the motor E 10000 during current off a 1 0 01 rev is in a state of current OFF Overh at Warih Temperature at which a main circuit 40 to 85 C 85 9 overheat warning
159. g 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 f 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 E Monitor commands These commands are used to monitor the operating speed alarm and warning records etc All commands can be read READ Register adoress Name Description Setting range Dec Hex 128 9080h Presentalarin upper 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 rec
160. gain Adjusts the motor response in reaction to the 10 to 200 180 speed deviation Speed loop integral time Decreases the deviation that cannot be 10 to 2000 4000 constant adjusted with the speed loop gain 1 0 1 ms Speed filter Adjusts the motor response 0 to 200 ms 1 B Moving average time Time constant for the moving average filter 1 to 200 ms 1 i k 0 Speed filter Filter selection Sets the filter function to adjust the motor 4 Moving average 0 c response filter Speed error gain 1 Adjusts vibration during operation Adjusts vibration during acceleration 0 to 500 45 A Speed error gain 2 deceleration 0 Normal mode Control mode Control mode of the driver 1 Current control 0 mode Cc Sets whether to enable or disable smooth drive 0 Disable Smooth driver 1 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 E Operation Name Description Setting range Initial value Effective Common acceleration rate or common Common acceleration acceleration time in positioning operation and 1000 continuous pacar me 1 to 1 000 000 1 0 001 ms kHz or Common deceleration rate or common 1 0 001 s 2 Common deceleration deceleration time in positioning operation and l 1000 continuous operation Starting speed in positioning operation and c
161. generates 104 to 185 F Overload warning Condition that an overload warning 1 to 300 1 0 1 s 50 generates Overspeed warning Condition that an overspeed warning 1 to 5000 r min 4500 Bi generates Overvoltage warning Voltage at which an overvoltage warning 120 to 450 V 435 generates Undervoltage warning Voltage at which an undervoltage warning 120 to 280 V 120 generates Overflow rotation warning Condition that an excessive position 1 to 30000 ne in 300 during current on 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 88 E Coordination 11 Operation Name Description Setting range Initial value Effective Eaton gearA Denominator of SICITIG gear 1 to 65535 1 Electronic gear B Numerator of electric gear c Motor rotation ees 0 Positive direction CCW direction Rotation direction of motor output shaft 1 Positive direction CW 1 Sets whether to enable or disable software 0 Disable Software overtravel i Pin i 1 overtravel detection using soft limits 1 Enable s software Value of soft limit in positive direction 8 388 607 A N dalive software 8 388 608 to 8 388 607 Aa Value of soft limit in negative direction step 8 388 608 Preset position Preset position 0 F p 0 Disable Wrap setting Sets enable disable for the wrap function 1 Enable 0 c
162. gs will not become effective until the driver power is cycled Setting the connection device Set the connection device of RS 485 communication using the function setting switch SW4 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 ID and SW4 No 1 of the function setting switch Make sure each address number slave address you set for each driver is unique Factory setting SW4 No 1 OFF ID 0 Address number 0 Address number 4 o a oa eb ee e 8 ae om slave address ID 0 1 2 3 4 5 6 7 8 9 A B SW4 No 1 OFF 6 axes connection mode Operation mode 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 motor located farthest away positioned at TERM Termination the end from the programmable controller master device No 1 No 2 resistor 120 Q Turn the termination resistor setting switch TERM No 1 and No 2 ON to Both are OFF Disabled set the termination resistor for RS 485 communication 120 Q Both are ON Enabled Factory setting No 1 and No 2 Both OFF termination resistor disabled Note
163. h 13 7 Function code E Reading from a holding register s 03h 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 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 bal 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 ee E4h calculation result of CRC 16 Error check upper F9h 113 13 Method of control via Modbus protocol e Response Field name Data Description Slave address 01h Same as query Function code 03h Same as query Number
164. hen 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 Description 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 Note 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 cu
165. hich the MOVE 0 to 255 ms 0 MOVE output output remains ON LS logic level LS input logic atin i HOMES logic level HOMES input logic ee Y OPen 0 C 1 Normally closed SLIT logic level SLIT input logic MSO operation No Operation data No corresponding to MSO 0 selection input MS1 operation No Operation data No corresponding to MS1 1 selection input MS2 operation No Operation data No corresponding to MS2 2 selection input 0 to 63 B MS3 operation No Operation data No corresponding to MS3 3 selection input MS4 operation No Operation data No corresponding to MS4 4 selection input MS5 operation No Operation data No corresponding to MS5 5 selection input 0 Home output HOME P function selection Timing to output the HOME P output 1 Return to home 0 A 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 86 11 Operation E Motor Name Description Setting range Initial value Effective RUN current Motor operating Current based on the rated 0 to 1000 1 0 1 1000 current being 100 Motor standstill current as a percentage of the STOP current rated current based on the rated current being 0 to 500 1 0 1 500 100 Position loop gain Adjusts the motor response in reaction to the 1 to 50 10 A position deviation Speed loop
166. 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 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 Operating speed for return to home 1 to 1 000 000 Hz 1000 home seeking operation Ac eleration decalaration of Acceleration deceleration rate or 1 to 1 000 000 acceleration deceleration time for 1 0 001 ms kHz or 1000 home seeking A return to home operation 1 0 001 s Starting speed of Starting speed for return to home 1 to 1 000 000 Hz 500 home seeking operation Position offset of The amount of offset from mechanical 8 388 608 to 0 home seeking home 8 388 607 step Starting direction of Starting direction for home detection Negative direcion 1 home seeking 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 68 11 Operation e Operation example when using 3 sensor mode Operating sequence in seeing a time axis re of home seeking Speed O
167. ide of the driver When using a circuit breaker MCCB use a unit conforming to the EN or IEC standard Isolate the motor cable power supply cable and other drive cables from the signal cables CN1 CN4 to CN9 by means of double insulation The temperature of the driver s heat sink may exceed 90 C 194 F depending on the driving conditions Accordingly take heed of the following items Do not touch the driver Do not use the driver near flammable objects Always conduct a trial operation to check the driver temperature e EMC Directive This product has received EMC compliance under the conditions specified in Example of motor and driver installation and wiring on p 24 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 EMI EN 61000 3 2 EN 61000 3 3 EN 61000 6 2 EMS EN 61800 3 C3 E WARNING FOR UL MARKING ON DRIVER Drivers have no provision for solid state motor overload protection Motor overload protection is required at end application Drivers have no provision for motor over temperature protection Motor over temperature protection is required at end application For UL standard UL 508C the product is recognized for
168. idity 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 and sensor windings Case Electromagnetic brake windings 100 MQ or more when 500 VDC megger is applied between the following places Protective Earth Terminal Power supply terminals Signal I O terminals Power supply terminals Dielectric strength Sufficient to withstand 1 5 KVAC at 50 60 Hz applied between the following places for 1 minute Case Motor and sensor windings Case Electromagnetic brake windings Sufficient to withstand the following for 1 minute leak current 13 mA or less Protective Earth Terminal Power supply terminals 1 8 kVAC 50 60 Hz Signal I O terminals Power supply terminals 1 9 kVAC 50 60 Hz Excluding the mounting surface and connectors 21 Accessories sold separately 21 Accessories sold separately E Motor connection cable The cable supplied with the AR Series AC power input built in controller type is all you need to connect the motor and driver Take note however that if you wish to connect the motor and driver over a distance of 3 m 9 8 ft or more the supplied cable is not long enough and you must use a connection cable set or extension cable set A cable se
169. igh 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 sealed 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 u
170. input o 6 ms or less MOVE oe output OFF 6 ms or less END a output OFF 6 ms or less READY oy output opp 6 ms or less 6 ms or less Motor operation The specific time varies depending on the load operating speed speed filter and other 101 12 Method of control via I O 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 output cb aes GEE 6 ms or less READY ce 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 a input OFF HOMES i ee input OFF 6 ms or less ON OFF 6 ms or less MOVE output END on output Spp 6 ms or less READY output ON OFF 6 ms or less HOME P a P output OFF Motor operation 102 12 Method of control via I O E Automatic return operation e When the automatic return operation is performed using the main power supply ON 24 VDC power supply OFF ON Main power supply opp C ON i RA input OFF K 2 ms or less READY ae output OFF 550 ms or less MOVE ak output OFF 550 ms or less END on output OFF 500 ms or less is Excitation Motor excitation eda Not excitation 550 ms or less Hold Release
171. input o i koj YAK 4 4 KQ IN5 input o IKG j PAs 4 4kQ IN6 input i Kal Y IN7 input i N COM ot a 38 E MO to M5 input 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 9 Explanation of I O signals Qperation ms m4 m3 m2 m mo Operation 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
172. ion Sets the AREA2 negative direction position AREAS positive direction position Sets the AREAS positive direction position AREAS negative direction position Sets the AREA3 negative direction position step e 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 output OFF AREA positive direction position a 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 AREA positive direction position AREA output ON OFF A AREA negative direction position x 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 AREA1 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 45 9 Explanation of I O signals E TIM output The TIM out
