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ARシリーズ DC電源入力パルス列入力タイプ

1. Controller Shielded PE Driver cable Motor cable Shielded cable It JJ Noise DC power Al ao fter supply Shielded A Driver cable cable A Y L V E FG FG l PE J PE FG Grounded panel PE A Cable clamp E Precautions about static electricity Static electricity may cause the driver to malfunction or suffer damage While the driver is receiving power handle the driver with care and do not come near or touch the driver Always use an insulated screwdriver to adjust the driver s switches The driver uses parts that are sensitive to electrostatic charge Before touching the driver turn off the power to prevent electrostatic charge from generating If an electrostatic charge is impressed on the driver the driver may be damaged 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 Connecting the motor Connect the motor to the driver 1 Connect the motor cable and supplied cable for motor 2 Connect the cable for motor to the motor connector CN2 on the driver Motor cable Note e Have the connector plugged in securely Insecu
2. Operating mode Name em Positioni Push motion Ref No noe pedi P Positioning operation Push motion operation operation operation 1 2 GND Ground connection 3 ASG A phase pulse output Line driver P 38 4 ASG 5 BSG B phase pulse output Line driver P 38 6 BSG 7 TIM1 Timing output Line driver P 38 8 TIM1 T ALM Alarm output P 39 10 ALM 11 WNG Warning output P 39 12 WNG 13 END Positioning completion output P 37 14 END 15 READY AL0 Operation ready complete output Alarm code output 0 P 37 16 READY ALO 17 TLC AL1 xi Torque limit output Alarm code output 1 P 37 18 TLC AL1 19 TIM2 AL2 3 Timing output Open collector Alarm code output 2 P 38 20 TIM2 AL2 21 GND Ground connection 22 IN COM Input common 23 C ON Current ON input P 33 24 CLR ALM RST Deviation clear input Alarm reset input P 36 25 CCM Current control mode ON input P 36 26 CS T MODE Resolution selection input Push motion operation ON P 34 27 E MO P 36 28 RETURN Mis Return to electrical home Push current setting P35 operation selection input 29 P RESET M2 Position reset input P 35 30 FREE Excitation OFF P 34 31 CW PLS CW pulse input Pulse input 5 V or line driver 32 CW PLS P 33 33 CW 24 V PLS 24 V CW pulse input Pulse input 24 V 34 CCW 24 V DIR 24 V CCW pulse input Direction input 2
3. e The new settings of the resolution switches will become effective after the power is cycled e When changing the resolution using the CS input use the switches in No 3 OFF No 4 OFF or No 3 OFF No 4 ON combination If the CS input is turned ON when No 3 ON is selected the resolution will not be changed To change the basic resolution setting Refer to Resolution on p 43 11 2 Pulse input mode Set a desired pulse input mode of the driver according to the pulse output mode of the controller pulse generator used with the driver Set a desired mode using the pulse input mode select switch SWI No 1 OFF 2 pulse input mode when the CW input and CCW input are used ON I pulse input mode when the PLS input and DIR input are used 2P D 1P vt e Q s The new setting of the pulse input mode select switch will become effective after the power is cycled s The factory setting of the pulse input mode depends on the destination country To change the basic setting for pulse input mode Refer to Pulse input mode on p 44 40 11 3 Operating current Set a desired operating current using the current setting switch CURRENT The operating current to be set is the maximum output current multiplied by the operating current rate 6 set to each dial setting of the current setting switch where F corresp
4. table L Moment load M N m oz in F x L F Permissible moment load 1 Model N m oz in AR24 2 9 410 AR46 5 6 790 N AR66 11 6 1640 i 7 5 Installing the driver Mount the driver to a 35 mm 1 38 in width DIN rail 35 mm 10 mm 0 39 in When two or more drivers are to be installed side by side provide 10 mm 1 38 In or more 0 39 in and 50 mm 1 97 in clearances in the horizontal and vertical directions respectively Note e Install the driver in an enclosure whose pollution degree is E 2 or better environment or whose degree of protection is 3 IP54 minimum Oo s Do not install any equipment that generates a large amount z of heat or noise near the driver Z e Do not install the driver underneath the controller or other equipment vulnerable to heat er e Check ventilation if the ambient temperature of the driver exceeds 50 C 122 F 2N s Be sure to install the driver vertically vertical position 2 3 amp 3 VJ eZ Pull down the driver s DIN lever and lock it Hang the hook at the rear to the DIN rail and push in the driver After installation secure the both sides of the driver with the end plate a 8 O l eS U US e Hook T E E d lees C
5. CW COW i Gy input OFF ON OFF 1 READY output 66 18 Reference E Return to electrical home operation When operation is interrupted C ONi on input OFF 5 ms or more 5 ms or more RETURN input put OFF EE 5 ms or less 300 ms or less 5msorless 4 READY S 4 output OFF 5 ms or less i 5 ms or less 9msorless END on output OFF 250 ms or less 200 ms or less M e N otor excitation OFF Cumulative position commands Internal speed Operating speed of return to command electrical home operation Acceleration and deceleration rate of Acceleration and deceleration rate of return to electrical home operation return to electrical home operation The output time of the END signal varies depending on the speed filter and operating speed s f the C ON input is turned OFF while a return to electrical home operation is still in progress the operation will be interrupted When the C ON input is turned ON again and then the RETURN input is turned ON the operation will resume from the position where it was interrupted e Return to electrical home operation can also be interrupted with the FREE input or CLR input Note however that when a return to electrical home operation is interrupted using the CLR input m
6. Item Description OPX 2A screen display Ref Operating current Set each operating current rate assigned to the current APP 0 00 to APP 0 15 P50 setting switch Speed filter Set each filter time constant assigned to the speed filter APP 1 00 to APP 1 15 P51 setting switch Input signal mode Select the input signal mode APP 2 00 Alarm code output PUE the setting to enable disable of the alarm code APP 2 01 P53 C ON input logic Change the C ON input logic APP 2 02 P 46 Positioning completion X END signal range Set the output condition for END signal APP 2 03 P 37 If the position at which the motor stops deviates from the Positioning completion theoretical position due to the effect of the load friction APP 2 04 P47 END signal offset etc set an offset for the output position corresponding to the END output Current for push motion Set the operating current rate applicable to push motion APP 2 05 to APP 2 12 P48 operation operation l Standstill current Set the standstill current as a percentage of the operating APP 3 00 P50 current Speed error gain 1 Set the speed error gain When this value is increased APP 3 01 motor vibration will decrease P51 Set the speed error gain When this value is increased Speed ertor gain 2 motor vibration at the time of speed change will decrease Su Set the position loop gain When this value is increased Position loop gain motor response will become quicker
7. Use output signals at 30 VDC or less If the current exceeds 10 mA connect an external resistor Ro s Connect a termination resistor of 100 Q or more between the driver and the input of the line receiver 27 8 Connection 28 When pulse input is of 5 VDC type Controller Driver 5VDCA 47 4 Yy A 10 ka 200 Q 4 y y i When pulse input is of 24 VDC type OVV Controller Driver 24VDC A 4 OVV 8 Connection 8 4 Connecting the power supply and grounding the driver R Connecting the power supply Use the CN1 connector 3 pins to oe the power supply Model Power supply Power supply cable AWG24 to 16 0 2 to 1 25 mm to the main power input voltage current capacity supply input connector CN1 on the driver Usa aes supply de can eat the current capacity show RRE 2T VEI 03A ormare in the table to the right AR46 1 4 A or more AR66 24 VDC 10 3 1 A or more AR69 48 VDC 5 76 3 0 A or more AR98 2 5 Aor more Note e Pay attention to the polarity of the power supply Reverse polarity connection may cause damage to the driver s Do not wire the power supply cable of the driver in the same cable duct with other power line or motor cable Doing so may cause malfunction due to noise s When cycle the power or plugging unplugging the connector turn off the power and wait for the
8. ET The new settings of the resolution switches will become effective after the power is cycled The values of resolution switches SW 1 No 3 No 4 can be changed with the system parameters for electronic gear SyS 0 00 to SyS 0 04 as shown in the table below Note that the calculated value must fall within the setting range specified below Resolution setting range 100 to 10000 P R Factory setting 1000 P R SW1 No 3 SW1 No 4 OEE ON OFF 1000 x Electronig gear B SyS 0 04 1000 x Elecironig gear B SyS 0 04 Electronic gear A1 SyS 0 00 Electronic gear A2 SyS 0 01 ON 1000 x G gear B SyS 0 04 1000 x Elecironig gear B SyS 0 04 Electronic gear A3 SyS 0 02 Electronic gear A4 SyS 0 03 ET e When a system parameter has been changed the new parameter will become effective after the power is cycled s f the calculated resolution exceeds the setting range an electronic gear setting error warning will generate Refer to 14 2 Warnings on p 56 s f the power is cycled while an electronic gear setting error warning is present an electronic gear setting error alarm will generate Refer to 14 1 Alarms on p 53 43 12 Extended functions 44 Using the CS input When the resolution switch SW1 No 3 is set to OFF the resolution setting can be changed according to the CS input Resolution switch CS input OFF CS input ON SW1 No 3 OFF Electronic
9. Available Available Available Available Available Available Available Available E ES Available Available Available Available Available Available Available Available E Available Available Available Available Available Available Available Available Gi e Available Available Available Available Available Available Available Available ET Available Available Available Available Available Available Available Available T m Available Available Available Available Available Available Available Available z Available Available Available Available e F Tf 18 Reference R Warnings warning functions Item Overview condition Warning check function WNG output When a warning generates the WNG output will turn ON Setting of enable disable for return to electrical home operation warning When the CS input is turned ON a return to electrical home operation will be disabled and an abnormal operation data warning will generate Warning detection condition setting Excessive position deviation warning Set the condition under which an excessive position deviation warning generates when the motor is in a state of current ON Set the condition under which an excessive position dev
10. Installation Install the motor and driver in the enclosure in order to prevent injury e When installing the motor and driver do not touch the driver without grounding the driver first Failure to do so may result in electric shock Connection Keep the driver s input power voltage within the specified range Failure to do so may result in fire For the driver s power supply use a DC power supply with reinforced insulation on its primary and secondary sides Failure to do so may result in electric shock Connect the cables securely according to the wiring diagram Failure to do so may result in fire Do not forcibly bend pull or pinch the cable Doing so may cause 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 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 Repair disassembly and modification Do not disassemble or modify the motor and driver Doing so may cause injury Refer all such internal inspections and repairs to the branch or sales office from which you purchased the product 1 Safety precautions Caution General Do not use the motor and driver beyond its specifications Doing so may result in injury or damage to equipment Keep your fingers a
11. gt i zn z DIN rail 9 all LY End plate ERU oo o UC I DIN lever Removing from DIN rail Pull the DIN lever down until it locks using a flat tip screwdriver and lift the bottom of the driver to remove it from the rail Use force of about 10 to 20 N 2 2 to 4 5 Ib i to pull the DIN lever to lock it Excessive force may damage the DIN lever 18 7 Installation 7 6 Installing and wiring in compliance with EMC Directive Effective measures must be taken against the EMI that the motor and driver may give to adjacent control system equipment as well as the EMS of the motor and driver itself in order to prevent a serious functional impediment in the machinery The use of the following installation and wiring methods will enable the motor and driver to be compliant with the EMC directive Refer to CE Marking on p 8 for the applicable standards E Connecting noise filter for power supply line Connect a noise filter in the DC power supply input to prevent the noise generated in the driver from propagating externally through the power supply line When using a power supply transformer be sure to connect a noise filter to the AC input side of the power supply transformer Fora noise filter use MC1210 TDK Lambda Corporation or equivalent product Install the noise filter as close to the AC input terminal of DC power supply as possible Use cable clamps and other means t
12. B 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 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 Easy adjustment using a speed filter Even after the motor has been installed in the equipment the motor response can be adjusted to suppress vibration using a digital switch with ease e Supporting sink output and source output The driver supports both the current sink output circuit and the current source output circuit Line driver output is not supported 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 Various operation modes Positioning operation and return to electrical home operation can be performed Push motion operation can be performed when using an