173. ion deceleration unit upper 0 ms kHz 0 655 028Fh_ Acceleration deceleration unit lower 1s c 4160 1040h Automatic return action upper 0 Disable 0 4161 1041h Automatic return action lower 1 Enable 4162 1042h Operating speed of automatic return upper 1 to 1 000 000 Hz 1000 4163 1043h Operating speed of automatic return lower 4164 1044h ie ee of automatic return 4 to 1 000 000 Agel EIEEE rei 1 0 001 ms kHz or 1000 4165 1045h cceleration deceleration of automatic return 1 0 001 s 2 lower r B 4166 1046h Starting speed of automatic return upper 0 to 1 000 000 Hz 500 4167 1047h Starting speed of automatic return lower 4168 1048h JOGt t ravel 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 1 Effective 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 124 13 Method of control via Modbus protocol Register address
174. ion device Set the connection device of RS 485 communication using the function setting switch SW4 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 ID and SW4 No 1 of the function setting switch Make sure each address number slave address you set for each driver is unique Factory setting SW4 No 1 OFF ID 0 Address number 0 Address number o 4 oe Se la Behm ge a ge lu ae aa ge slave address ID 0 1 2 3 4 5 6 7 8 9 A B C D E F SW4 No 1 OFF Connection 8 axes connection mode 5 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 TERM Termination the end from the programmable controller master device No 1 No 2 resistor 120 Q Turn the termination resistor setting switch TERM No 1 and No 2 ON to Both are OFF Disabled set the termination resistor for RS 485 communication 120 Q Both are ON Enabled Factory setting No 1 and No 2 Both OFF termination resistor disabled Note If only one of No 1 or No 2 is turned ON a communica
175. ions are listed on p 15 DEN ee sare apt aati ane kA E moe aubes CNI1 connector 6 pins CN3 connector 5 pins CN5 connector 5 pins CN8 connector 9 pins CN9 connector 7 pins Connector wiring lever for CN3 cceeceeeceseeseeeceeeeecneteeeeeeeees 1 pe AR Series Motor OPERATING MANUAL ar 1 copy AR Series AC power input Driver OPERATING MANUAL 1 copy AR Series USER MANUAL CD ROM esseere 1 pe Cable for Motor ss iotsestssseraens sensor es sveeantesscdedensuvaneds EE aria send 1 pe Included in a motor and driver package product e Cable for electromagnetic brake oi eeeeeneeeeeeeeeneeeeeeeeeees 1 pe Supplied with electromagnetic brake motor package Parallel Mey ve sicietes scolnesuswesee niere de cousnnasvecten sesh ae 1 pe Supplied with geared types except for the AR46TH and AR66TH 6 2 How to identify the product model AR 6 6AA D H 50 0 E Length of supplied cable 1 1 m 3 3 ft 2 2 m 6 6 ft Gear ratio 3 3 m 9 8 ft T TH geared type PS PS geared type N PN geared type H Harmonic geared type Blank Standard type Driver type D Built in Controller Type Power input A Single phase 100 120 V C Single phase 200 240 V Motor type A Single shaft B Double shaft M With electromagnetic brake Motor length Motor size 4 42 mm 1 65 in 6 60 mm 2 36 in 9 85 mm 3 35 in 90 mm 3 54 in for geared types Series n
176. ission waiting time prameters are not initialized Reads the parameters saved in the NV memory to 30C8h Batch NV memory read the RAM All operation data and parameters previously saved in the RAM are overwritten 30C9h Batch NV memory write Writes the parameters saved in the RAM to the NV memory Note The NV memory can be rewritten approx 100 000 times 149 16 Details of network converter 150 E Monitor command Monitor the command position command speed alarm and warning records etc 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 20AN Aarm record 9 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 200k Warning records 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 Co
177. it mode RS 485 transmission rate 625 000 bps BASS i SW2 No 3 ON YY sei SW2 7 SW2 No 2 OFF NODS SW2 No 1 OFF E Using the parameter 1 Set the communication address number 0 parameter of the NETCO1 M2 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 NETCO1 M2 use the OPX 2A or MEXE02 138 15 Method of control via MECHATROLINK communication l STEP 2 Check the connection RS 485 communication cable E g power supply i El NETCO1 M2 fe a IS at Ri ZA z Programmable controller NS l or master device O MECHATROLINK I communication cable oo ie oO R Mail power supply ees OnF PE l STEP 3 Check the termination resistor Termination resistor ON CON TERM No 1 0m and No 2 ON Driver I E NETCO1 M2 ODDO OO Programmable controller or master device ano9 MECHATROLINK I communication cable Termination A resistor Termination resistor 139 15 Method of control via MECHA
178. ive or corrosive environments in the presence of flammable gases locations subjected to splashing water or near combustibles Doing so may result in fire electric shock or injury Assign qualified personnel the task of installing wiring operating controlling inspecting and troubleshooting the product Failure to do so may result in fire electric shock injury or damage to equipment Do not transport install the product perform connections or inspections when the power is on Always turn the power off before carrying out these operations Failure to do so may result in electric shock The terminals on the driver s front panel marked with A A symbol indicate the presence of high voltage Do not touch these terminals while the power is on to avoid the risk of fire or electric shock 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 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 When the driver generates an alarm any of the driver s protective functions is triggered take measures to hold the moving part in place since the motor stops and loses its holding torque Failure to do so
179. l 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 Starting direction of Signal type return to home operation return to home operation Positive side Negative side LS LS VL LS side side FeaT B a v SUIT input side side VS VR SLIT ade SLIT oi OFF OFF __ LS LS VL LS side side K C A v TIM signal H side o VS side TVS See VR VR TIM a i TIM N OFF ____ OFF LS LS LS VL LS VR ty em VR side E vs side _ys v x Le V SLIT input and side S Ne side e TIM signal VL SLIT ee i SLIT p OFF ____ OFF ON oh ON TIM OFF TIM OFF After pulling out of the limit sensor the motor will move 200 steps e Push mode 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 gt 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 VR side ye E VA mechanical end
180. l on the new switch settings will not become effective until the driver power is cycled e Driver front face Orientalmotor ARD CD pwrvaim CN1 E Protocol C DAT C ERR JUUUQGUUUE 0000 0000000 Function setting switch SW4 No 1 Set the address number No 2 Set the protocol Address number setting switch ID Termination resistor setting switch TERM Transmission rate setting switch SW2 Set the SW4 No 2 of the function setting 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 ID and SW4 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 ID 0 SW4 No 1 OFF D SW4No 1 Clave address D SW4No 1 Clave 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 f OFF f i ON 23 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 31 109 13 Method of control via Modbus protocol E Transmission rate Set the transmission rate using transmission rate setting switch SW2 sw2 Transmission rate
181. lter and other e When the STOP input action parameter is deceleration stop ON STOP input OFF MOVE output OFF END oe output OFF ON READY output OFF Motor operation Excitation Motor excitation eS olor exclalle Not excitation Hold Electromagnetic brake Release 4 ms or more 6 ms or less 6 ms or less i The specific time varies depending on the load operating speed speed filter and other Method of control via I O 95 12 Method of control via I O e When the STOP input action parameter is immediate stop current off ON MOVE output ON OFF END S output opp READY oN output opp Motor operation Excitation itation Motor excitation ot excitation Hold Electromagnetic brake Release 4 ms or more 250 ms or less Delay time when the motor is not excited 220 ms or less 200 ms or less 60 ms or less 250 ms or less 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 ON STOP input OFF MOVE output opp END a output opp READY on output Spp Motor operation Excitation Motor excitation Norexeitation Hold Electromagnetic brake Release 4 ms or more X
182. ly 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 Position Bc aes for positioning Roe as 0 Operating speed Operating speed in positioning operation 0 to 1 000 000 Hz 1000 Accel ration a time in 1 to 1 000 000 Deceleration rate or deceleration time in See MRKAR me Deceleration Bai se 1 0 001 s positioning operation ene e amen l 0 Single motion Operation function Selects how to operate consecutive 1 Linked motion 0 operation data 2 Linked motion 2 3 Push motion Dwell time Dwell time to be used in linked motion 0 to 50000 0 operation 2 1 0 001 s Push current Current value of push motion operation 0 to 500 1 0 1 200 Sequential positioning Sets enable or disable sequential 0 Disable 0 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 comm
183. meters will be used initial value separate 3 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 151 16 Details of network converter E User parameters e 1 0 C d cod ea Maco Description Setting range Initial value Effective READ WRITE 0 Immediate stop 3 1 Deceleration stop 0100h 100R S TOPnput action 2 Immediate stop amp Current OFF 1 3 Deceleration stop amp Current OFF 0101h 1101h Hardware overtravel 0 Disable 1 1 Enable 0 Immediate stop 0102h 1102h Overtravel action 7 0 1 Deceleration stop 0103h 1103h Positioning completion signal 0 to 180 1 0 1 18 range 0104h 1104h Positioning completion signal 18 to 18 1 0 1 0 offset 0105h 1105h AREA1 positive direction A position 0106h 1106h AREA1 negative direction position 0107h 1107h ates positive direction AER areal 8 388 608 to 8 388 607 step 0 0108h 1108h negative direction position 0109h 1109h AREA3 positive direction position 010Ah 110Ah AREA3 negative direction position 010Bh 110Bh Minimum ON time for MOVE 0 to 255 ms 0 output 010Ch 110Ch LS logic level ON f 010Dh 110Dh HOMES logic level Porma Y OReN 0 c 1 Normally closed 010Eh 110Eh SLIT logic level 0800h 1800h MSO operati
184. mmunication 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 i 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 current 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 2ogah Direct I O and electromagnetic brake a a a Ges Ai Ea table status 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 OUT1 OUTO 3 MB 16 Details
185. motor cable and driver on the power again after Not off 20h 5 Overcurrent output circuit were checking that the motor ossible short circuited cable and driver output circuit P are not short circuited Main circuit The internal temperature of Review the ventilation 21h 2 the driver exceeded 85 C eae Possible overheat condition in the enclosure 185 F e Avoltage exceeding the e Check the input voltage of specification value was the power supply 22h Overvoltage applied l e If this alarm generates Not e A large inertial load was during operation reduce possible stopped abruptly or vertical the load or increase the 3 operation was performed acceleration deceleration The motor was started when Check if the main power 23h Main power off the main power supply had supply has been input been cut off normally The main power was cut off i 25h Undervoltage momentarily or the voltage Check me input voltage of possible the main power supply became low 27h 7 Backup battery The battery voltage became Charge the battery Excitation undervoltage below the rated value on Turn off the power and check A sensor error occurred while the connection of the motor 28h 8 Sensor error 3 i the motor was operating cable and driver and then cycle the power Cycle the power Be sure to 29h 9 CPU peripheral Error occurred in the CPU perform return to home Not Excitation circuit error operation after cycling the possible off power Turn off the pow
186. n data and parameters or issue operation start stop commands from the master station Up to 31 drivers can be connected to one master e Absolute position backup system When connecting an accessory battery set BATO1B sold separately this product can be used in the absolute position backup system Positions will be retained in the event of a power outage or after turning off the driver power e 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 e Supporting sink output and source output The driver supports both the current sink output circuit and the current source output circuit e 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 e 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 both sold separately or via RS 485
187. n the JOG input OFF When the positioning operation is completed the READY output will be turned ON JOG travel amount Motor operation v ON JOG input OFF gt READY on output opp MOVE D PA output OFF END re output OFF 79 11 Operation 80 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 operating manual for each product Example When performing test operation with the OPX 2A Speed JOG operating speed 1step 1step JOG starting speed Less than1 s 1 s or more Time Key B 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 Note Perform teaching function when the position origin is set See p 81 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 mo
188. nfiguration command e f an alarm generates while the motor is in a non excitation state the automatic return operation will not executed normally 11 Operation E Stop operation e STOP action When the STOP input is turned ON or STOP is commanded via Speed 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 STOP input right Motor operation Time ON OFF e Hardware overtravel Hardware overtravel is the function that limits the operation Speed 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 LS input The operation example when setting the overtravel action parameter to immediate stop is shown in the figure to the right Motor operation Time ON OFF e Software overtravel The software overtravel is a function that limits the range of Speed 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
189. ng error alarm will generate 82 11 e Example for wrap function Example of operation 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 Pe Electronic gear B x 1000 1 x 1000 Condition 1 Electronic gear A x 50 1x50 Electronic gear A x 50 1x50 Condition 2 Wrap setting value x 3600 x 180 1x1000 The calculation result of these two formulas is an integer and this meets the setting condition Electronic gear B x 1000 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 1400 0 0 A 5000 A 5900 3100 5000 2700 900 2700 900 1800 2200 1800 83 11 Operation 11 5 Operation data and parameters The parameters required for motor operation are available in the following two types e Operation data e User parameters The parameters are saved in the RAM or NV memory The data saved in the RAM will be erased once the 24 VDC power supply is turned off On the other hand the parameters s
190. ning 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 rate is too short When the motor was in a state of current OFF Excessive position te geviation between the command position Reduce the amount of rotation at current OFF rare i and actual position exceeded the value set in A 12h deviation during A to the specified setting value or less Or the parameter for overflow rotation during f current OFF R change the setting value current off This warning is output when the parameter for auto return is set to Enable Main circuit G temperature SiGe Ue ave exceeded 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 O in fe baramele Tor 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 cecrease the loan or mercas ne vertical operation was performed acceleration deceleration rate 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 Reduce the load or increase the e A load exceeding the maximum torque was j acceleration
191. nnections in the motor cable Are the motor output shaft and load shaft out of alignment Check for a blocked opening of the driver case Are any of the driver mounting screws or connection loose 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 167 20 General specifications 20 General specifications 168 Motor Driver Degree of protection IP54 IP20 for double shaft type IP10 10 to 50 C 14 to 122 F Ambient non freezing 0 to 55 C 32 to 131 F temperature Harmonic geared type 0 to 40 C non freezing Operation 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 Hum
192. 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 communication error Is the motor excited Or is the excitation setting correct Is the operation data position operating speed set correctly 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 11 Operation on p 54 network converter NETCO1 M2 USER MANUAL and following pages 140 15 Method of control via MECHATROLINK communication 15 2 Setting the switches When using the driver in combination with the network converter set the switches before use e Driver front face Orientalmotor ARD CD pwpam C DAT C ERR Address number setting switch ID Termination resistor setting switch TERM 000000 0000000 a CS em cee om ie Transmission rate setting switch SW2 Function setting switch SW4 No 1 Set the address number No 2 Set the protocol 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 connect
193. nse 13 5 Communication timing Tb1 Tb3 Broadcast Master Character Name Description a Intervals between received messages are monitored If no message could be Communication 3 i ji ian n Tb1 timeout 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 oF mode upon receiving a query from the master until it starts sending a Transmission A 7 G i ee Tb2 waitina time response Sets using the transmission waiting time parameter 9 The actual transmission waiting time corresponds to the silent interval C3 5 processing time transmission waiting time Tb2 Broadcasting The time until the next query is sent in broadcasting A time equivalent to or Tb3 f i interval 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 waiting C35 Silent interval time is less than 3 5 characters long the driver cannot respond The silent interval should be 1 75 ms or more when the transmission rate is 19200 bps or more 110 13 6 Message The message format is shown below Master Query Slave Slave address lt _ lt Slave address Function code Response Function code Data Error check Query Data Error check The query message structure is
194. o 0 the unidirectional continuous rotation with the absolute position backup system will be possible The command position varies in a range of 0 to wrap setting value 1 e Related parameters Parameter name Description Setting range Initial value Wrap setting Sets enable disable for the wrap function o Dibable 0 1 Enable Wrap setting range Wrap setting range 1 to 8 388 607 step 1000 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 f 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 n Electronic gear B x 1000 Condition 1 ___ Y__ An integer Electronic gear A x 50 Electronic gear A x 50 Condition 2 Wrap setting value x An integer Electronic gear B x 1000 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 setti
195. o 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 the steps of selecting the operation data No See p 57 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 MS1 operation data No selection MS2 operation data No selection Sets operation data No corresponding Operation data MS3 operation data No selection to MSO to MSS input No 0 to 63 MS4 operation data No selection MS5 operation data No selection OO Rl w lm oO 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 9 Explanation of I O signals 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 67 for return to home operation Related parameters
196. o 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 clear the warning records using the OPX 2A or MEXEO2 Note You can also clear the warning records by turning off the driver power 17 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 MEXEO2 or via RS 485 communication E Communication error list 17 Alarms and warnings Communication Code Cause Remedial action error type One of the following errors was e Check the connection between the 84h RS 485 detected host system and driver communication error Framing error e Check the setting of RS 485 BCC error communication c dnotiet The command requested by the master e Check the setting value for the 88h Fe noryg could not be executed because of command being undefined e Check the flame configuration Execution disable The command requested by the master 89h due to user I F could not be executed since the Wait until the processing for the communication in OPX 2A or MEXE02 was OPX 2A or MEXEO2 will be completed progress communicating with the driver The command could not be executed e Wait until the internal processing will NV memor because the driv