13. Refer to p 61 To ground a shielded cable use a metal cable clamp or similar device that will maintain contact with the entire circumference Shielded cable of the cable Attach a cable clamp as close to the end of the cable as possible and connect it as shown in the figure Cable clamp E Notes about installation and wiring 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 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 Place the power cables such as the motor and power supply cables as far apart 100 to 200 mm 3 94 to 7 87 in as possible from the signal cables If the power cables and signal cables have to cross cross them at a right angle Place the AC input cable and output cable of a noise filter separately from each other When extending the distance between the motor and driver it is recommended that an accessory motor cable or flexible motor cable sold separately should be used The EMC measures are conducted using the Oriental Motor extension cable 19 7 Installation 20 E Example of motor and driver installation and wiring Motor OPX 2A
14. e Reduce the load or increase the acceleration deceleration rate e If the driver is in the current control mode increase the current limit value The C ON input was turned ON while an excessive position deviation warning during current OFF was present e Do not turn the C ON input ON while an excessive position deviation warning at current OFF is present e Set the parameter for auto return SyS 1 03 to Disable Return to electrical home operation was performed while an abnormal operation data warning was present Do not perform return to electrical home operation while an abnormal operation data warning is present The power was turned on when the resolution set by the electronic gear was outside the specified range Set the electronic gear correctly and then cycle the power A sensor error occurred while the motor was operating Turn off the power and check the connection of the motor cable and driver and then cycle the power A sensor error occurred when the power was turned on Turn off the power and check the connection of the motor cable and driver and then cycle the power The motor output shaft rotated at a speed of 15 r min or more while the initialization was still in progress following a power on Adjust the load and make sure the motor output shaft does not turn due to an external force when the power is turned on A motor not supported by the driver is connected Check the
15. If the problem persists contact your nearest Oriental Motor sales office Phenomenon Possible cause Remedial action e The motor is not excited e The motor output shaft can be moved by hand The C ON input is turned OFF The FREE input is turned ON e Turn the C ON input ON and confirm that the motor will be excited e Check the setting of the application parameter for C ON input logic APP 2 02 Turn the FREE input OFF There is holding torque even if motor excitation is turned OFF Effect of dynamic brake If motor excitation is turned OFF by C ON input or FREE input the holding torque will be generated larger than when the power is shut off dynamic brake To release the dynamic brake shut off the power The motor does not operate The CLR input is turned ON The CW input or CCW input is not connected properly Turn the CLR input OFF e Check the connection between the controller and driver e Check the pulse signal specifications voltage width The CW input and CCW input are turned ON simultaneously in the 2 pulse input mode Each pulse signal input should specify either the CW input or CCW input but not both Make sure the terminal not receiving the signal input remains OFF The pulse signal is connected to DIR input in the 1 pulse input mode Connect the pulse signal to the PLS input An electromagnetic brake motor is used and the electromagnetic brak
16. Set the application parameter for I O input mode APP 2 00 to Push motion operation ON Input CW or CCW pulses Select a current value using the MO to M2 inputs Turn the T MODE input ON The load is pressurized continuously while the T MODE input is ON The output torque is limited at the current value selected for the parameter in step 2 When the output torque reaches the current value selected for the parameter in step 2 the TLC output will turn ON Refer to P 63 to P 65 for the timing charts 5 Stop the pulse input 6 Turn the T MODE input OFF e During push motion operation the automatic current cutback function does not operate even when the pulse input is stopped In other words the value of push current selected for the parameter is maintained e If the load is removed during push motion operation the motor will move at high speed the number accumulated pulses e Since pulses are input continuously during push motion operation a prolonged push condition may generate an excessive position deviation alarm If the push condition continues for a prolonged period stop the pulse input Whether or not the motor is pushing the load can be determined using the TLC output 12 Extended functions E Test operation Test operation is performed using the data setter OPX 2A or the data editing software MEXEO2 Perform test operation JOG operation to check the levels of vibration and noise or to check how
17. enter 2 in the CC300VALIR2 30 98 4 CC300VALIRB2 30 98 4 box O within the model name Connector pin assignments of cable for motor Pin No Color Lead size e Motor side e Driver side 1 White 109 8 7 6 6 7 8 9 10 2 Black ack AWG26 0 14 mm 3 Purple 4 Brown 5 Green 54321 gt Model 43020 1000 Molex on Nue 7 Gray AWG22 0 3 mm Model 43025 1000 Molex 8 Blue 9 Orange 10 Drain AWG26 0 14 mm wire No wiring for AR24 and AR26 Connector pin assignments of cable for electromagnetic brake Pin No Color Lead size 2 1 Whit re AWG20 0 5 mm 2 Black 60 1 Model 5559 02P 210 Molex 43020 0200 Molex for the cable of IP20 types 17 Accessories sold separately e Extension cable This cable is needed to extend the wiring length between the motor and driver Use a flexible extension cable in application where the cable is bent and flexed repeatedly The cable set for electromagnetic brake motors consists of two cables one for motor and the other for electromagnetic brake e Extension cable set For standard motor e Extension cable set For electromagnetic brake motor Length Length Model Ln I Model ifs R CCO10VAFT2 1 3 3 CCO10VADIFBT2 1 3 3 CCO20VAFT2 2 6 6 CCO20VALIFBT2 2 6 6 CCO30VAFT2 3 9 8 CCO30VALIFBT2 3 9 8 CCO50VAFT2 5 16 4 CCO50VALIFBT2 5 16 4 CCO7OVAFT2 7 23 CC070VA
18. lt C Jon EEE EEE ON L ON Resolution 10 000 P R Resolution 5000 P R Au 1 Turn the C ON input ON to excite the motor 2 Input pulses 31 9 Quick operations STEP 3 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 the C ON input ON e s any alarm present Are the power supply and motor connected securely For more detailed settings and functions refer to 12 Extended functions on p 42 32 10 Explanation of I O signals 10 Explanation of I O signals Check the timing charts in 18 1 Timing charts on p 62 10 1 Input signals The following input signals of the driver are photocoupler inputs The signal state represents the ON Carrying current or OFF Not carrying current state of the internal photocoupler rather than the voltage level of the signal IN COM C ON CLR ALM RST CCM CW CCW CS RETURN P RESET FREE Driver internal circuit 2 7 KQ Driver internal circuit 24 VDC 33 34 5 VDC 31 35 H 23 to 30 32 36 R C ON input This signal is used to excite the motor initial value normally open When an electromagnetic brake motor is used release the electromagnetic brake after the motor is excited With the OPX 2A or MEXEO2 i
19. t0 ko 3 KO t0 ko OVV 30 VDC or less A RO 10mAor less gt 9 oi y Ps Ro 13 E g Dr Ro d y y x Ro ay k Dy Ro ES aT B 5 l l 26C31 or equivalent E 5 2 e Use output signals at 30 VDC or less If the current exceeds 10 mA connect an external resistor Ro e Connect a termination resistor of 100 Q or more between the driver and the input of the line receiver 25 8 Connection When pulse input is of 5 VDC type Controller Driver 5VDCA p a X vov When pulse input is of 24 VDC type Controller Driver 24 VDC A S A vov 26 8 Connection R Connecting to a current source output circuit e When pulse input is of line driver type Controller Driver p gt L L vov 5 to 24 VDC A ovv A a 4C 4 E F 1oko EAK 3kQ i o ko NKC 3kQ li 10 ka PASC 3kQ l 1o ko vc 30 VDC or 10 mA or less 9 v S Ro Y i d K Ro Y Y A ES JY Ro Y Y 7 Ro Y Y Ro Y y 19 X L L L 26C31 or equivalent AA A 8369 3496 8 69 Ba
20. 10 to 50 C non freezing Harmonic geared type 0 to 40 C non freezing Driver 0 to 50 C non freezing Operating ambient humidity 85 or less non condensing Area that is free of explosive atmosphere or toxic gas such as sulfuric gas or liquid Area not exposed to direct sun Area free of excessive amount of dust iron particles or the like Area not subject to splashing water rain water droplets oil oil droplets or other liquids Area free of 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 7 2 Installing the motor The motor can be installed in any direction To allow for heat dissipation and prevent vibration install the motor on a metal surface of sufficient strength Installation method A Installation method B Through hole for pilot Through hole for pilot Metal plate Metal plate Type Frame size Nominal Tightening torque Effective depth Installation yp mm in size N m oz in of bolt mm in method 28 1 10 M2 5 0 5 71 2 5 0 098 A Standard 42 1 65 M3 1 142 4 5 0 177 60 2 36 M4 2 280 B 85 3 35 M6 3 420 28 1 10 M2 5 0 5 71 4 0 157 42 1 65 TH geared 60 2 36 M4 2 280 8 0 315 90 3 54 M8 4 560 15 0 591 2
21. 2 and 21 of the driver to the GND on the line receiver and connect a termination resistor of 100 Q or more between the driver and the input of the line receiver Controller Driver rr IS E LS Sal M4 26C31 or equivalent 6 Termination resistor of 100 Q or more R READY ALO output When the driver becomes ready the READY output turns ON Input pulse signals to driver after the READY output has turned ON If an alarm generates an alarm code indicating the cause of the alarm can be output and checked via the combination of ALO ALI and AL2 outputs To use alarm codes the applicable parameter must be changed using the OPX 2A or MEXEO2 For details refer to 14 1 Alarms on p 53 E TLC AL1 output This signal will be output when the torque characteristic exceeds the specified range If a push current is set using an extended function this signal is output while pushing If an alarm generates an alarm code indicating the cause of the alarm can be output and checked via the combination of ALO AL1 and AL2 outputs To use alarm codes the applicable parameter must be changed using the OPX 2A or MEXEO2 For details refer to 14 1 Alarms on p 53 E END output When the motor has completed its movement the END output will turn ON Specifically the END output will turn ON when the rotor position falls within 41 8 of the command position while no
22. 60 0 APP 2 09 Push motion current 4 0 0 to 100 0 96 70 0 APP 2 10 Push motion current 5 0 0 to 100 0 96 80 0 APP 2 11 Push motion current 6 0 0 to 100 0 96 90 0 APP 2 12 Push motion current 7 0 0 to 100 0 96 100 0 0 itioni ti i 0 positioning APP 2 00 I O input mode positioning operation normal operation 1 push motion operation normal APP 6 00 Operating speed of return operation 1 to 4000 r min 30 pd ASeleration and deceleration fats o retum 0 01 to 1000 00 ms 1000 r min 100 00 operation APP 6 02 Starting speed of return operation 0 to 4000 r min 30 73 18 Reference Mode E Standard Extended Item Overview AINE l Current specification function Normal control Apply a filter to the operation commands using the speed filter setting switch Adjust the filter according to the load Available Available Available Available condition Speed filter V FIL setting f Change the value assigned to each dial setting of the Not available Available Available Available speed filter setting switch i E R 1 Not 3 Suppress vibration during rotation Not available Available Available Adjustment in normal available mode i i i i Suppress vibration during operation and Not available Available Available N 9t acceleration deceleration available sis Not Adjust the position loop gain Not available Available
23. 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 17 Accessories sold separately on p 59 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 17 for details Use the motor in conditions where its surface temperature will not exceed 100 C 212 F The driver has an overheat protection function but the motor has no such feature The motor surface temperature may exceed 100 C 212 F under certain conditions ambient temperature operating speed duty cycle etc To prevent the motor bearings ball bearings from reaching its usable life quickly use the motor in conditions where the surface temperature will not exceed 100 C 212 F Use the geared type motor in a condition where the gear case temperature does not exceed 70 C 158 F in order to prevent deterioration of grease and
24. Available Available misstepping 1 8 or more is detected Current control mode The TLC output will turn ON when the specified torque is reached Set the operating speed of return to electrical home c l l f Not available Available Available Available l operation Setting for retun to Set the acceleration and deceleration rate of return to l P electrical home Not available Available Available Available operation electrical home operation Set the starting speed of return to electrical home No Ss avenir eas nente operation ot available vallable vallable vallable ASG BSG output Check the motor position Available Available Available Available TIM output The TIM outputs Tui TIM2 wis POON Eyer amie the Available Available Available Available motor output shaft rotates by 7 2 72 18 Reference Parameter oe S Name Setting range Initial value display n itioni i i 0 positioning APP 2 00 I O input mode i POS MOLUTIB ce CON normal operation 1 push motion operation normal 0 Disable erf APP 2 01 ALO 2 signal output 1 Enable 0 Disable APP 2 03 END signal range 0 0 to 18 0 1 8 APP 2 04 END signal offset 1 8 to 1 8 0 0 APP 2 05 Push motion current 0 0 0 to 100 0 30 0 APP 2 06 Push motion current 1 0 0 to 100 0 40 0 APP 2 07 Push motion current 2 0 0 to 100 0 50 0 APP 2 08 Push motion current 3 0 0 to 100 0 96
25. Available available Not l Adjust the speed loop gain Not available Available i Available available Gain adjustment in F l Not J Adjust the speed loop integral time constant Not available Available i Available current control mode available 20 Not Set the frequency of anti vibration control Not available Available Available Pond Not Set anti vibration control to be enabled Not available Available Available Smooth drive Set the smooth drive Not available Available Available Available Set the operating speed of JOG operation Not available Available Available Available JOG operation Set the acceleration and deceleration rate of JOG Not available Available Available Available operation Set the starting speed of JOG operation Not available Available Available Available Motor excitation Select the position at which the motor is excited after the l i Not available Available Available Available position at power on power has been turned on Show the speed on the data setter with a sign or as an RGB os Aid laa absolute value Data setter S Set the gear ratio for geared motor used for speed r monitor Not available Available Available Available 74 18 Reference Parameter S S Name Setting range Initial value display APP 1 00 Speed filter at
26. C ON input switched ON the motor will be excited at the current position If the system parameter for excite position at first current on SyS 1 02 is set to Electrical angle 0 the motor will be excited at the position corresponding to electrical angle 0 where the TIM output turns ON If the C ON input is set to normally closed however the motor will be excited automatically at the electrical angle 0 position after the power has been turned on The C ON input logic can be set using the application parameter for C ON input logic APP 2 02 ET e If the parameter for excite position at first current on SyS 1 02 is set to Electrical angle 0 the motor output shaft may move by a maximum of 3 6 when the C ON input is turned ON s When a system parameter has been changed the new parameter will become effective after the power is cycled E Automatic return operation This is a return operation when the motor is in a state of current ON If the system parameter for auto return SyS 1 03 is set to Enable the motor can automatically return when the C ON input is turned ON or FREE input is turned OFF to the position where it was stopped e Phase difference mode 2 us or less 2 us or more ge ESL 2 us or less 90 10 0 4 us or more 0 4 us or more 2 us or less 2 us or less 90 EE 10 0 4 us or more S 3 0 4 us or more When a system paramete
27. No of ALARM Alarm code output Motor operation Reset using the Alarm type Alarm code ALM RST input yp LED blinks AL2 AL1 ALO upon alarm OPO AMEXEOA Overheat protection 21 Overload 30 2 OFF ON OFF Can reset Overspeed 31 Command pulse error 34 x Overvoltage protection 22 Cannot reset 3 OFF ON ON Undervoltage 25 Excessive position deviation 10 during current ON 4 ON OFF OFF Can reset Excessive position deviation 12 during current OFF Abnormal operation data 70 O 7 ON ON ON Electronic gear setting error 71 Sensor error during 28 operation Initial sensor error 42 x Cannot reset 8 OFF OFF OFF Initial rotor rotation error 43 Motor combination error 45 EEPROM error 9 OFF OFF ON 41 The symbols in the Motor operation upon alarm field are explained below x When an alarm generates the motor current will be cut off and the motor will lose its holding torque O Even when an alarm generates the motor current will not be cut off and the motor position will be held 54 14 Alarms and warnings Cause Remedial action The internal temperature of the driver exceeded 85 C 185 F Review the ventilation condition in the enclosure The cumulative value of applied loads exceeding the maximum torque reached or exceeded the value set in the parameter for overload APP 5 03
28. OFF 4 CW CCW input bes HII ben ee Gs JULI Effective at 2 s or less ON C ON input oer 300 ms or less 5 ms or less READY G output OFF 600 ms or less ALM es output occ WNG aN output occ 600 ms or less 5msorless ON END output OFF _200 ms or less J 250 ms or less o ON Motor excitation OFF Motor operation 39 11 Setting 11 Setting This chapter explains how to change and set the driver functions using the switches on the front face of the driver ET Before operating any switch turn off the driver power and wait for the POWER LED to turn off Current setting switch Factory setting F Speed filter setting switch Factory setting 1 LT L cc cc D e ur gt Resolution switch Factory setting OFF SW1 Keep this switch in the OFF position Pulse input mode select switch 11 1 Resolution Use the resolution switches SW1 No 3 No 4 to set a desired resolution per revolution of the motor output shaft orFFI oN oFF 0O ON OEP 1e JON oFF iO OFF TT gt No Resolution 1000 P R Resolution 500 P R OFF JON o JON JON Resolution 10000 P R Resolution 5000 P R
29. POWER LED to turn off R Grounding the driver Ground the frame ground terminal FG of driver as necessary Ground using a wire of AWG24 to 16 0 2 to 1 25 mm and do not share the protective earth terminal with a welder or any other power equipment CN2 CN5 CN1 connector Connect to CN1 Lr O Orientalmotor E Connecting method 1 Strip the insulation cover of the lead wire by 7 mm 0 28 in 2 Insert each lead wire into the CN1 connector and tighten the screw using a screwdriver connector screw size M2 Tightening torque 0 22 to 0 25 N m 31 to 35 oz in 3 Insert the CN1 connector into CN1 on the driver and tighten the screws using a screwdriver connector Screw size M2 5 Tightening torque 0 4 N m 56 oz in Lead wire Lead wire mm 7 mm 0 28 in CN1 connector 29 8 Connection 8 5 Connecting the data setter 30 Connect OPX 2A cable or supplied cable with the MEXEO2 to the data edit connector CN4 on the driver Connect to CN4 anon Ill El Cable for data setter OPX 2A or cable supplied with the data editing software MEXEO2 VAN Caution The main power supply connector CN1 data edit connector CN4 and I O signal connector CN5 of the driver are not electrically insulated When grounding the positiv
30. The TIM output does not turn ON The CS input was turned OFF while the motor was operating The TIM output may not turn ON if the CS input is switched from ON to OFF I O signals can be monitored using the OPX 2A or MEXEO2 Use to check the wiring condition of the I O signals 57 16 General specifications 16 General specifications 58 Motor Driver IP54 Flexible extension cable set Degree of protection IP20 Double shaft type models IP20 including S in the motor name 10 to 50 C 14 to 122 F Ambient non freezing 0 to 50 C 32 to 122 F temperature Harmonic geared type 0 to 40 C non freezing 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 R 20 to 60 C 4 to 140 F non freezing emperature 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 non freezing temperature Shipping Humidity 85 or less non condensing environment Altitude Up to 3000 m 10000 ft above sea level Surrounding No corrosive gas dust water or oil atmosphere Insulation resistance 100 MQ or more when 500 VDC megger is applie
31. The motor will rotate in forward direction when the CCW input phase is delayed by 90 relative to the CW input The motor will rotate in reverse direction when the CCW input phase is advanced by 90 relative to the CW input Using the switch Set a desired mode using the pulse input mode select switch SW 1 No 1 OFF 2 pulse input mode low active ON 1 pulse input mode low active t e ABA N Each mode can only be set with the low active using the pulse input mode select switch 2P I lup To select the high active set the applicable parameter using the OPX 2A or MEXEO2 gt NO s The new setting of the pulse input mode select switch will become effective after the power is cycled e The factory setting of the pulse input mode depends on the destination country Using the parameter 12 Extended functions Set a desired mode using the system parameter for pulse input mode SyS 1 00 Pulse input mode Input logic Timing charts 1 pulse input mode High active 0 8 us or more 0 8 us or more PLS input M I a M DIR input ON OFF Rotation direction Forward rotation Reverse rotation Low active 0 8 us or more o PLS input ker i M mu 0 8 us or more ON OFF Rotation direction Forward rotation Reverse rotation DIR input 2 pulse input mode High active 0 8 us or more CW input i L CCW input ON OFF Rotat
32. accessory data setter OPX 2A or data editing software MEXEO2 both are sold separately E Extended functions When used with the accessory data setter OPX 2A or the data editing software MEXEO2 both are sold separately the AR Series driver lets you set desired parameters operation mode resolution and other items according to your equipment For details refer to p 42 3 System configuration 3 System configuration All you need is to turn the C ON input ON and input pulses Driver Connect to CN5 P 23 e General cable e Connector terminal block conversion unit Both are optional sold separately P 59 Connect to CN2 P21 Cable for motor This cable is used to connect the motor and driver P 59 AC power Noise filter P 19 DC power supply Use a noise filter to supply eliminate noise It has P 29 the effect of reducing noise generated from the power supply and driver 3 System configuration Extend functions are made available through use of accessories sold separately Data setter OPX 2A PC in which the data editing software MEXEO2 has been installed The customer must provide a PC Orientalmotor L s Easy setting using switches Set the operating current CURRENT switch P 41 Restrict the torque temperature rise Set the speed filter O POWER R V FIL switch P 41 ALARM Suppress motor vibration or cause the motor to start stop smoothly Se
33. and motor overshoot APP 4 00 will decrease Set the speed loop gain When this value is increased Speed loop gain motor response will become quicker and motor overshoot APP 4 01 P 51 will decrease Speed loop integr l tim Set the integral time constant for speed loop When this p p 9 value is decreased motor response will become quicker APP 4 02 constant z and motor overshoot will decrease Anti vibration control Change the setting to enable disable of the anti vibration APP 4 03 control P51 did of anti vibration Set the frequency of anti vibration control APP 4 04 Operating speed of return Set the operating speed of return to electrical home APP 6 00 to electrical home operation operation Acceleration and deceleration rateof retum Set the acceleration and deceleration rate of return to APP 6 01 electrical home operation to electrical home operation P 49 Starting speed of return to Set the starting speed of return to electrical home APP 6 02 electrical home operation operation Operating speed of JOG Set the operating speed of JOG operation APP 7 00 operation 42 12 Extended functions Item Description OPX 2A screen display Ref Acceleration and deceleration rate of JOG Set the acceleration and deceleration rate of JOG APP 7 01 operation operation P 49 Starting speed of JOG Set the starting speed of JOG operation APP 7 02 oper
34. current n 72 ba 50 45 to 65 ms 5 ms or less 20 to 45 ms 0 1 When the T MODE input is turned ON the motor current is changed upto the value of push current at about 0 9 ms 2 When the T MODE input is turned OFF the motor current is changed upto the value of standstill current at about 1 8 ms 3 When the value of push current is changed using the MO to M2 inputs the change is reflected immediately 63 18 Reference The combinations of MO to M2 inputs and corresponding initial values of push current percentage are shown below M2 M1 MO Initial value 96 OFF OFF OFF 30 0 OFF OFF ON 40 0 OFF ON OFF 50 0 OFF ON ON 60 0 ON OFF OFF 70 0 ON OFF ON 80 0 ON ON OFF 90 0 ON ON ON 100 0 When the T MODE input is turned ON the value of push current set by the MO to M2 inputs will become effective and the overload alarm will become invalid Input the T MODE signal while the motor is at standstill B CLR input 500 us or more CLRi GL input OFF 5 ms or less 9 ms or less READY output OFF 5 ms or less 5 ms or less END A output OFF 5 ms or less 1 8 Position deviation 0 Position deviation occurs due to external force E ALM RST input Generation 0 s or more condition T Alarm 10 ms or more 5 ms or more ON ALM RST input 2 OFF 5 ms or less 350 ms or less ON READY
35. e Reduce the load or increase the acceleration deceleration rate e If the driver is in the current control mode increase the current limit value e Check if the electromagnetic brake is released during operation The speed of the motor output shaft exceeded 4500 r min excluding geared motors e Check the electronic gear setting and reduce the speed of the motor output shaft to 4500 r min or less s If the motor is overshooting at the time of acceleration increase the acceleration deceleration rate The command pulse frequency exceeded the specified value e Set the command pulse frequency to 500 kHz or less e Check the electronic gear setting and reduce the speed of the motor output shaft to 4500 r min or less e A voltage exceeding the specified value was applied e A large inertial load was operated e Check the input voltage of the main power supply e f this alarm generates during operation decrease the inertia load inertial load 10 times less than the rotor inertia or increase the acceleration deceleration rate The main power was cut off momentarily or the voltage became low Check the input voltage of the main power supply e When the motor was in a state of current ON the deviation between the command position and actual position exceeded the value set in the parameter for overflow rotation during current on APP 5 01 e The load is large or acceleration deceleration rate is too short
36. ft CC36D1 1 1 3 3 CC36D2 1 2 6 6 R Connector terminal block conversion unit The driver and programmable controller can be connected via a terminal block Cable length 1 m 3 3 ft Model CC36T1 61 18 Reference 18 Reference 18 1 Timing charts E Power input ON Main power supply opp 2 s or less _ s or less Output signals Confirmation of output E C ON input ON Main power supply OFF Effective at 2 s or less ON gee C ON input OFF 300 ms or less 9 ms or less ON READY output OFF 200 ms or less 250 ms or less I ON Motor excitation OFF B FREE input FREEi pi input OFF ONi p C input OFF 5 ms or less 250 ms or less 5 ms or less READY i output OFF 250 ms or less 200 ms or less 250 ms or less M e ON otor excitation OFF E P RESET input Alarm Generation condition ON CW CCW input OFF P RESETi id X input OFF 5 ms or more 0 s or more 5 ms or less READY s output OFF Cumulative position commands 5 ms or less When the P RESET input is turned ON the cumulative value of position commands will be reset to 0 and the current position will be set as the electrical home position e f an alarm generates the P RESET input will become invalid Input the P RES