197. ode 10h Writing to multiple holding registers Register address er 06h g upper Register address 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 ane oe regis er address Upper Value written to register address 0604h Value written to register address lower 00h Val itten t ister add 1 27h Data cual a ane regis el address s Tupper Value written to register address 0605h Value written to register address 1 lower 10h Val itten t ister add 2 00h a wu ae ie 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 a wu eno Og s er address 3 upper Value written to register address 0607h Value written to register address 3 lower 20h Val itten t ister add 4 00h a ae ie er address 4 upper Value written to register address 0608h Value written to register address 4 lower 07h Value written to register address 5 er Ath ae g upper Value written to register address 0609h Value written to register address 5 lower 20h E heck I 1Dh rror cheek ower Calculation result of CRC 16 Error check upper A9h e Response Field name Data Description Slave address 04h Same as query Function code 10h Same
198. of data bytes 08h Twice the number of registers in the query Val d fi ister add 00h ee eee at er address upper Value read from register address 0402h Value read from register address lower 00h Val d fi ister add 1 27h EAE 1991S eraddress 1 Upp r Value read from register address 0403h Data Value read from register address 1 lower 10h Val d fi ister add 2 FFh Sue rean Tom Tegs r addresst2 upper Value read from register address 0404h Value read from register address 2 lower FFh Val d fi ister add 3 D8h aa paG TOn ee er address 3 Upper Value read from register address 0405h Value read from register address 3 lower FOh E heck I 08h irot check lower Calculation result of CRC 16 Error check upper A3h E Writing to a holding register 06h 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 Example of write Write 80 50h as speed filter to slave address 2 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 ae er address upper Register address to be written Data Register ad
199. ollows 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 17 Alarms and warnings No of Reset Motor ALARM using the mare Code LED Alarm type Cause Remedial action ALM RST excitation blinks input e When the motor was in a state of current on the deviation between the command position and e Reduce the load or actual position exceeded increase the acceleration 10h Excessive position the value set in the deceleration deviation parameter for overflow e If the driver is in the current rotation alarm during control mode increase the 4 current on current limit value Eee e The load is large or the Oeslble acceleration deceleration rate or time is too rapid e Do not turn the C ON input E ne on oe input was turned ON while an excessive ie xcessive position hd pia excessive position deviation warning deviation during position eviation warning at current OFF is present current OFF during current OFF was e Set the parameter for auto present eh a return to disable Turn off the power and turn Excitation The
200. omplete alarm lower 1 Enable 4224 1080h EA rotation alarm during current off Sea na 1 to 30000 1 0 01 rev 10000 4225 1081h verflow rotation alarm during current o lower 832 0340h Overheat warning upper 40 to 85 C 7 85 833 0341h Overheat warning lower 104 to 185 F 834 0342h Overload warning upper 1 to 300 1 0 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 120 to 450 V 435 839 0347h Overvoltage warning lower 840 0348h Undervoltage warning upper 120 to 280 V 120 841 0349h Undervoltage warning lower 842 034Ah eae rotation warning during current on ER i i 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 Electronig gear A lower 1 to 65535 4 c 898 0382h Electronic gear B upper 899 0383h Electronic gear B lower I Effective Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 125 13 Method of control via Modbus protocol Register addr
201. on enabled check to see if the result of linked position exceeds the softlimit 7 A limit sensor signal was Reset alarm using the 6Ah Home seeking offset detected during offset ALM RST input and then error movement as part of check the offset value return to home operation e Data of different directions may be linked in linked motion operation e Five or more data may be linked Abnormal operation e Positioning operation of the Reset alarmusing the 70h dat i g op AOT ALM RST input and then operaung speed TMIN check the operation data was performed e The larger value than 30 r min was set in the operating speed of push motion operation The resolution set by the Fi 7 Set the electronic gear 74h Electronic gear electronic gear parameter correctly and then cycle the setting error was outside of the oer specification power Not Excitation possible off 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 84h Network b s rrot the host system for the Check the host system Possible Excitation network converter shows a connector or cable on disconnected status 83h Communication TEND me setting Check the transmission rate Not Excitation switch setting error setting switch SW2 possible off out of specification 162 17 Alarms and warnings
202. on No selection 0 0801h 1801h MS1 operation No selection 1 0802h 1802h MS2 operation No selection 0 0 63 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 152 16 Details of network converter e Motor C d cod Sos 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 10 to 2000 1 0 1 ms 1000 constant 0125h 1125h Speed filter 0 to 200 ms 1 B 0126h 1126h Moving average time 1 to 200 ms 0810h 1810h Filter selection 0 Speed fiter 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 pe Rormalmode 0 1 Current control mode c 0814h 1814h Smooth driver 0 Disable 1 1 Enable Indicates the timing for the data to become effective A Effective immediately B Effective
203. on Setting range value 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 MSA Output in response to the MSO to MS5 inputs 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 0 OFF 32 RO 1 ON 33 R1 34 R2 35 R3 36 R4 37 R5 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 51 M3 R Output in response to the MO to M5 inputs 0 to 63 Operation data No 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 0 OFF 62 HOMES R _ Output in response to the HOMES input 1 ON 63 SLIT_R Output in response to the SLIT input 65 ALM Output the alarm of the driver normally open T Marmint present Alarm present 66 WNG Output the warning of the driver K Warning notpresent Warning present 67 READY Output when the driver is ready ae 68 MOVE Output when the motor operates i ated stopped Motor operating
204. on 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 55 11 Operation 56 e Operation modes The following two operation modes are available Absolute ABS mode The position distance from home is set Absolute Home Starting point positioning Example When positioning operation is performed with setting the starting point to 1000 and setting the destination 4000 2000 to 3000 and 3000 3000 0 1000 3000 SS 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 position distance is repeatedly used Incremental positioning Example When positioning operation is performed with 3000 3000 Travel amount Travel amount 4000 G Travel amount Travel amount 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 60 Linked motio Multiple sets
205. ontinuous operation The motor will operate at Starting speed the starting speed if the operating speed is Dior 000 000 Fiz a90 below the starting speed B JOG operating speed Operating speed for JOG operation 1 to 1 000 000 Hz 1000 Accelration Acceleration deceleration rate or acceleration 1 t0 1 000 000 deceleration rate of deceleration tim for JOC operation 1 0 001 ms kHz or 1000 JOG P 1 0 001 s JOG starting speed Starting speed for JOG operation 0 to 1 000 000 Hz 500 Sets whether to use the common acceleration Acceleration a 0 Common de el ration type deceleration or the acceleration deceleration Sense 1 yP specified for the operation data ee Acceleration Acceleration deceleration unit 0 ms khiz 0 deceleration unit 1 s c Automatic return Sets enable or disable for the automatic return 0 Disable 0 operation operation 1 Enable Operating speed of Operating speed for automatic return 4 to 1 000 000 Hz 1000 automatic return operation Acceleration Acceleration deceleration rate or 1 to 1 000 000 B deceleration of acceleration deceleration time for automatic 1 0 001 ms kHz or 1000 automatic return return operation 1 0 001 s 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 a
206. ord 4 lower 138 008Ah_ Alarm record 5 upper 193 DOSEN i Alarm Pecos ewe Monitors the alarm records 1 to 10 00h to FFh 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 150 Opole P rosent Wang upper Monitors the present warning code 151 0097h Present warning lower 119 13 Method of control via Modbus protocol Register address Name Description Setting range Dec Hex 152 0098h Warning record 1 upper 153 0099h Warning record 1 lower 154 OO9Ah_ 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 161 OOA1h Warni d5 I ans record SONS Monitors the warning records 1 to 10 162 00A2h Warning record 6 upper 163 O00A3h_ Warning record 6 lower 164 00A4h Warning record 7 upper 165 OOA5h_ Warning record 7 lower 166 OOA6h_ Warning record 8 upper 167 00A7h Warning record
207. ower 4398 112Eh IN7 input logic level setting upper 4399 112Fh_ IN7 input logic level setting lower Effective Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration 126 13 Method of control via Modbus protocol Register address Name Setting range Initial value Effective Dec Hex 4416 1140h OUTO output furiction Selection upper 70 HOME P 4417 1141h OUTO output function selection lower 4418 1142h OUT1 output function selection upper 69 END 4419 1143h OUT1 output function selection lower 4420 1144h OUT2 output funtion selection upper 73 AREA1 4421 1145h OUT2 output function selection lower See P128 4422 1146h OUT3 output function selection upper 67 READY 4423 1147h OUT3 output function selection lower 4424 1148h OUT4 output function selection upper 66 WNG 4425 1149h OUT4 output function selection lower 4426 114Ah OUT5 output function selection upper 65 ALM 4427 114Bh OUT5 output function selection lower 4448 1160h NET INO input function selection upper 48 MO 4449 1161h NET INO input function selection lower 4450 1162h NET IN1 inp
208. peed of the operation data No 1 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 Turn the FWD input OFF The motor will decelerate to a stop and the READY output will be turned ON Motor operation No 0 No 1 No 0 ON MO to M5 input OF No 1 No 0 F FWD i a ON input OFF READY pn output opp MOVE ON output OFF END g 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 75 11 Operation e Operating method When combining the FWD input and RVS input 76 Check the READY output is ON Select the operation data No by a combination of the MO to M5 inputs and turn the FWD input ON The motor starts continuous operation The READY output will be turned OFF Turn the FWD input OFF The motor will decelerate Turn the FWD input ON while the motor is decelerating The motor accelerates again Turn the FWD input OFF The motor will decelerate Turn the RVS input ON while the motor is decelerating The motor will stop once and start rotating in the reverse direction When turning the FWD input ON while the RVS input is ON the motor will decelerate The motor will decelerate to a stop and the MO