37. operate in a push motion operation and or a return to electrical home operation Set the required conditions for JOG operation using the following parameters Operating speed of JOG operation APP 7 00 Acceleration and deceleration rate of JOG operation APP 7 01 e Starting speed of JOG operation APP 7 02 Note JOG operation is performed only while each applicable operation button is pressed on the OPX 2A or clicked in MEXEO2 External signals cannot be used to start stop the motor E Return to electrical home operation When the RETURN input is turned ON the motor will start a return to electrical home operation The electrical home position refers to the motor position effective when the driver power is turned on or the position when the P RESET input is turned ON Set the required conditions for return to electrical home operation using the following parameters Operating speed of return operation APP 6 00 Acceleration and deceleration rate of return operation APP 6 01 e Starting speed of return operation APP 6 02 Refer to p 67 for the timing chart e Pulses are not counted during return to electrical home operation e When the CS input is turned ON while the application parameter for abnormal operation data warning APP 5 00 is set to Enable a return to electrical home operation will be disabled and an abnormal operation data warning will generate When a return to electrical home operation is to be perfo
38. 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 250x250x6 mm 9 84x9 84x0 24 in is ensured 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 Maximum static torque at excitation The maximum static torque at excitation is the maximum power the stepping motor has when power rated current is being supplied but the motor is not rotating When the motor is combined with a dedicated driver the automatic current cutback function fo the driver reduces the maximum static torque at excitation by approximately 5095 at motor standstill The maximum power of the motor can be used at acceleration and operation when starting the motor but the holding power is reduced to approximately 5096 after stopping the motor When selecting a motor for your application consider the fact that the holding power will be reduced to approximately 50 at motor standstill Do not use the electromagnetic brake to reduce speed or as a safety brake Do not use the electromagnetic brake as a means to decelerate and stop the motor The brake hub of the electromagnetic brake will wear significantly and the braking force will drop Since the power off activated type electromagnetic brake is equipped it helps maintain the positi
39. the positive terminal of the power supply do not connect any equipment PC etc whose negative terminal is grounded Doing so may cause the driver and these equipment to short damaging both Use the data setter OPX 2A to set data etc Do not perform push motion operation with geared types Doing so may cause damage to the motor or gearhead 10 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 Model names for motor and driver combinations are shown on p 12 MOOT e n unit 51 iere 1 unit CNI connector 3 pins 1 pc e CNS connector 36 pins 1 pc e Motor OPERATING MANUAL 1 copy Driver OPERATING MANUAL 1 copy s USER MANUAL CD ROM 1 pe e Cable for motor 1 pe Cable for electromagnetic brake 1 pc Supplied with electromagnetic brake motors e Parallel key eene 1 pc Supplied with geared types except for the AR24 AR46TH and AR66TH e Surge suppressor 1 pc Supplied with
40. under normal operating conditions If the operator is allowed to approach the running motor attach a warning label as shown below in a conspicuous position Failure to do so may result in skin burn s Warning label 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 Before moving the motor directly with the hands confirm that the FREE input turns ON Failure to do so may result in injury e Immediately when trouble has occurred stop running and turn off the driver power Failure to do so may result in fire or injury Maintenance and inspection To prevent the risk of electric shock do not touch the terminals while performing the insulation resistance test or dielectric strength test Disposal 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 2 Overview of the AR Series 2 Overview of the AR Series The AR Series high efficiency stepping motor and driver package is a product consisting of a stepping motor equipped with a rotor position detection sensor and a high performance microstep driver When the AR Series is used with an accessory data setter OPX 2A or data editing software MEXEO2 both are sold separately push motion operation can be performed in addition to accurate positioning operation
41. 4 V 35 CCW DIR P 33 CCW pulse input Direction input 5 V or line driver 36 CCW DIR The signal will become effective if the applicable setting has been changed using the OPX 2A or MEXEO2 2 Factory setting of the C ON input logic is normally open Be sure to turn the C ON input ON when operating the motor Set the C ON input logic to normally closed when the C ON input is not used 23 8 Connection 24 E Assembling the connector Cable clamp Screw M2 5 Tightening torque I O signal cable 0 5 to 0 55 N m 71 to 78 oz in Screw M2 Connector Place the spring washer outside the case Screw M2 5 Align the washer in the depression in the case R Connecting the connector Insert the CN5 connector into the I O signals connector CN5 on the driver and tighten the screw Tightening torque 0 3 to 0 35 N m 42 to 49 oz in Be certain the I O signals cable is as short as possible The maximum input frequency will decrease as the cable length increases 8 Connection R Connecting to a current sink output circuit e When pulse input is of line driver type Controller Driver 83 A JA vov 510 24 VDC A
42. 50 250 1310 290 1520 340 50 1050 230 1160 260 im 290 1480 330 1710 380 AR24 45 10 1 60 13 5 0 18 100 22 20 4 5 AR46 100 22 120 27 150 33 190 42 5 200 45 220 49 250 56 280 63 320 72 72 45 250 56 270 60 300 67 340 76 390 87 100 22 66 25 S 330 74 360 81 400 90 450 101 520 117 5 480 108 520 117 550 123 580 130 620 139 ES 480 108 540 121 600 135 680 153 790 177 ARIE 25 850 191 940 210 1050 230 1110 240 1190 260 300 61 36 930 200 1030 230 1150 250 1220 270 1300 290 50 1050 230 1160 260 1300 290 1380 310 1490 330 AR24 100 22 135 30 175 39 250 56 140 31 AR46 180 40 220 49 270 60 360 81 510 114 220 49 Harmonic geared 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 The brackets lt gt indicate the value for the electromagnetic brake type 17 7 Installation E Permissible moment load of the Harmonic geared type When installing an arm or table on the flange surface calculate the moment load using the formula below if the flange surface receives any eccentric load The moment load should not exceed the permissible value specified in the
43. 8 1 10 A M3 1 142 6 0 236 PN geared 30 1 18 PS geared 42 1 65 M4 2 280 8 0 315 Harmonic geared 60 2 36 M5 2 5 350 10 0 394 90 3 54 M8 4 560 15 0 591 Harmonic geared 90 3 54 M8 4 560 B 1 AR24 ARA6 and AR66 type only 2 AR98 type only 15 7 Installation 7 3 Installing a load When connecting a load to the motor align the centers of the motor output shaft and load shaft Flexible couplings are available as accessories e When coupling the load to the motor pay attention to the centering of the shafts belt tension parallelism of the pulleys and so on Securely tighten the coupling and pulley set screws e Be careful not to damage the output shaft or bearings when installing a coupling or pulley to the motor output shaft e Do not modify or machine the motor output shaft Doing so may damage the bearings and destroy the motor s 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
44. ET signal while the motor is at standstill 62 18 Reference B CS input 5 ms or more f ON C ON input OFF 5 ms or more ON CS input OFF 1 E 5 ms or more ON RETURN input OFF 300 ms or less 60 ms or less ON READY output OFF 9 ms or less ON WNG output OFF 60 ms or less ON ALM output OFF 2 200 ms or less Motor excitation OFF Ifthe CS input is changed while the C ON input is ON an abnormal operation data warning will generate 2 Ifa return to electrical home operation is performed while an abnormal operation data warning is present an abnormal operation data alarm will generate Note that the motor will remain excited e This timing chart assumes that the application parameter for abnormal operation data warning APP 5 00 is set to Enable If this parameter is set to Disable no warning will be output and an alarm will generate straight away Change the CS input when the motor is in a state of current OFF B T MODE input MO to M2 input The motor current waveform in the following chart assumes that the standstill current is set to 50 while the push current is set to 100 ON T MODE input OFF ON MO input OFF N M1 input i OFF ON M2i input OFF ON DY READY output OFF 5msorless 9 ms or less 5msorless 9 ms or less 100 Motor
45. IC specification of the line driver 10 Explanation of I O signals R WNG output When a warning generates the WNG output turns ON The warning can be generated before a corresponding alarm generates To use the WNG output the applicable parameter must be changed using the OPX 2A or MEXEO2 The initial value is to use the same conditions applicable to alarms For details refer to 14 2 Warnings on p 56 R ALM output When an alarm generates the ALM output will turn OFF At the same time the ALARM LED of the driver will blink and the motor current will be cut off and stop Set the programmable controller so that it will stop motor operation commands upon detection of an OFF status of the ALM output The cause of the alarm can be checked by counting the number of times the ALARM LED blinks For details refer to 14 1 Alarms on p 53 Abnormal operation data alarm is not supported by this function because the current will not be cut off even after these errors occur Blink ALARM LED Ti ALM 2 output OFF Motor operation The motor stops due to inertial force SS 8 gt When the driver is When a protective operating normally function is triggered 10 3 Timing chart When turning the main power supply on and turning the C ON input ON the motor will be excited The READY output will turn ON and pulse input will be enabled 10s or more ON Main power supply
46. Inspection e ooo et io einer b ius 52 14 Alarms and warnings 53 141 Alartms eret e ether ts 53 14 2 Watrnlngs eid ie A oa E 56 15 Troubleshooting and remedial actions ess 57 16 General specifications 58 17 Accessories sold separately 59 18 Reference eeeeeeeeeeeeceee 62 18 1 Timing charts einen 62 18 2 Function parameter list 70 18 3 Warning alarm lists 76 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 T 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 A Warning General Do not use the product in explosive or corrosive environments in the presence of flammable gases locations subjected to splashing water or near combustibles Failu
47. LIFBT2 7 23 CC100VAFT2 10 32 8 CCIOOVALFBT2 10 32 8 CC150VAFT2 15 49 2 CCI50VALFBT2 15 492 _ For IP20 types enter 2 in the CC200VAFT2 20 65 6 CC200VADFBT2 20 65 6 box O within the model name e Flexible extension cable set For standard motor e Flexible extension cable set For electromagnetic brake motor Length Length Model in a Model iln et CCO10VART2 1 3 3 CCO10VADIRBT2 1 3 3 CCO20VART2 2 6 6 CCO20VADIRBT2 2 6 6 CCO30VART2 3 9 8 CCO30VAURBT2 3 9 8 CCO50VART2 5 16 4 CCOS50VAURBT2 5 16 4 CCO70VART2 7 23 CCO70VAURBT2 7 23 CC100VART2 10 32 8 CC1OOVAORBT2 10 32 8 CC150VART2 15 49 2 CCISOVAORBT2 15 492 For IP20 types enter 2 in the CC200VART2 20 65 6 CC200VAORBT2 20 65 6 box O within the model name Connector pin assignments of extension cable The pin assignment is same with Connection cable on p 60 E Data setter The data setter lets you set parameters for your AR series with ease and also functions as a monitor Model OPX 2A E Data editing software The data editing software lets you set parameters for your AR series and monitor its operating condition using a PC The software comes with a PC interface cable 5 m 16 4 ft The cable is connected to the USB port on the PC Model MEXEO2 Bi Driver cable A shielded cable for driver I O signals 36 pins offering excellent noise resistance Model Length m
48. No 2 Pulse input mode select switch SW1 No 1 I O signals connector CNB MeL 1 Orientalmotor DIN lever Name Description Ref POWER LED Green This LED is lit while the main power is input This LED will blink when an alarm generates It is possible to check the ALARM LED Red generated alarm by counting the number of times the LED blinks P 53 Main power supply input terminals CN1 Connect the main power supply P 29 Frame Ground Terminal CN1 Ground using a wire of AWG24 to 16 0 2 to 1 25 mm P 29 Motor connector CN2 Connect the motor P 21 Connect a PC in which the data editing software MEXEO2 has been installed or Data edit connector CN4 the data setter OPX 2A P 30 I O signals connector CNB Connect the I O signals of the controller P 23 This switch adjusts the operating current It is used to limit the torque and Current setting switch temperature rise A desired current can be set as a percentage of the rated P 41 CURRENT output current P 50 Factory setting F This switch adjusts the motor response Use this switch if you want to suppress Speed filter setting switch motor vibration or cause the motor to start stop smoothly 0 and F correspond P 41 V FIL to the minimum and maximum speed filter settings respectively P 51 Factory setting 1 This switch is used to toggle between the 1 pulse inp
49. O ARM66AK ARD K AR66BK O ARM66BK AR66MK O ARM66MK AR69SAK O ARM69SAK AR69SBK O ARM69SBK AR69SMK O ARM69SMK AR69AK O ARM69AK AR69BK O ARM69BK AR69MK O ARM69MK AR98SAK O ARM98SAK AR98SBK O ARM98SBK AR98SMK O ARM98SMK AR98AK O ARM98AK AR98BK O ARM98BK AR98MK O ARM98MK R TH geared type Model Motor model Driver model AR24SAK TB O ARM24SAK TI ARA6SAK TB O ARM46SAK T il ARA6SMK TB O ARMA6SMK TI ARA6AK TB O ARMA6AK TI ARA6MK TB O ARMAG6MK TI AR66SAK TB O ARM 6SAK TM AR66SMK TB O ARM66SMK Tm ARD K AR66AK TB O ARM 6AK TI AR66MK TB O ARM66MK TB AR98SAK TB O ARM98SAK TM AR98SMK TB O ARM98SMK TI AR98AK TB O ARM98AK TI AR98MK TB O ARM98MK TB Model Motor model Driver model AR24SAK NB O ARM24SAK NB ARA6SAK NB O ARMA6SAK NB ARA6SMK NB O ARMA6SMK NI ARA6AK NB O ARMA6AK NB ARA6MK NB O ARMAG6MK NI AR66SAK NB O ARM66SAK NI AR66SMK NB O ARM 6SMK NI ARD K AR66AK NB O ARM66AK NB AR66MK NB O ARM66MK NI AR98SAK NB O ARM98SAK NB AR98SMK NB O ARM98SMK NI AR98AK NB O ARM98AK NB AR98MK NB O ARM98MK NI E PS geared type Model Motor model Driver model AR24SAK PSB O ARM24SAK PSI ARA6SAK PSB O ARMA6SAK PSI AR46SMK PS O ARMA6SMK PSI ARA6AK PSB O ARMA6AK PSI AR46MK PS O ARMA6MK PSI AR66SAK PSB O ARM 6SAK PSI AR66SMK PS O ARM66SMK PSm ARD K AR66AK PSB O ARM 6AK PSM AR66MK PSH O ARM66MK PSI AR98SAK PSB O ARM98SAK PSI AR98SMK PSI O ARM98SMK PSI AR98AK PSB O ARM98AK PSI AR98MK PSB O ARM98MK PSI E Harmon