209. perating speed of home seeking Electrical home cot oo Mechanical home Starting speed of home seeking Operating speed of home seeking HOMES input os input OFF Operating sequence in seeing a travel amount Speed HOMES input Operating speed _ of home seeking s Electrical home i Starting speed of home seeking Starting position 0 Position Mechanical home e Operating method Check the READY output is ON Turn the HOME input ON Return to home operation will be started Check that the READY output has been turned OFF and turn the HOME input OFF When return to home operation is completed the HOME P output will be turned ON Motor operation v v ON HOME input OFF gA ON OW READY output OFF q ON OFF ON OFF MOVE output END output HOME P output ON oe ORES OEE ON OFF HOMES input 69 11 Operation E Operation sequence e 3 sensor mode 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 gt 500 Hz 500 Hz Broken line indicates a home offset move Starting position of return to home Starting direction of return to home operation Starting direction of return to home operation operation
210. 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 leakage current Stray capacitance exists between the driver s current carrying line and other current carrying lines the earth and the motor respectively A high frequency current may leak out through such capacitance having a detrimental effect on the surrounding equipment The actual leakage current depends on the driver s switching frequency the length of wiring between the driver and motor and so on When providing a leakage current breaker use the following products for example which have high frequency signal protection Mitsubishi Electric Corporation NV series Fuji Electric FA Components amp Systems Co Ltd EG and SG series Preventing electrical noise See 7 8 Installing and wiring in compliance with EMC Directive on p 23 for measures 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 motor On rare occasions a small amount of grease may ooze out from the g
211. put 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 1 20 40 When the resolution is set to 1000 P R Pulse ON OFF TIM output OFF Motor operation Motor output shaft rotation by 7 2 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 MPS output The MPS output turns ON when the driver main power is ON 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 H
212. rameters in the driver and master device programmable controller are same When changing the driver parameter use the OPX 2A or MEXEQ2 106 13 Method of control via Modbus protocol 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 STEP 5 Operate the motor 3 Confirm that the motor rotates without problem co m Programmable controller or master device m C 1 Send operation data from the programmable controller 2 Send an operation command cesestnt enreece fered 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 e Is any alarm present e Are the power supply motor and RS 485 communication cable connected securely e Are the slave address transmission rate and termination resistor set correctly e Is the C ERR LED lit e Is the C DAT LED lit For more detailed settings and functions refer to 11 Operation on p 54 or the following pages 107 13 Method of control via Modbus protocol 13 2 Communication specifications In conformance with EIA 485 Use a twisted pair cable TIA EIA 568B CAT5e or higher is recommende
213. rate 153 16 Details of network converter e Return to home Command code 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 1161n OPerating speed of 1 to 1 000 000 Hz 1000 home seeking Acceleration deceleration of 1 to 1 000 000 0162h 1162h home seeking 1 0 001 ms kHz or 1 0 001 s i 1090 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 0 Negative direction 1 home seeking 1 Positive direction SLIT detection with 0166h 1166n home seeking 0 Disable 0 i i i 1 Enabl 0167h 1167h TIM signal detection with nable home seeking o168h 1168h OPerating current of 0 to 1000 1 0 1 1000 push motion 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 e Alarm warning Command code Description Setting range Initial value Effective READ WRITE 0180h 1180h Overload alarm 1 to 300 1 0 1 s 50 z A 0181h 1181h Overflow rotation alarm during 4 4
214. ration 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 MSO to MS5 Direct positioning operation FREE E motor excitation and release the electromagnetic z i Brake E release motor non excitation C ON Motor excitation switching between excitation and 0 Non excitation non excitation 1 Excitation STOP Stop of the motor 7 T 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 the 0 OFF system via RS 485 communication 1 ON MO to M5 Select the operation data No using these six bits 0 to 63 Operation data No 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 1 146 E Output signals from the driver The following output signals can be assigned to the NET OUT0 to NET OUT15 of remote I O using the parameter See the following table for the assignment
215. rdless 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 67 11 Operation 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 External sensor signal S e SLIT detection with home seeking Possibl Not bl detection ents RPEN e TIM signal detection with home seeking Command position after The position Any position e Preset position returning to home becomes 0 e 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 Offset operation Electrical home LS e Detecting the external sensor signal When detecting the home use of the SLIT input and or TIM signal will increase the accuracy of home detection Note f When the TIM output is used set the resolution to be an integral multiple of 50 e Command position after returning to
216. rds 393 0189h ear communication error 0 1 records lower 394 018Ah P PRESET t execute upper Presets the command position 395 018Bh P PRESET execute lower 396 018Ch Confi ti a ae oe upper Executes the parameter recalculation and the setup 397 018Dh Configuration lower 398 018Eh All data initialization upper Resets the operation data and parameters saved in the 399 018Fh All data initialization lower NV memory to their defaults 400 0190h Batch NV memory read upper Reads the parameters saved in the NV memory to the RAM All operation data and parameters previously saved 401 0191h Batch NV memory read lower in the RAM are overwritten 402 0192h Batch NV memory write upper Writes the parameters saved in the RAM to the NV memory The NV memory can be rewritten approx 403 0193h Batch NV memory write lower 100 000 times Communication parity communication stop bit and transmission waiting time are not initialized Initialize them using the OPX 2A or MEXEO2 118 e Configuration 018Ch Configuration will be executed when all of the following conditions are satisfied e Anala rm 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 MEXE02 is in other status than downloading I O test test operation or teaching function 13 Method of control via Modbus protocol Shows the driver status before and after executin
217. rrent 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 the 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 ALM output will turn OFF and the motor will stop When the ALM RST input is turned from ON to OFF the ALM output will turn ON and 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 158 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 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
218. s side Eg VE vs see VR see VR TIM ae TIM A OFF OFF LS HOMES LS LS HOMES LS REN VR i ons VR side v _vs side 7 _vs F j F SLIT input and side J TYS side fe VE Be see VR see VR TIM signal SLIT oe SLIT cal OFF OFF TIM il TIM a OFF OFF e 2 sensor mode 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 gt 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 LS LS LS F VR E tts VR side i side oS B a ve rede E VS x side TT YS side VS eT VR VR LS LS LS LS VR Hotes VR side E side DON LS VS 1 VS side S TT YS side VS FT VR VR LS LS LS LS side i ve side nT C g Between LS and LS x side s ap VS side TVS t Me VR VR Operation After pulling out of the limit sensor the motor will move 200 steps 71 11 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 wil
219. s ON Select the operation data No 1 by turning the MO input ON and turn the START input ON The motor starts the positioning operation for the operation data No 1 Check that the READY output has been turned OFF and turn the START input OFF When the positioning operation is completed the MOVE output will be turned OFF 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 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 MS input SNe No 1 to input OFF o o i x QN au START input OFF if ON READY output opp Dl ON OFF ___ MOVE output 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 operation 2 When combining the linked motion operation and the linked motion operation 2 Operation Position Operating Acceleration l Deceleration Operation Operation Dwell Push Sequential data speed mode function time current positioning No 1 5000 3000 1000 1000 INC ated Not used Not used Not used Linked No 2 10000
220. s of the NET OUTO to NET OUT15 For details on parameter refer to I O function RS 485 on p 156 16 Details of network converter 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 0 OFF JOG R Output in response to the JOG 1 ON MSO_Rto MS5_R Output in response to the MSO to MS5 FREE_R Output in response to the FREE 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 0 to 63 Operation data No LS_R Output in response to the LS LS_R Output in response to the LS 0 OFF HOMES _R Output in response to
221. s or less 6 ms or less 6 ms or less SS Mi to ja 2S Vi S99 6 ms or less 250 ms or less 200 ms or less 200 ms or less 250 ms or less ALM output is normally closed It is ON during normal operation and it turns OFF when an alarm generates E HMI input HMI input 4 ms or more ON OFF Release of the function Release limitation of the data setter Lock 6 ms or less 6 ms or less Release of limitation 97 12 Method of control via I O E P CLR input Ol Power supply OFF Absolute position is error ON P CLR input ALM ae output OF ON READY output Absolute position error alarm 4 ms or more OFF F 6 ms or less OFF 6 ms or less Generate Release 6 ms or less acd dale dle ALM output is normally closed It is ON during normal operation and it turns OFF when an alarm generates E P PRESET input P PRESET input Command position HOME P A P output off ON OFF 4 ms or more 6 ms or less 6 ms or less E Single motion operation positioning operation START i ee input OFF 4 ms or more 4 ms or more Amsor more r ON MO to M5 input orr No 0 X No 1 _ 6 ms or less MOVE output OFF _ 6 ms or less END z output opf 6 ms or less READY Z output OFF Motor operation
222. se Refer to p 30 for charging method e Nickel metal hydride cell is used in this battery Disposal of the used batteries is QY subject to each country s regulations on environmental control Contact your nearest AO Oriental Motor office if you have any questions Ni MH 2 Overview of the product 2 Overview of 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 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 both are 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 e Three operation types 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 e Compatible with RS 485 communication Modbus RTU You can set operatio
223. shing Keep 30 m 98 4 ft or less for the wiring distance between down the connector lever the motor and driver A slotted screwdriver can also be used instead of the connector lever Note e Have the connector plugged in securely Insecure connections may cause malfunction or damage to the motor or driver 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 CHARGE LED to turn off before doing so The residual voltage may cause electric shock 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 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 f 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 169 25 8 Connection E Power supply current capacity e Single phase 100 120 V e Single phase 200 240 V Model Power supply current capacity Model current capacity Power supply AR46 2 4 Aor more
224. shown below 13 Method of control via Modbus protocol Slave address Function code Data Error check 8 bits 8 bits Nx8 bits 16 bits 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 Function code The function codes and message lengths supported by the AR Series AC power input built in controller type are as follows Function code Description Message length Broadcast Query Response 03h Read from a 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 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 CRC 16 calculation method 1 Calculate an exclusive OR XOR value of the default value of FFFFh and slave address 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
225. side side VS VR side side side side mechanical end mechanical end mechanical end mechanical end side side VR side See Te VR mechanical end ZVS TVS A side sp VS side TVS TT VR VR side side side side mechanical end mechanical end mechanical end mechanical end Between side VR side H4 7 7 VR mechanical ends VS TVS side ap VS side VS Te VR VR 72 The motor will move 200 steps from the mechanical end 11 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 Starting direction of Signal type return to home operation return to home operation Positive side Negative side side side side side mechanical end mechanical end mechanical end mechanical end VL VR VR side Evs side _vs SLIT input side VS side VS VR VR SLIT ON SLIT a OFF OFF side side side side mechanical end mechanical end mechanical end mech
226. sition backup system is enabled When the absolute position backup system is 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 81 11 Operation 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 158 for alarm Related parameters Parameter name Description Setting range Initial value Sets the alarm signal status When the positioning Return to home operation is started while the position origin has 0 Disable f 0 incomplete alarm not been set selects whether the alarm generates 1 Enable or not E Wrap function 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 t
227. sition completion signal range parameter against the command position while the MOVE output is in an OFF status the END output turns ON Related parameters Parameter name Description Setting range Initial value Positioning completion signal range Sets the output range of the END signal the motor operation converges within this angular range 0 to 180 1 0 1 18 Positioning completion signal offset Sets the offset for the END signal the offset for converging angular range 18 to 18 1 0 1 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 Related parameters Parameter name Description Setting range Initial value AREA 1 positive direction Sets the AREA1 positive direction position position AREA 1 negative direction Sets the AREA1 negative direction position position AREA2 positive direction Sets the AREA2 positive direction position position 8 388 608 to 8 388 607 0 AREA2 negative direction posit
228. sponse 25 Command code response 26 Command code TRIG TRIG response STATUS Remote resistor 27 28 29 DATA DATA response 30 31 Reserved Reserved 15 Method of control via MECHATROLINK communication 15 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 setting 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 7 r
229. t 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 64 11 Operation 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 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 gearhead Ex
230. t for the electromagnetic brake motor consists of a motor cable and an electromagnetic brake cable When installing the motor on a moving part use a flexible cable offering excellent flexibility e Extending the wiring length using a connection cable set Do not use the supplied cable A i SO Connection cable set For electromagnetic brake Only when the motor is of electromagnetic brake type e Extending the wiring length using an extension cable set Connect an extension cable to the supplied cable Extension cable set m e 1 Cable for electromagnetic brake For electromagnetic brake supplied Se For motor Cable for motor supplied DA c D SO Only when the motor is of electromagnetic brake type When extending the wiring length by connecting an extension cable to the supplied cable keep the total cable length to 30 m 98 4 ft or less 169 21 Accessories sold separately 170 e Connection cable set See p 171 for connector pin assignments of the cable e For motor e For electromagnetic brake Model Length m ft Model Length m ft CCO50VAF 5 16 4 CCOS50VAFB 5 16 4 CCO70VAF 7 23 0 CCO70VAFB 7 23 0 CC100VAF 10 32 8 CC100VAFB 10 32 8 CC150VAF 15 49 2 CC150VA
231. t function selection lower 4476 117Ch NET IN14 input function selection upper 4 FWD 4477 117Dh_ NET IN14 input function selection lower 4478 117Eh NET IN15 input function selection upper 2 RVS 4479 117Fh NET IN15 input function selection lower 4480 1180h NET OUTO output function selection upper 48 MO R 4481 1181h NET OUTO output function selection lower 7 4482 1182h NET OUT1 output function selection upper 49 M1 R 4483 1183h NET OUT1 output function selection lower 4484 1184h NET OUT2 output f ngtion selection upper See P129 50 M2 R 4485 1185h NET OUT2 output function selection lower 4486 1186h NET OUT3 output function selection upper 4 START R 4487 1187h NET OUT3 output function selection lower 4488 1188h NET OUT4 output function selection upper 70 HOME P 4489 1189h NET OUT4 output function selection lower Effective Indicates the timing for the data to become effective C Effective after executing the configuration 127 13 Method of control via Modbus protocol Register adoress Name Setting range Initial value Effective Dec Hex 4490 118Ah NET OUT5 output function selection upper 67 READY 4491 118Bh NET OUT5 output function selection lower 4492 118Ch NET OUT6 output function selection upper 66 WNG 4493 118Dh NET OUT6 o
232. table next NET OUT8 output function selection 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 90 e Setting range for NET IN input function selection 11 Operation 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 82 MPS 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
233. ter and other e When the C ON input is turned OFF while performing the automatic return operation C ON input READY a output opp ON OFF MOVE on output opp END A output opp Excitation Motor excitation Otor excitatio Not excitation Hold Electromagnetic brake Release Deviation 0 Position deviation Internal speed command 250 ms or less 250 ms or less 200 ms or less n 250 ms or less 250 ms or less 60 ms or less The specific time varies depending on the load operating speed speed filter and other 104 13 Method of control via Modbus protocol 13 Method of control via Modbus protocol The following explains how to implement control from a programmable controller via RS 485 communication The protocol for the RS 485 communication is the Modbus protocol 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 13 1 Guidance If you are new to the AR Series AC 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 s
234. ter 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 cumeni rated current based on the rated current being 100 1 0 1 300 10 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 Acceleration deceleration unit ms kHz e Acceleration deceleration unit s Speed Hz Speed Hz VS Starting speed VR VR VR Operating speed TA Acceleration TA TD TD Deceleration VS VS j Time s TA TD Time s Related parameter Parameter name Description Setting range Initial value Acceleration deceler Set the acceleration deceleration unit 7 ms kHz 0 ation unit 1 s 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 Related parameter Parameter name
235. tes the timing for the data to become effective B Effective after stopping the operation 2 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 3 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 122 e User parameter 13 Method of control via Modbus protocol Register address Name Setting range Initial value Effective Dec Hex 0 Immediate stop 512 0200h STOP input action upper 1 Deceleration stop 2 Immediate stop amp 1 Current OFF 513 0201h STOP input action lower 3 Deceleration stop amp Current 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 0 to 180 1 0 1 48 519 0207h Positioning completion signal range lower 520 0208h Positioning completion signal offset upp
236. the 24 VDC 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 Immediately when trouble has occurred stop running and turn off the driver power Failure to do so may result in electric shock fire or injury e To prevent electric shock use only an insulated screwdriver to adjust the driver s switches 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 1 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 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 h
237. the HOMES 1 ON SLIT_R Output in response to the SLIT ALM Output the alarm status normally open Aan a e WNG Output the warning status ane a eia READY Output when the driver is ready 0 Not ready 1 Ready MOVE Output when the motor operates P ee ENS 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 n a TLC Output when the load is outside of the motor torque range 0 Melee torque range 1 Outside torque range TIM Output once every 7 2 rotation of the motor output shaft H me AREA1 Output when the motor is within the area 1 AREA2 Output when the motor is within the area 2 7 aoe AREA3 Output when the motor is within the area 3 S BSY Output when the motor is in internal processing state 0 OFF MPS Output the ON OFF state of the main power supply 1 ON 147 16 Details of network converter 16 2 Command code list This is common to NETCO1 CC NETCO1 M2 and NETCO1 M3 E 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 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