50. Orientalmotor wn A Stepping motor and driver package NsTErP High efficiency AR Series DC power input Pulse input type USER MANUAL Cc 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 3 2 Overview of the AR Series 2 3 System configuration 6 4 Introduction 8 5 Precautions for use 9 6 Pr paration eae eed ras 11 6 1 Checking the product 11 6 2 How to identify the product model 11 6 3 Combinations of motors and drivers 12 6 4 Input output power ratings 13 6 5 Names and functions of parts 13 7 Installation eee eee eee eee 15 7 1 Location for installation 15 7 2 Installing the motor 15 7 3 Installing a load sese 16 7 4 Permissible overhung load and permissible thrust load 17 7 5 Installing the driver 18 7 6 Installing and wiring in compliance with EMC Directive T 19 8 GConnection eese 21 8 1 Connecting the motor 21 8 2 Connecting the electromagnetic brake
51. U Leie oen eaput RO ets 22 8 3 Connecting the I O signals 23 8 4 Connecting the power supply and grounding the driver 29 8 5 Connecting the data setter 30 9 Quick operations 31 10 Explanation of I O signals 33 10 1 Input signals enea 33 10 2 Output Signals eanna 37 10 3 Timing chart 2 2 teens 39 NY Setting eere PHI RS 40 11 1 Resolution o aiara T 40 11 2 Pulse input mode 40 11 3 Operating current sssss 41 11 4 Speed iter 41 12 Extended functions 42 12 1 Settitig i cerne B Resolution 1 e eere redis W Pulse input mode W Motor excitation at power ON 46 W Automatic return operation eee 46 W Setting the motor rotation direction 47 W Setting the positioning completion END signal offset aad eee 47 12 2 Operation sese 48 E Push motion operation sese ee eee 48 W Test T 49 W Return to electrical home operation 49 12 3 Adjustment Bi Control mode dier W Operating current W Standstill current B Speed filtet ie oe oe Atte W Smooth drive W Speed error gain W Position loop gain speed loop gain speed loop integral time constant 51 W Anti vibration control sese 51 13
52. V FIL 0 0 to 200 ms 0 APP 1 01 Speed filter at V FIL 1 0 to 200 ms 1 APP 1 02 Speed filter at V FIL 2 0 to 200 ms 2 APP 1 03 Speed filter at V FIL 3 0 to 200 ms 3 APP 1 04 Speed filter at V FIL 4 0 to 200 ms 5 APP 1 05 Speed filter at V FIL 5 0 to 200 ms 7 APP 1 06 Speed filter at V FIL 6 0 to 200 ms 10 APP 1 07 Speed filter at V FIL 7 0 to 200 ms 20 APP 1 08 Speed filter at V FIL 8 0 to 200 ms 30 APP 1 09 Speed filter at V FIL 9 0 to 200 ms 50 APP 1 10 Speed filter at V FIL A 0 to 200 ms 70 APP 1 11 Speed filter at V FIL B 0 to 200 ms 100 APP 1 12 Speed filter at V FIL C 0 to 200 ms 120 APP 1 13 Speed filter at V FIL D 0 to 200 ms 150 APP 1 14 Speed filter at V FIL E 0 to 200 ms 170 APP 1 15 Speed filter at V FIL F 0 to 200 ms 200 APP 3 01 Speed error gain 1 0 to 500 45 APP 3 02 Speed error gain 2 0 to 500 45 APP 4 00 Position loop gain 1 to 50 10 APP 4 01 Speed loop gain 10 to 200 180 APP 4 02 Speed loop integral time constant 10 0 to 200 0 ms 100 0 APP 4 04 Frequency of anti vibration control 3 00 to 100 00 Hz 7 00 s 0 Disable T APP 4 03 Anti vibration control 1 Enable 0 Disable 0 Disable SyS 1 01 Smooth drive 1 Enable 1 Enable APP 7 00 Operating speed of JOG operation 1 to 4000 r min 30 apps EG eration and derelerailon ater el JOG 0 01 to 1000 00 ms 1000 r min 100 00 operation APP 7 02 Starting speed of JOG operation 0 to 4000 r min 30 SyS 1 02 Exc
53. W 1 CW APP 2 02 C ON input logic 0 Normally open 0 Normally 1 Normally closed open 0 Disable ae SyS 1 03 Auto return 1 Enable 0 Disable 71 18 Reference Mode Item Overview Standard Extended specification function Normal Current control OA IE ede Set whether or not to perform push motion operation Not available Available Available Available Output a corresponding alarm code using the READY ALO Alarm code output TLC AL1 output and TIM2 AL2 output when an Not available Available Available Available alarm generates Positioning EURE Set the output band for END signal Not available Available Available Available signal range So TR Set the offset for END signal Not available Available Available Available Pulse input operation Perform operation based on input of CW CCW pulses Available Available Available Available Set the current for push motion operation Not available Available Available Available Push motion operation Set the input signal mode Not available Available Available Available Select the current for push motion operation using the MO S Not available Available Available Available to M2 inputs Output the TLC signal during push motion operation The output condition varies depending on the control mode Normal mode The TLC output will turn ON when f l R Available Available
54. able for motor Note 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 s f the distance between the motor and driver is extended to 20 m 65 6 ft or longer use a power supply of 24 4 VDC e Have the connector plugged in securely Insecure connector connection may cause malfunction or damage to the motor or driver When unplugging the connector do so while pressing the latches on the connector When plugging unplugging the connector turn off the power and wait for the POWER LED to turn off before doing so When installing the motor to a moving part use a flexible cable offering excellent flexibility See 17 Accessories sold separately on p 59 22 8 3 Connecting the I O signals Solder the I O signal cable AWG28 to 26 0 08 to 0 14 mm to the CNS connector 36 pins while checking the pin numbers in Connector 8 Connection 18 16 14 12108 6 4 2 function table provided below Use a shielded cable for I O signals We provide an accessory driver cable allowing simple and easy connection with a driver as well as connector terminal block conversion unit Refer to p 61 for details E Connector function table 35 33 31 29 27 25 23 21 19
55. al EM Name Setting range Initial value control display Not available Available Available Available Abnormal operation data 0 Disable c Not available Available Available Available APP 5 00 P 0 Disable warning 1 Enable Overflow rotation warnin Not available Available Available Available APP 5 04 9 0 01 to 300 00 rev 3 00 during current on Overflow rotation warnin Not available Available Available Available APP 5 02 R 9 0 01 to 300 00 rev 100 00 during current off Not available Available Available Available APP 5 05 Overvoltage warning 15 0 to 63 0 V 63 0 Not available Available Available Available APP 5 06 Undervoltage warning 15 0 to 63 0 V 18 0 Not available Available Available Available APP 5 07 Overheat warning 40 to 85 C 85 Not available Available Available Available APP 5 08 Overload warning 0 1 to 30 0 s 5 0 Not available Available Available Available APP 5 09 Overspeed warning 1 to 5000 r min 4500 Not available Available Available Available Not available Available Available Available F Not available Available Available Available pa Not available Available Available Available S Not available Available Available Available E Not available Available Available Available Not available Available Available Available E F Not available Available Avai
56. alarm code indicating the cause of the alarm can be output and checked via the combination of ALO AL1 and AL2 outputs To use alarm codes the applicable parameter must be changed using the OPX 2A or MEXEO2 For details refer to 14 1 Alarms on p 53 E ASG output BSG output The ASG output is used to output pulses according to motor operation The motor position can be monitored by counting the ASG output pulses The number of output pulses per motor revolution varies depending on the resolution effective when turning the power on The BSG output has a 90 phase difference with respect to the ASG output The motor rotation direction can be determined by detecting the BSG output level at the rise of the ASG output CW rotation CCW rotation ASG output or 90 BSG output 7 Em E m EM H ET e The ASG output and BSG output are subject to a maximum delay of 0 1 ms with respect to motor operation Use these outputs to check the position at which the motor is stopped s Connect a termination resistor of 100 Q or more between the driver and the input of the line receiver Electrical characteristics of ASG output and BSG output 250 ns or more 250 ns or more 500 ns or more 90 ASG output OFF 10 GA 250 ns or more Lg 250 ns or more 250 ns or more ON n p 90 BSG output OFF 10 X The electrical characteristics vary depending on the
57. at occurs with Anti vibration control an equipment of low rigidity can be Can not be adjusted Can be adjusted adjusted to an optimal level E Control mode The driver operates in one of two control modes the normal mode and the current control mode The desired mode can be set using the control mode select switch SW1 No 2 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 Ub e OFF Normal mode NORM NORM IT CCM ON Current control mode CCM uo e The new setting of the control mode select switch will become effective after the power is cycled e In the normal mode the CCM input becomes effective Operating current Set a desired operating current using the current setting switch CURRENT The operating current to be set is the maximum output current multiplied by the operating current rate 6 set to each dial setting of the current setting switch where F corresponds to 100 El One of 16 operating current levels from 0 to F can be set 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 T
58. ation E System parameters Item Description OPX 2A screen display Ref Electronic gear A1 to A4 Set the denominator of electric gear SyS 0 00 to SyS 0 03 P43 Electronic gear B Set the numerator of electric gear SyS 0 04 l Pulse input mode Select the pulse input mode SyS 1 00 P 44 Smooth drive Change the setting to enable disable of the smooth drive SyS 1 01 P 51 Excitation position at first Select the position at which the motor is excited after the SyS 1 02 P46 current ON power has been turned on Automatic retur When the motor was in a state of current ON set whether or not to automatically return the motor to the position SyS 1 03 P 46 operation at current ON where it was stopped Motor rotation direction Select rotation direction of the motor SyS 1 04 P 47 When a system parameter has been changed the new parameter will become effective after the power is cycled 12 1 Setting E Resolution The resolution can be set using the applicable driver switches or CS input Using the switches Use the resolution switches SW1 No 3 No 4 to set a desired resolution per revolution of the motor output shaft oFF T oFF O N gt NO ON 5 OFF Resolution 1000 P R Resolution 500 P R OFF ON o JON JON Resolution 10000 P R Resolution 5000 P R
59. ation at current Excessive position and actual position exceeded the value set in OFF to the specified setting value or deviation warning 12 the parameter for overflow rotation during less Or change the setting value during current OFF current off APP 5 02 This warning is output e Turn the CLR input ON to clear the when the parameter for auto return SyS 1 03 position deviation is set to Enable The temperature inside the driver exceeded Bauewihevenitatensonditende the Overheat 21 the value set in the parameter for overheat Shclos r warning APP 5 07 i e Check the input voltage of the main e The voltage of the main power supply power supply exceeded the value set in the parameter for If this alarm generates during operation Overvoltage 22 overvoltage warning APP 5 05 decrease the inertia load inertial load 10 c times less than the rotor inertia or e A large inertial load was operated increase the acceleration deceleration rate e The main power supply voltage dropped from the value set in the parameter for l l Undervoltage 25 undervoltage warning APP 5 06 e the input voltage of the main power e The main power was cut off momentarily or PRY the voltage became low S e Reduce the load or increase the Aload exceeding the maximum torque was acceleration deceleration rate applied for the time set in parameter for the foes Overload 30 overload warning APP 5 08 or longer e If the driver is in the cur
60. because abnormal operation data alarm does not cut off the motor current When the application parameter for ALO 2 signal output APP 2 01 is set to Enable the READY output TLC output and TIM2 output will automatically switch to the ALO output AL1 output and AL2 output respectively When an alarm generates the ALARM LED will blink The cause of the alarm can be checked by counting the number of times the ALARM LED blinks Present alarms can be checked using the data setter OPX 2A or the data editing software MEXEO2 The alarm records of up to ten most recent alarms starting from the latest one can be checked and cleared Example Overvoltage alarm number of blinks 3 Approx Approx 200 me UO ms Approx 1 7 5 Interval E Alarm reset Perform one of the reset operations specified below Before resetting an alarm always remove the cause of the alarm and ensure safety Refer to p 64 for the timing chart e Turn the ALM RST input to ON and then OFF The alarm will be reset at the OFF edge of the input e Perform an alarm reset using the OPX 2A or MEXEO2 Cycle the power Some alarms cannot be reset with the ALM RST input OPX 2A or MEXEO02 Check the following table to identify which alarms meet this condition To reset these alarms cycle the power 53 14 Alarms and warnings E Descriptions of alarms See p 76 for more information about the alarm parameters
61. control APP 4 04 Set the frequency of anti vibration control 51 13 Inspection 13 Inspection 52 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 During inspection Are any of the motor mounting screws loose Check for any unusual noises in the motor bearings ball bearings or other moving parts Are there any scratches signs of stress or loose driver connections in the motor lead wires 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 power connection terminal screws loose 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 14 Alarms and warnings 14 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 14 1 Alarms When an alarm generates the ALM output will turn OFF and the motor will stop The motor will continue to operate after generating the abnormal operation data alarm