238. 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 When the moving average time parameter is not used parameter is set to 200 ms Setting speed Setting speed Motor speed Motor speed Rectangular operation ee MOVE output MOVE output END output END output 200 ms 200 ms Setting speed Setting speed Motor speed Motor speed Trapezoidal operation S O MOVE output MOVE output END output END output 200 ms 200 ms 10 8 Speed error gain The speed error gain is used to suppress vibration while the motor is operating or accelerating decelerating Related parameter Parameter name Description Setting range Initial value Sp ed error gaind This adjusts vibration during constant speed 3 2 operation 0 to 500 45 Speed error gain 2 This adjusts vibration during acceleration deceleration 10 9 Control mode 52 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 Par
239. the motor and driver that would obstruct ventilation Doing so may result in damage to equipment Connection e The data edit connector CN4 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 Operation e Use a motor and driver only in the specified combination An incorrect combination may cause a fire 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 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 Do not touch the rotating part output shaft during operation Doing so may cause injury e The motor surface temperature may exceed 70 C 158 F even under normal operating conditions If the operator is allowed to approach the running motor attach a warning label as A shown below in a conspicuous position Failure to do so may result in skin burn s Warning label 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 For
240. tion e Do not touch the connection terminals on the driver while the power is supplied or for at least 10 minutes after turning off the power Before making wiring connections or carrying out checks also wait for the CHARGE LED to turn off and check the voltage with a tester etc Failure to do so may result in electric shock 1 Safety precautions Repair disassembly and modification e Do not disassemble or modify the motor and driver Doing so may cause electric shock or injury Refer all such internal inspections and repairs to the branch or sales office from which you purchased the product A Caution General e Do not use the motor and driver beyond its specifications Doing so may result in electric shock 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 electric shock 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
241. tion error may occur 141 15 Method of control via MECHATROLINK communication 15 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 setting I O field map will be as follows See the network converter NETCO1 M2 USER MANUAL for other I O field map 142 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 24 Register address number Register address number re
242. topping 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 Note e Multiple operation data of different directions cannot be linked An operation data error alarm will generate during operation e Up to four sets of operation data can be linked When combining the linked motion operation and the linked motion operation 2 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 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 e 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 e 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 Sequ
243. tor can automatically return to the position where the motor last stopped If the motor is reexcited by turning the C ON input ON or turning 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 enable or disable for the automatic 0 Disable Automatic return action f 0 return operation 1 Enable Operating speed of Operating speed for automatic return 4 to 1 000 000 Hz 1000 automatic return operation 1 to 1 000 000 Acceleration deceleration of Acceleration deceleration rate for 1 0 001 ms kHz or 4000 automatic return automatic return operation 7 1 0 001 s Starting speed of automatic Starting speed for automatic return 0 to 1 000 000 Hz 500 return operation e Example of automatic return operation N C ON input O E O OEE OFF Position deviation VR Internal speed command TR VS TR Position deviation occurs due to external force VS Starting speed of automatic return VR Operating speed of automatic return TR Acceleration deceleration rate of automatic return e Automatic return operation will not be executed immediately after turning on the 24 VDC power supply or executing the co
244. tor 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 to its initial setting 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 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 166 19 Inspection 19 Inspection It is recommended that periodic inspections be conducted for the items listed below after each operation of the motor If an abnormal condition is noted discontinue any use and contact your nearest Oriental Motor sales office E 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 co
245. tput function selection to NET OUTO 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 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 82 MPS 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 37 9 Explanation of I O signals 9 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 o 1 kof a 4 4 KQ IN1 input o 1 kQ R IN2 input Sei 1 kof AK 4 4 KQ IN3 input Kal YAK 4 4 kQ IN4
246. tromagnetic brake toe release motor non excitation Motor excitation switching between excitation 0 Motor non excitation 17 C ON ee ee and non excitation 1 Motor excitation 18 STOP Stop of the motor operation 0 No operation 1 Stop operation 9 Explanation of I O signals Assignment Signal name Function Setting range value 27 HMI Release of the function limitation of the 0 Function limitation OPX 2A or MEXEO2 1 Function limitation release 32 RO 33 R1 34 R2 35 R3 36 R4 37 R5 38 Re G signals Use th ignals wh eneral signals Use these signals when lt controlling the system via RS 485 r ae communication 41 R9 42 R10 43 R11 44 R12 45 R13 46 R14 47 R15 48 MO 49 M1 e P the operation data No using these six 0 to 63 Operation data No 52 M4 53 M5 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 or fed ate aoa TO 16 FREE NET IN7 input funetion selection hare ae D e a ate s 0 Not used NET IN8 input function selection input terminals 8 MSO NET IN9Q input function selection 9
247. ts the alarm signal status When the positioning operation is started while the position origin has not been set selects whether the alarm generates or not 0 Disable 1 Enable 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 39 9 Explanation of I O signals 40 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 58 for sequential positioning operation Related parameters Parameter name Description Setting range Initial value Sets the alarm signal status When the positioning operation is started while the position origin has not been set selects whether the alarm generates or not 0 Disable 1 Enable Return to home incomplete alarm 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 t
248. ty e Communication stop bit e Transmission waiting time 85 11 Operation E 1 0 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 putactior 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 LS 1 1 Enable inputs Overtravel action Motor action to take place upon the 0 Immediate stop 0 occurrence of overtravel 1 Deceleration stop Positioning completion Output range of the END signal the motor 9 P operation converges within this angular 0 to 180 1 0 1 18 signal range range Positioning completion Offset for the END signal the offset for 18 to 18 1 0 1 0 signal offset converging angular range A ARERI positiveairecton Position of AREA1 positive direction position eRe n gative direction Position of AREA1 negative direction position Sar positive direction Position of AREA2 positive direction 8 388 608 to i i i i 8 388 607 ste AREAZ negative direction Position of AREA2 negative direction P position AREAS positive direction Position of AREA3 positive direction position AREAS negative directi n Position of AREA3 negative direction position Minimum ON time for Minimum time during w
249. u 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 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 motor excited Or is the excitation setting correct Is the operation data position operating speed set correctly 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 11 Operation on p 54 network converter NETCO1 CC USER MANUAL and following pages 134 14 Method of control via CC Link communication 14 2 Setting the switches When using the driver in combination with the network converter set the switches before use e Driver front face Orientalmotor ARD CD pwpam CNt C DAT C ERR Address number setting switch ID Termination resistor setting switch TERM UIQU0U000 000 000000 Oc CG Transmission rate setting switch SW2 Function setting switch SW4 No 1 Set the address number No 2 Set the protocol 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 settin
250. ub function code upper 00h Same as query Data Sub function code lower 00h Data val 12h ata value upper Smeds quan Data value lower 34h Error check lower ECh Same as query Error check upper 9Eh E Writing to multiple holding registers 10h 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 Example of write 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 115 13 Method of control via Modbus protocol e Query Field name Data Description Slave address 04h Slave address 4 Function c
251. unicating with the master station properly via RS 485 C DAT C ERR LED communication e C ERR Red This LED will illuminate when a RS 485 communication error occurs with he master station Use this switch when controlling the system via RS 485 Address number setting switch ID communication Use this switch and SW4 No 1 of the function setting g switch to set the address number of RS 485 communication P 109 Factory setting 0 P 135 Use this switch when controlling the system via RS 485 P 141 Termination resistor setting switch TERM communication Set the termination resistor 120 Q of RS 485 communication Factory setting OFF RS 485 communication connectors ee CN6 CN7 Connect the RS 485 communication cable P 30 Output signal connector CN9 Connect the output signals cable Input signal connector CN8 Connect the input signals cable P 25 Sensor signal connector CN5 Connect the sensor Data edit connector CN4 Connect a PC in which the MEXEO2 has been installed or the P30 OPX 2A Protective Earth Terminals Used for grounding via a grounding cable of AWG16 to 14 1 25 to P29 2 0 mm or more 3 Connect the control power supply of the driver a supply input terminals 24 VDC power supply input Power supply GND P 29 Regeneration unit thermal input terminals Connect the accessory regeneration unit RGB100 sold separately If CN1 TH1 TH2 no regeneration unit is connected short the TH1 and TH2 terminals Electromagneti
252. urrounding area to ensure safety STEP 1 Check the installation and connection Check 24 VDC power supply connection Check RS 485 communication cable connection Ovo m L Programmable controller or master device Fi Check Motor connection rezal Check gt Main power supply connection 105 13 Method of control via Modbus protocol STEP 2 Set the switches Set the slave address and termination resistor Ore El Slave Fam address Larr Termination resistor Check Set the switches IOOOOOK 55 Set the slave address protocol and transmission rate Check SW4 SW2 Set the switches Slave address Transmission rate ON Factory setting Modbus protocol 0 9600 bps STEP 3 Turn on the power and check the parameters 1 Turn the 24 VDC HO power supply on Programmable controller or master device C Check whether the values in the driver and master are same for the following communication parameters e Communication parity Initial value 1 F e Communication stop bit Initial value 0 e Transmission waiting time Initial value 100 2 Turn the main power supply on Check that the pa
253. ut function selection upper 49 M1 4451 1163h NET IN1 input function selection lower 4452 1164h NET IN2 input function selection upper 50 M2 4453 1165h NET IN2 input function selection lower 4454 1166h NET IN3 input function selection upper 4 START 4455 1167h NET IN3 input function selection lower 4456 1168h NET IN4 input function selection upper 3 HOME 4457 1169h NET IN4 input function selection lower 4458 116Ah NET IN5 input function selection upper 18 STOP 4459 116Bh_ NET IN5 input function selection lower 4460 116Ch NET IN6 input function selection upper 16 FREE 4461 116Dh NET IN6 input function selection lower 4462 116Eh NET IN7 input function selection upper Rigged c 4463 116Fh NET IN7 input function selection lower See P128 4464 1170h NET IN8 input function selection upper 8 MSO 4465 1171h NET IN8 input function selection lower 4466 1172h NET IN9 input function selection upper 9 MS1 4467 1173h NET IN9 input function selection lower 4468 1174h NET IN10 input function selection upper 10 MS2 4469 1175h NET IN10 input function selection lower 4470 1176h NET IN11 input function selection upper 5 SSTART 4471 1177h NET IN11 input function selection lower 4472 1178h NET IN12 input function selection upper 6 JOG 4473 1179h NET IN12 input function selection lower 4474 117Ah NET IN13 input function selection upper 7 JOG 4475 117Bh NET IN13 inpu
254. ut shaft Electromagnetic brake Motor cable Electromagnetic brake cable Connector cover 7 Installation 7 Installation This chapter explains the installation location and installation methods of the motor and driver along with regeneration unit installation The installation and wiring methods in compliance with the EMC Directive are also explained 7 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 55 C 32 to 131 F non freezing 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 e Installation method A 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
255. utes 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 setting a group read write to the upper and lower at the same time Register address P READ Name Description Setting range Dec Hex WRITE ee 48 0030h Group upper Sets the address 1 No group specification number for the group R W Group send is not performed 49 0031h Group lower send 1 to 31 Sets a group address Since the group setting is not saved in the NV 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 Programmable controller or master device Address 1 Address 2 Address 3 group command 1 group command 1 group command 1 individual 129 13 Method of control via Modbus protocol Start of positioning Master in sl ve operation for address 1 Start of positioning operation for address 2 Slave to master Motor operation at address 1 parent slave Response from address 1 Response from address 2 Motor operation at address 2 child slave Motor operation at address 3 child slave 13 11
256. utput function selection lower 4494 118Eh NET OUT7 output function selection upper 65 ALM 4495 118Fh NET OUT7 output function selection lower 4496 1190h NET OUTS8 output function selection upper 80 S BSY 4497 1191h NET OUTS8 output function selection lower 4498 1192h NET OUT9 output function selection upper 73 AREA 4499 1193h NET OUT9 output function selection lower 4500 1194h NET OUT10 output function selection upper See P129 74 AREA2 c 4501 1195h NET OUT10 output function selection lower 4502 1196h NET OUT11 output function selection upper 75 AREA3 4503 1197h NET OUT11 output function selection lower 4504 1198h NET OUT12 output function selection upper 72 TIM 4505 1199h NET OUT12 output function selection lower 4506 119Ah_ NET OUT13 output function selection upper 68 MOVE 4507 119Bh NET OUT13 output function selection lower 4508 119Ch NET OUT14 output function selection upper 69 END 4509 119Dh NET OUT14 output function selection lower 4510 119Eh NET OUT15 output function selection upper 71 TLC 4511 119Fh NET OUT15 output function selection lower 4608 1200h Communication timeout upper 0 Not monitored 0 4609 1201h Communication timeout lower 1 to 10000 ms A 4610 1202h Communication error alarm upper 1 to 10 times 3 4611 1203h Communication error alarm lower Effective Indicates the timing for the data to become effective
257. utput terminals OUTO to OUTS of CN9 by setting parameters For details on output signals refer to p 43 Direct I O Ay Direct I O An signal name Initial value signal name Initial value OUTO 70 HOME P OUT3 67 READY OUT1 69 END OUT4 66 WNG OUT2 73 AREA1 OUT5 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 19 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 39 RI Output the status of the general signal RO to R15 40 R8 41 R9 42 R10 43 R11 44 R12 45 R13 46 R14 47 R15 48 MO_R 49 M1_R 50 M2_R 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
258. ver in the group NETCO1 to slave Address number 0 NET IN3 ON Motor operation at address number 0 parent slave Group command 1 a 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 E Maintenance command These commands are used to reset alarms and warnings They are also used to execute the batch processing for the NV memory Command Name Description Setting code range 30C0h Reset alarm Resets the alarms that are present Absolute positionerror Resets the absolute position error alarm Since 30C1h p this alarm is the dedicated alarm for the absolute alarm reset ne position error other alarms cannot be reset 30C2h Clear alarm records Clears alarm records 30C3h Clear warning records Clears warning records 30C4h SA communica Enor Clears the communication error records records 30C5h P PRESET execute Presets the command position 30C6h Configuration Executes the parameter recalculation and the 1 Execute setup Resets the parameters saved in the NV memory to 30C7h All data initialization the initial settings lol tad Commu leon parity communication stop bit and transm
259. ver vertically vertical position 7 6 Installing the regeneration unit Unit mm in Install the accessory regeneration unit RGB100 sold separately in a location where heat dissipation capacity equivalent to a level achieved with a heat sink made of aluminum 350 350x3 mm 13 78 13 78x0 12 in is ensured Affix the RGB100 on a smooth metal plate offering high heat conductivity using two screws M4 not supplied See p 169 for accessory e Plate cutout for mounting Unit mm in Screw M4 a _ not supplied pone a s i i or l i e Regeneration unit l i 2 RGB100 i i C R SS 0 3 O4 2 6 00 1654 22 16 S OSL 10W JO 86 0 SZ 7 Installation 7 7 Installing the battery 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 171 for accessory e Battery installation dimensions M4 13 0 3 mm 0 51 0 012 in 7 8 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 Standard and CE Marking
260. wing items e When the regeneration unit is not used short circuit the TE TH1 terminal and TH2 e The regeneration unit is not terminal on the CN1 sitet 5th 2 Regeneration unit connected correctly O onna tha rea snersion Not Excitation overheat e The regeneration unit was 9 possible off overheated abnormally unit corey e Regenerative power from the motor exceeds the allowable regenerative power of the regeneration unit Make sure the load and operating condition Reset alarm using the Both the LS and LS ALM RST input and then LS both sides i 60h activ signals were detected when check the sensor logic and LS detection was enabled setting of LS logic level parameter The LS opposite to the Reverse limit sensor F a Me a a Pi eena ani UeIng ie 61h oat ALM RST input and then connection return to home operation in check the LS wiring 2 sensor mode or 3 sensor 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 7 return to home sequence Possible Excitation may not end properly on depending on the starting Return to home operation did direction of return to home 62h Home seeking error 3 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 been performed
261. xplains the motor functions and how to install the motor among others AR Series AC power input FLEX Built in Controller Type Driver OPERATING MANUAL This manual explains the driver functions and how to install the driver among others AR Series AC power input FLEX Built in Controller Type USER MANUAL this document This manual explains the function installation and connection of the motor and driver as well as operating method Data setter OPX 2A OPERATING MANUAL This manual explains how to set data using the accessory OPX 2A sold separately It consists of two parts which are Data Setter OPX 2A OPERATING MANUAL Before Use and Data setter OPX 2A For the AR Series FLEX Built in Controller RS 485 communication function OPERATING MANUAL Data setting software MEXE02 OPERATING MANUAL This manual explains how to set data using the accessory MEXEO2 sold separately It consists of three parts which are INSTALLATION MANUAL Data setting software MEXE02 OPERATING MANUAL Before Use and Data setting software MEXEO2 For the AR Series FLEX Built in Controller Type RS 485 communication function OPERATING MANUAL Network converter USER MANUAL This manual explains how to install the network converter and also explains how to set operation data parameters etc Standard and CE Marking This product is recognized by UL under the UL Standards and CSA standards The motors are certified by TUV Rheinland under the EN 60034 1

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