62. d between the following places Case Motor and sensor windings Case Electromagnetic brake windings Dielectric strength Sufficient to withstand 1 0 kVAC at 50 60 Hz applied between the following places for 1 minute Case Motor and sensor windings Case Electromagnetic brake windings 17 Accessories sold separately 17 Accessories sold separately E Motor cable The cable supplied with the AR series 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 the supplied cable is not long enough and you must use a connection cable or extension cable When installing the motor on a moving part use a flexible cable offering excellent flexibility System configuration Extending the wiring length using a connection cable In this case the supplied cable will not be used Connection cable set Only when the motor is of electromagnetic brake type Extending the wiring length using an extension cable Use a supplied cable And connect an extension cable to the supplied cable Extension cable set Cable for electromagnetic brake Cable for electromagnetic brake supplied I I gt Cable for motor Cable for motor supplied I Only when the motor is of electromagnetic brake type ET When extending the wiring length by connecting an extension cable to the su
63. e setting constant ms setting constant ms 0 0 8 30 1 1 factory setting 9 50 2 2 A 70 3 3 B 100 4 5 C 120 5 7 D 150 6 10 E 170 7 20 F 200 e Speed filter setting switch 0 minimum e Speed filter setting switch F maximum HERE Command speed ATA Motor speed SOLE Re END output To change the basic setting for speed filter Refer to Speed filter on p 51 P BSE Command speed Motor speed maa END output 41 12 Extended functions 12 Extended functions This chapter explains the extended functions that can be set with the accessory data setter OPX 2A or the data editing software MEXEO2 both are sold separately Using the OPX 2A or MEXEO2 the driver parameters can be changed and also test operation and monitoring operations can be performed The key functions are listed below Parameter codes displayed on the OPX 2A screen are shown in brackets Since these codes are also referenced in the main text herein use these codes as keywords Parameters that can be set with the OPX 2A can also OPX 2A MEXE02 OPERATIONAL UNIT OPX 2 Orientalmotor be set with MEXEO2 For the method to set parameters with the OPX 2A or MEXEO2 refer to the operating manual for each product E Application parameters
64. e CLR ALM RST input will function as an input signal to reset the alarm CLR input 500 ys or more CLRi ON input OFF 5 ms or less 5 ms or less READY a output OFF 5 ms or less 9 ms or less END Ma output OFF 9 ms or less Position deviation 0 Position deviation occurs due to external force E e When performing a return to mechanical home operation using a stopper etc do not use the CLR input If the CLR input is used the home position may become offset e Pulse input is disabled while the CLR input is ON e When the CLR input is turned ON the automatic return operation and return to electrical home operation will stop ALM RST input When an alarm generates the ALM output will turn OFF 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 Before resetting an alarm always remove the cause of the alarm and ensure safety For details refer to ALM output on p 39 and 14 1 Alarms on p 53 ms or mor NES S or more ALM RST input ON OFF 5 ms or less ALM N output OFF Alarms that cannot be reset with the ALM RST input need to be reset by cycling the power If a normal condition cannot be restored after cycling the power contact your nearest Oriental Motor sales office R CCM input When the CCM input is
65. e is in the holding state Supply power to the electromagnetic brake to release it The motor rotates in the direction opposite to the specified direction The CW input and CCW input are connected in reverse in the 2 pulse input mode Connect CW pulse signals via the CW input and connect CCW pulse signals via the CCW input The DIR input is set in reverse in the 1 pulse input mode Turn the DIR input ON to rotate the motor in CW direction and turn the input OFF to rotate the motor in CCW direction The system parameter for rotation direction SyS 1 04 is set wrong Check the setting of the parameter for rotation direction SyS 1 04 The gear output shaft rotates in the direction opposite to the motor A gear that rotates in the direction opposite to the motor shaft is used e With TH geared motors the gear output shaft rotates in the direction opposite to the motor when the gear ratio is 20 or 30 e With Harmonic geared motors the gear output shaft always rotates in the direction opposite to the motor Motor operation is unstable Pulse signals are not connected properly e Check the connection between the controller and driver e Check the pulse signal specifications voltage width Motor vibration is too great Load is too small Lower the current using the current setting switch If the motor output torque is too large relative to the load vibration will increase
66. e 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 9 Quick operations 9 Quick operations If you are new to the AR series driver read this chapter and you will be able to perform basic motor operations quickly ETSI Before operating the motor check the condition of the surrounding area to ensure safety l STEP 1 Check the installation and connection 8 Check 9 Check Motor connection E C ON input and CW CCW pulse P 21 TH connection X B ydo h Check Motor and driver installation C Pulse generator or P 15 P 18 7 programmable controller Check Power supply connection B P 29 STEP 2 Operate the motor To suppress vibration and shock V FIL dess Response Starting stopping E becomes becomes smoother quicker B u B B To change the resolution SW1 No 3 SW1 No 4 B 3 Confirm that the motor rotates without problem OFF lt ON OEP TT LCE ON OFF ION OFFI DJ OFF e B Resolution 1000 P R Resolution 500 P R m e oFF 0
67. each other and let the gears mesh at the center of the tooth widths Using a coupling e Using a belt drive e Using a gear drive Bi 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 poe Load mounting holes Flange Bolts e I n T Metal plate Number of Tightening torque Effective depth Model Bolt size bolts Nm oz in of bolt mm in AR24 M3 4 4 198 4 0 157 AR46 M3 6 4 198 5 0 197 AR66 M4 6 5 350 6 0 236 Note 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 16 7 Installation 7 4 Permissible overhung load and permissible thrust load With a double shaft type do not apply load torque overhung load or thrus
68. electromagnetic brake motors 6 2 How to identify the product model AR 24S A K H 50 0 ps Length of supplied cable 1 1 m 3 3 ft 2 2 m 6 6 ft 3 3 m 9 8 ft Gear ratio 2 T TH geared type PS PS geared type N PN geared type H Harmonic geared type Blank Standard type Power supply voltage K 24 48 VDC Motor type A Single shaft B Double shaft M Electromagnetic brake type S IP20 type Motor length Motor size 2 28 mm 1 10 in 30 mm 1 18 in for Harmonic geared types 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 name ForIP20 type 2 The model name is 7 for the gear ratio 7 2 1 of the PS Geared type 11 6 Preparation 6 3 Combinations of motors and drivers E represents a number indicating the gear ratio e O indicates the cable length E Standard type R PN geared type Model Motor model Driver model AR24SAK O ARM24SAK AR24SBK O ARM24SBK AR26SAK O ARM26SAK AR26SBK O ARM26SBK AR46SAK O ARM46SAK AR46SBK O ARM46SBK AR46SMK O ARM46SMK AR46AK O ARM46AK AR46BK O ARM46BK AR46MK O ARM46MK AR66SAK O ARM66SAK AR66SBK O ARM66SBK AR66SMK O ARM66SMK AR66AK
69. ffice for further information ORIENTAL MOTOR U S A CORP Technical Support Tel 800 468 3982 8 30 A M to 5 00 P M P S T M F 7 30 A M to 5 00 P M C S T M F E mail techsupport orientalmotor com www orientalmotor com ORIENTAL MOTOR EUROPA GmbH Headquarters and D sseldorf Office Tel 0211 52067 00 Fax 0211 52067 099 Munich Office Tel 089 3181225 00 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 465 6745 7344 Fax 465 6745 9405 ORIENTAL MOTOR MALAYSIA SDN BHD Tel 03 22875778 Fax 03 22875528 ORIENTAL MOTOR THAILAND CO LTD Tel 466 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 Printed on Recycled Paper
70. gear B SyS 0 04 Electronic gear B SyS 0 04 1000 x 1000 x SW1 No 4 OFF Electronic gear A1 SyS 0 00 Electronic gear A2 SyS 0 01 SW1 No 3 OFF 1000 Electronic gear B SyS 0 04 1000 Electronic gear B SyS 0 04 SW1 No 4 ON x x Electronic gear A3 SyS 0 02 Electronic gear A4 SyS 0 03 E e When the resolution switch SW1 No 3 is set to ON the CS input is disabled The ON setting is maintained e When the CS input is turned ON while the application parameter for abnormal operation data warning APP 5 00 is set to Enable a return to electrical home operation will be disabled and an abnormal operation data warning will generate When performing a return to electrical home operation after the CS input is turned ON turn the P RESET input ON to confirm the electrical home position and then turn the RETURN input ON E Pulse input mode Set the desired pulse input mode of the driver according to the pulse output mode of the controller pulse generator used with the driver The pulse input mode is set using the applicable driver switch or parameter 1 pulse input mode A pulse signal is input via the PLS input and the rotation direction is selected using the DIR input 2 pulse input mode When a pulse signal is input via the CW input the motor will rotate in forward direction If a pulse signal is input via the CCW input the motor will rotate in reverse direction Phase difference input mode set by a parameter
71. he FREE input OFF can be set using the OPX 2A or MEXEO2 Refer to Automatic return operation on p 46 Note When operating the motor be sure to turn the FREE input OFF E CS T MODE input The CS input is effective when positioning operation is performed When push motion operation is selected with the OPX 2A or MEXEO2 the T MODE input will become effective e CS input When the resolution switch SW1 No 3 is set to OFF the resolution setting can be changed according to the CS input Resolution switch CS input OFF CS input ON SW1 No 3 OFF The setting of SW1 No 3 OFF is selected The setting of SW1 No 3 ON is selected SW1 No 4 OFF Factory setting 1000 P R Factory setting 10000 P R SW1 No 3 OFF The setting of SW1 No 3 OFF is selected The setting of SW1 No 3 ON is selected SW1 No 4 ON Factory setting 500 P R Factory setting 5000 P R While the resolution switch SW1 No 3 is set to ON the CS input is disabled The ON setting is maintained T MODE input When the T MODE input is turned ON the push motion operation will be started 10 Explanation of I O signals B RETURN M1 input The RETURN input is effective when positioning operation is performed When push motion operation is selected with the OPX 2A or MEXEO2 the MI input will become effective RETURN input When the RETURN input is turned ON the motor will start a return to electrical home operation Return to electr
72. he driver exceeded the value set in the Overheat parameter for overheat warning APP 5 07 e The voltage of the main power supply exceeded the value set in the Overvoltage parameter for overvoltage warning APP 5 05 e A large inertial load was operated Undervoltage e The voltage of the main power supply became lower than the value set in the parameter for undervoltage warning APP 5 06 e The main power was cut off momentarily or the voltage became low e Aload exceeding the maximum torque was applied for the time set in the Overload parameter for overload warning APP 5 08 or longer s The load is large or acceleration deceleration rate is too short The detected motor speed exceeded the value set in the parameter for Overspeed overspeed warning APP 5 09 Operation data error e The CS input was changed when the motor was in a state of current ON e The traveled distance from the electrical home exceeded the control range 2 147 483 648 pulses This alarm generates when the application parameter for abnormal operation data warning APP 5 00 is set to Enable Electronic gear setting error The resolution set by the electronic gear is outside the specified range 78 18 Reference Mode Parameter Standard Extended C t TOPX 2A ie ass S urren specification function Norm
73. he value assigned to each dial setting of the current setting switch can be changed by using a corresponding application parameter for operating current at CURRENT one of APP 0 00 to APP 0 15 CURRENT 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 Bi 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 calculated by multiplying the operating current 10096 by the ratio of standstill current Even when the operating current changes the standstill current will be calculated as a percentage of the operating current deemed to be 100 Set a desired standstill current using the application parameter for standstill current APP 3 00 The initial value is 50 50 12 Extended functions E Speed filter The motor response to input pulses can be adjusted using the speed filter setting switch V FIL One of 16 speed filter levels from 0 to F can be set When the speed filter level is raised vibration can be suppressed during low speed operation and starting stopping of the motor will become smooth Note however that an excessively high filter level will result in lower synchronicity with commands Set an appropriate value according to the specific load and purpose The value a
74. iation warning generates when the motor is in a state of current OFF Overvoltage warning Set the condition under which an overvoltage warning generates Undervoltage warning Set the condition under which an undervoltage warning generates Overheat warning Set the condition under which a driver overheat warning generates Overload warning Set the condition under which an overload detection warning generates The overload condition varies depending on the control mode Normal mode A position deviation of 1 8 or more has occurred Current control mode The operating current has reached the limit Overspeed warning Set the condition under which a motor overspeed warning generates Descriptions of warnings Excessive position deviation during current ON e When the motor was in a state of current ON the deviation between the command position and actual position exceeded the value set in the parameter for overflow warning rotation during current on APP 5 04 e The load is large or acceleration deceleration rate is too short Excessive position deviation during current OFF When the motor was in a state of current OFF the deviation between the command position and actual position exceeded the value set in the parameter for overflow rotation during current off APP 5 02 This warning is output when the parameter for auto return SyS 1 03 is set to Enable The internal temperature of t
75. ic geared type Model Motor model Driver model AR24SAK HB O ARM24SAK HB ARA6SAK HB O ARMA6SAK HM ARA6SMK HB O ARMA6SMK HW ARA6AK HB O ARM46AK H E ARA6MK HB O ARMA6MK HB AR66SAK HB O ARM 6SAK HM AR66SMK Hi O ARM66SMK HW ARD K AR66AK HB O ARM66AK H E AR66MK HB O ARM66MK HM AR98SAK HB O ARM98SAK HI AR98SMK HB O ARM98SMK HW AR98AK HB O ARM98AK HN 12 AR98MK H O ARM98MK H m 6 Preparation 6 4 Input output power ratings Frame size Input Output mm in Model Motor model Driver model Voltage Curent current 28 1 10 AR24 ARMA 24 VDC 0 9A 0 88A 30 1 18 AR26 ARM26 42 1 65 AR46 ARM46 1 4A 1 48A AR66 ARM66 ARD K 3 1A 60 2 38 AR69 ARM69 At VDE 3 0A 48 VDC 2 55 A 85 3 35 90 3 54 AR98 ARM98 2 5A 6 5 Names and functions of parts E Motor Example ARM66SMK Motor Protective Earth Terminal M4 Mounting holes 4 locations Output shaft Electromagnetic brake Motor cable Electromagnetic brake cable 13 6 Preparation B Driver POWER LED ALARM LED Data edit connector CN4 Motor connector CN2 Main power supply input terminals CN1 Frame Ground Terminal CN1 Current setting switch Speed filter setting switch V FIL CURRENT Resolution switches SW1 No 3 No 4 SW1 Control mode select switch SW1
76. ical home operation is a type of operation that moves the motor to its electrical home position where the cumulative value of command positions becomes 0 The electrical home position is initially at the motor position when the power is turned on and it can be changed to a desired position using the P RESET input e M1 input Combine this input with the MO and M2 inputs to select a desired current setting for push motion operation Refer to p 48 for the current setting for push motion operation E P RESET M2 input The P RESET input is effective when positioning operation is performed When push motion operation is selected with the OPX 2A or MEXEO2 the M2 input will become effective e P RESET input When the P RESET input is turned ON the cumulative value of command positions will become 0 and the electrical home position will be set Input this signal while the motor is at standstill CW CCW input ON OFF 9 ms or more P RESETi s input OFF ON END output OFF 5 ms or less Cumulative position commands M2 input Combine this input with the MO and M1 inputs to select a desired current setting for push motion operation Refer to p 48 for the current setting for push motion operation 35 10 Explanation of I O signals E CLR ALM RST input This input is used to clear the position deviation counter If an alarm generates th
77. imal value The optimal value varies depending on the equipment and operating conditions Set the required conditions using the following application parameters Position loop gain APP 4 00 This adjusts the motor response in reaction to the position deviation When this value is increased the motor response will become quicker and motor overshoot will decrease An excessively high value may cause hunting Speed loop gain APP 4 01 This adjusts the motor response in reaction to the speed deviation When this value is increased motor response will become quicker and motor overshoot will decrease An excessively high value may cause hunting s Speed loop integral time constant APP 4 02 This decreases the deviation that cannot be adjusted with the speed loop gain When this value is decreased motor response will become quicker and motor overshoot will decrease An excessively low value may cause hunting E Anti vibration control This item is effective in the current control mode Even when the motor is installed into a machine of low rigidity residual vibration can be suppressed during positioning in order to shorten the positioning time The optimal value varies depending on the equipment and operating conditions Set the required conditions using the following application parameters e Anti vibration control APP 4 03 Set whether or not to enable anti vibration control e Frequency of anti vibration
78. ion direction Forward rotation Reverse rotation Low active 0 8 us or more Ol cw input c FL T1 l ON CCW input OFF Rotation direction Forward rotation Reverse rotation Phase difference mode x1 0 4 us or more N erecti CW input ory LEE n 1 f ON orr M M 1 Rotation direction Forward rotation Reverse rotation CCW input x2 0 4 us or more cw no GEIL 8 8 fee 8 8 8 input OFF CCW input ON mps LN EN Rotation direction Forward rotation Reverse rotation x4 0 4 us or more ow noe NN R LR RI 79 1 1 EEE Rotation direction Forward rotation Reverse rotation CCW input Whether to cause the motor to rotate in CW direction or CCW direction when a forward direction pulse is input can be set using the system parameter for rotation direction SyS 1 04 Refer to p 47 When a system parameter has been changed the new parameter will become effective after the power is cycled 45 12 Extended functions Pulse signal Input a pulse with sharp rising and falling edges as shown in the figures The figure shows the voltage levels of pulse signals e 1 pulse input mode 2 pulse input mode 2 US or more OFF 0 8 us or more 10 0 8 us or more 2 us or less 2 us or less E Motor excitation at power ON When the power is turned on and the
79. ite position at first current on Delecteg position a Detected 1 Electrical angle 0 position 0 Signed Tan APP 8 00 Displayed speed on OPX 2 1 Unsigned 0 Signed APP 8 01 Deceleration rate of speed monitor 1 0 to 100 0 1 0 75 18 Reference 18 3 Warning alarm lists R Alarms protective functions Item Overview condition When an alarm generates the ALARM LED on the front face of the driver Alarm check LED indicator will blink The number of times the LED blinks varies depending on the function content of the alarm ALM output ALM output This signal will be output when an alarm generates Alarm code output Alarm code output ALO to AL2 outputs These outputs are used by the programmable controller to detect the content of each alarm that has generated Alarm code output enable disable setting Set when outputting alarm codes Alarm reset Power cycle reconnection Cycle the main power to reset alarms ALM RST input Input the ALM RST signal to reset alarms Alarm detection condition setting Excessive position deviation alarm Set the condition under which an excessive position deviation alarm generates when the motor is in a state of current ON Overload Set the condition under which an overload detection alarm generates when the motor is in a state of current OFF The overload condition varies depending on the control mode Normal mode A position de
80. lable Available Not available Available Available Available 79 e Unauthorized reproduction or copying of all or part of this manual is prohibited Ifa 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 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 Characteristics specifications and dimensions are subject to change without notice 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 Orientalmotor and Oster are registered trademark or trademark of Oriental Motor Co Ltd in Japan and other countries Other product names and company names mentioned in this manual may be registered trademarks or trademarks of their respective companies and are hereby acknowledged The third party products mentioned in this manual are recommended products and references to their names shall not be construed as any form of performance guarantee Oriental Motor is not liable whatsoever for the performance of these third party products Copyright ORIENTAL MOTOR CO LTD 2011 Please contact your nearest Oriental Motor o
81. model name of motor and driver and use the motor and driver in the correct combination The stored data was damaged Initialize the all parameters using the OPX 2A or MEXEO2 55 14 Alarms and warnings 14 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 Present warnings can be checked using the data setter OPX 2A or the data editing software MEXEO2 The warning records of up to ten most recent warnings starting from the latest one can be checked and cleared ETSI The warning records will also be cleared automatically by powering off the driver E Descriptions of warnings See p 76 for more information about the warning parameters Warning type Warning Cause Remedial action code e When the motor was in a state of current ON the deviation between the command ey position and actual position exceeded the e Reduce the load or increase the Excessive position value set in the parameter for overflow acceleration deceleration rate ele CON U warning rotation during current on e If a torque limit is set using an extended ee eee APP 5 04 function increase the setting value s The load is large or acceleration deceleration rate is too short When the motor was in a state of current OFF the deviation between the command position Reduce the amount of rot
82. nd objects out of the openings in the motor and driver Failure to do so may result in fire or injury Do not touch the motor and driver during operation or immediately after stopping The surface is hot and may cause a skin burn s Transportation Do not carry the motor by holding the motor output shaft or motor cable Doing so may cause injury Installation Provide a cover over the rotating parts output shaft of the motor Failure to do so may result in injury Do not leave anything around the motor and driver that would obstruct ventilation Doing so may result in damage to equipment Connection s The main power supply connector CN1 data edit connector CN4 and I O signal connector CN5 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 Do not touch the rotating part output shaft during operation Doing so may cause injury Use a motor and driver only in the specified combination An incorrect combination may cause a fire Provide an emergency stop device or emergency stop circuit external to the equipment so that the entire equipment will operate safely in the event of a system failure or malfunction Failure to do so may result in injury The motor surface temperature may exceed 70 C 158 F even
83. ngiof the Not available Available Available Available current setting switch Standstill current Set the standstill current as a percentage of the operating l F Not Not available Available Available S percentage setting current available Set the pulse input mode using the pulse input mode K Available Available Available Available select switch Pulse input mode Set the pulse input mode using the applicable parameter Not available Available Available Available Motor rotation direction Set the rotation direction of the motor Not available Available Available Available Excite the motor Available Available Available Available C ON input Set the logic of the C ON input Not available Available Available Available Enable disable of S n return operation to et whether or not to return the motor to its excitation excitation position at position where the deviation becomes 0 when the Not available Available Available Available current ON motor is in a state of current ON 70 18 Reference Parameter uio uad Name Setting range Initial value display SyS 0 00 Electronic gear A1 1 to 1000 10 SyS 0 01 Electronic gear A2 1 to 1000 1 SyS 0 02 Electronic gear A3 1 to 1000 20 SyS 0 03 Electronic gear A4 1 to 1000 2 SyS 0 04 Electronic gear B 1 to 1000 10 APP 0 00 Operating c
84. o secure the AC input cables AWGI8 0 75 mm or more and output cables AWG18 0 75 mm or more firmly to the surface of the enclosure Connect the ground terminal of the noise filter to the grounding point using as thick and short a wire as possible Do not place the AC input cable parallel with the noise filter output cable Parallel placement will reduce noise filter effectiveness 1f the enclosure s internal noise is directly coupled to the power supply cable by means of stray capacitance E Connecting the main power supply Use a DC power supply compliant with the EMC Directive Use a shielded cable for wiring and wire ground the power supply over the shortest possible distance Refer to Wiring the power supply cable and signal cable below for how to ground the shielded cable E How to ground The cable used to ground the driver and noise filter must be as thick and short as possible so that no potential difference is generated Choose a large thick and uniformly conductive surface for the grounding point How to ground the driver See p 29 for grounding the driver How to ground the motor When grounding the motor use a protective earth For the grounding method refer to the AR Series Motor OPERATING MANUAL E Wiring the power supply cable and signal cable Use a shielded cable of AWG28 0 08 mm or more for the power supply cable and keep it as short as possible An accessory driver cable is available sold separately
85. on of the load when the power is cut off but this brake cannot securely hold the load in place Accordingly do not use the electromagnetic brake as a safety brake To use the electromagnetic brake to hold the load in place do so after the motor has stopped Preventing electrical noise See 7 6 Installing and wiring in compliance with EMC Directive on p 19 for measures with regard to noise e Saving data to the NV memory Do not turn off the main power supply while writing the data to the NV 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 NV memory can be rewritten approx 100 000 times Motor excitation at power ON Simply turning on the power will not excite the motor To excite the motor always turn the C ON input ON It is possible to set the motor to be excited automatically after the power has been turned on by changing the applicable driver parameter using the data setter OPX 2A or data editing software MEXEO2 5 Precautions for use Overvoltage alarm by regeneration energy The overvoltage alarm will generate depending on the operating condition When an alarm is generated review the operating conditions Note on connecting a power supply whose positive terminal is grounded The main power supply connector CN1 data edit connector CN4 and I O signal connector CN5 of the driver are not electrically insulated When grounding
86. on rate of return to electrical home operation The output time of the END signal varies depending on the speed filter and operating speed Ifthe C ON input is turned OFF while automatic return operation is still in progress the operation will be interrupted When the C ON input is turned ON again the return operation will resume e Automatic return operation can also be interrupted using the FREE input 68 18 Reference Operation is terminated with the CLR input C ONi S input OFF 500 US or more CLRi iid input OFF 5 ms or less READY N output OFF 5 ms or less k END oD output OFF 250 ms or less M M ON otor excitation OFF 9 ms or less Position deviation 5 ms or less Operating speed of Internal speed return to electrical command home operation Acceleration and deceleration rate of return to electrical home operation The output time of the END signal varies depending on the speed filter and operating speed When the CLR input is turned ON the position deviation will be cleared Accordingly the return operation will end E ALM output WNG output Osormore Generation condition Alarm Generation condition Generation condition Warning _ 9 ms or less READY S output OFF 9 ms or less ALM output Oe OFF 5 ms or less 5 msorless whichever 1msormore islonger 5msorless WNG i
87. onds to 100 One of 16 operating current levels from 0 to F can be set If the load is small and there is an ample allowance for torque motor temperature rise can be suppressed by setting a lower operating current The dial settings and corresponding operating current rates are listed below 11 Setting CURRENT Dial Operating current Dial Operating current Dial Operating current setting rate 96 setting rate 96 setting rate 96 0 6 3 5 37 5 A 68 8 1 12 5 6 43 8 B 75 0 2 18 8 7 50 0 C 81 3 3 25 0 8 56 3 D 87 5 4 31 3 9 62 5 E 93 8 F 100 factory setting 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 To change the basic setting for operating current Refer to Operating current on p 50 11 4 Speed filter The motor response to input pulses can be adjusted with the speed filter setting switch V FIL One of 16 speed filter levels from 0 to F can be set When setting a higher value for the speed filter lower vibration at low speed operation or smoother operation at starting stopping of the motor can be achieved However if this setting is too high synchronization performance is decreased Set a suitable value based on the load or application V FIL Dial Speed filter time Dial Speed filter tim
88. otor excitation will not turn off 67 18 Reference Operation is terminated with the P RESET input put OFF RETURN input ON OFF 5 ms or more ON OFF READY G output OFF 5 ms or less gt P RESET input ON END output Gc PO N Motor excitation OFF _ 9 mS or less Cumulative position commands 5 ms or less M4 Internal speed Operating speed of return to command electrical home operation Acceleration and deceleration rate of return to electrical home operation The output time of the END signal varies depending on the speed filter and operating speed e When the P RESET input is turned ON the cumulative value of position commands will be reset to 0 and the current position will be set as the electrical home position Accordingly the return to electrical home operation will end E Automatic return operation When position deviation is occurred by turning the C ON input OFF C ONi 2 input OFF 5 ms or less READY output ON OFF 250 ms or less END i output OFF 250 ms or less 200 ms or less 250 ms or less Motor excitation OFF 250 ms or less Position deviation occurs 4 i due to external force Position deviation Operating speed of return to electrical home operation Internal speed command Acceleration and decelerati
89. output OFF 5 ms or less 5 ms or less ALM bia output OFF _ 4 60 ms or less 250 ms or less Motor excitation OFF The specific time varies depending on when an alarm record is saved 2 An alarm is reset at the OFF edge of the ALM RST input e This timing chart assumes generation of an alarm that turns off motor excitation 64 B TLC output Normal mode ON CW input OFF CCW input 18 Reference E HE EN ON OFF COMi ON input OFF ON T MODE input 5 ms or less 5 ms or less 5 ms or less OFF 5 ms or less ON TLC output OFF 1 8 i Position deviation 0 Internal speed command EYE E K S Push motion operation is in progress Input the T MODE signal while the motor is at standstill 2 When the position deviation exceeds 3 Current control mode ON CW input ON CCW input OFF 1 8 the TLC signal will be output even during acceleration deceleration or MENE H H H GO E HE m m ON COM input OFF ON T MODE input OFF 1 Oo 15 ms or less 19 ms or less 15 ms or less 15 ms or less gt ON TLC output OFF Current limit Motor current 1 8 Position deviation 0 eee eee Push motion operation is in progress Input the T MODE signal while the motor is at standstill 2 When the mo
90. output OFF _ 00msorless ON Motor excitation OFF An alarm code is also output at the same timing e This timing chart assumes generation of an alarm that turns off motor excitation e Some alarms do not turn off motor excitation e Some alarms are not preceded by a warning 69 18 Reference 18 2 Function parameter list Mode Item Overview Standard Extended specification function Normal Current control Control mode Set the control mode Available Available Available Available Set the resolution using the resolution switches Available Available Available Available Change the electronic gear value assigned to each resolution switch The calculated value should fall within the setting range specified below the value of electronic Resolution gear B is common Resolution setting range 100 to 10 000 P R Not available Available Available Available Resolution 1000 x Electronic gear B Electronic gear A1 to A4 Four resolutions can be set using different combinations of resolution switches Set the operating current using the current setting switch The purpose of the setting varies depending on the control mode 4 y x Available Available Available Available Normal mode An operating current is set Current control mode A current limit value used for limiting the torque and temperature rise is set Operating current Change me value assigned to each dial setti
91. pplied cable keep the total cable length to 30 m 98 4 ft or less 59 17 Accessories sold separately e Connection cable A cable is needed to connect the motor and driver Use a flexible connection cable in application where the cable is bent and flexed repeatedly The cable set for electromagnetic brake motors consists of two cables one for motor and the other for electromagnetic brake e Connection cable set For standard motor Connection cable set For electromagnetic brake motor Length Length Model Ln tI Model m et CCO50VALIF2 5 16 4 CCO50VALIFB2 5 16 4 CC070VALIF2 7 23 CC070VALIFB2 7 23 CC100VALIF2 10 32 8 CC100VALIFB2 10 32 8 CC150VALIF2 15 49 2 CC150VALIFB2 15 49 2 CC200VALIF2 20 65 6 CC200VALIFB2 20 65 6 For IP20 types enter 2 in the CC300VALIF2 30 98 4 CC300VALIFB2 30 98 4 box O within the model name e Flexible connection cable set e Flexible connection cable set For standard motor For electromagnetic brake motor Length Length Model n et Model Im et CCOT10VALIR2 1 3 3 CCOT10VALIRB2 1 3 3 CCO20VALIR2 2 6 6 CCO20VALIRB2 2 6 6 CCO30VALIR2 3 9 8 CCO30VALIRB2 3 9 8 CCO50VALIR2 5 16 4 CCO50VALIRB2 5 16 4 CC070VALIR2 7 23 CCO070VALIRB2 7 23 CC100VALIR2 10 32 8 CC100VALIRB2 10 32 8 CC150VALIR2 15 49 2 CC150VALIRB2 15 49 2 CC200VALIR2 20 65 6 CC200VALIRB2 20 65 6 For IP20 types
92. pulse signal is input A desired output condition for the END signal can be set using the OPX 2A or MEXEO2 Refer to 18 2 Function parameter list on p 70 Motor operation END G output OFF The output time of the END signal varies depending on the position command filter and operating speed 37 10 Explanation of I O signals 38 R TIM1 output The TIM output will turn ON every time the motor output shaft rotates by 7 2 Two types of TIM outputs are available the line driver output TIM1 output and the open collector output TIM2 output Change the TIM output according to the pulse input mode of the programmable controller 1 20 40 at 1000 P R ON mnmr mmnrm mnr Pulse input opp n itz IT O ON Motor output shaft rotates by 7 2 TIM output OFF y Motor operation e The TIM1 output will turn ON when the pulse speed is 10 kHz or less and the TIM2 output will turn ON when the pulse speed is 500 Hz or less e When changing the resolution using the CS input do so while the TIM output is ON and the motor is at standstill If the CS input is turned ON OFF when one or both of these conditions are unsatisfied the TIM output will not turn ON even after the motor output shaft rotates by 7 2 B TIM2 AL2 output Refer to TIM1 output for the TIM2 output If an alarm generates an
93. r has been changed the new parameter will become effective after the power is cycled 46 12 Extended functions E Setting the motor rotation direction Set a desired motor rotation direction using the system parameter for rotation direction SyS 1 04 e When a system parameter has been changed the new parameter will become effective after the power is cycled e The CW and CCW indicate the rotation direction of the motor as seen from the output shaft The output shaft of the TH geared typed motors with ratios of 20 and 30 as well as all ratios of the Harmonic geared type motors rotate in the opposite direction of the motor shaft Setting of rotation direction parameter SyS 1 04 CW pulse is input CCW pulse is input e The command position increases e The command position decreases e The motor rotates in CW direction e The motor rotates in CCW direction When CW is set e The command position increases e The command position decreases e The motor rotates in CCW direction e The motor rotates in CW direction When CCW is set E Setting the positioning completion END signal offset The motor stops at the theoretical stopping position as a center point or thereabout If the motor stops at a position deviated from the theoretical stopping position due to the load friction etc and the deviation band exceeds the specified END signal range the END output will not turn ON In this case
94. re connector connection may cause malfunction or damage to the motor or driver e When unplugging the connector do so while pressing the latches on the connector e When plugging unplugging the connector turn off the power and wait for the POWER LED to turn off before doing so When installing the motor to a moving part use an accessory flexible cable offering excellent flexibility For the flexible motor cable refer to 17 Accessories sold separately on p 59 21 8 Connection 8 2 Connecting the electromagnetic brake motor Connect the motor to driver and electromagnetic brake to the DC power supply 1 Connect the motor cable and supplied cable for motor 2 Connect the cable for motor to the motor connector CN2 on the driver 3 Connect the electromagnetic brake cable and supplied cable for electromagnetic brake 4 Connect the surge suppressor supplied with the motor in parallel between the 24 VDC terminal of the DC power supply and the ground terminal The surge suppressor does not have polarity 5 Connect the lead wires of the cable for electromagnetic brake to the DC power supply Connect the white lead wire to 24 VDC terminal and the black lead wire to GND terminal Switch DC power supply D 24 VDC 5 0 3 A or more AR46 0 1 A or more Electromagnetic brake cable Cable for electromagnetic brake Black Surge suppressor supplied Connect to CN2 C
95. re to do so may result in fire or injury e Assign qualified personnel the task of installing wiring operating controlling inspecting and troubleshooting the product Failure to do so may result in fire injury or damage to equipment 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 may result in injury or damage to equipment 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 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 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
96. rent control E A mode increase the current limit value e The load is large or acceleration deceleration rate is too short e Check if the electromagnetic brake is released during operation e Check the electronic gear setting and reduce the speed of the motor output The detected motor speed exceeded the value shaftto the value set in the parameter or Overspeed 31 set in the parameter for overspeed warning less APP 5 09 e If the motor is overshooting at the time of acceleration increase the acceleration deceleration rate The CS input was changed when the motor Do not change the CS input when the was in a state of current ON current is ON The traveled distance from the electrical home Abnormal operation 70 exceeded the control range 2 147 483 648 data pulses Turn the P RESET input ON and set the This alarm generates when the application electrical home again parameter for abnormal operation data warning APP 5 00 is set to Enable Electronic gear 71 The resolution set by the electronic gear is Set the electronic gear correctly setting error outside the specified range 56 15 Troubleshooting and remedial actions 15 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
97. rmed after the CS input is turned ON turn the P RESET input ON to confirm the electrical home position and then turn the RETURN input ON e Turning the P RESET input ON while a return to electrical home operation is still in progress will set the applicable position as the electrical home and the motor will stop 49 12 Extended functions 12 3 Adjustment The operating current motor operation at start stop and response in reaction to the command can be adjusted The items that can be adjusted vary between the normal mode and the current control mode Item Description Normal mode Current control mode Operating current Adjust the current during operation Can be adjusted Can be adjusted Standstill current Adjust the current at standstill Can be adjusted Can not be adjusted Speed filter Apply a filter to input pulses to Can be adjusted Can be adjusted make the pulses smooth Smooth drive Insert interpolation pulses between Can be adjusted Can be adjusted input pulses Suppress vibration while the motor Speed error gain is accelerating decelerating Can be adjusted Can not be adjusted operating Position loop gain Vibration that generates while the Can not be adjusted Can be adjusted Speed loop gain motor is accelerating decelerating Can not be adjusted Can be adjusted i i or at standstill can be adjusted to oe nme an optimal level Can not be adjusted Can be adjusted Enclosure vibration th
98. ssigned to each dial setting of the speed filter setting switch can be changed by using a corresponding application parameter for speed filter at V FIL one of APP 1 00 to APP 1 15 V FIL E Smooth drive When the smooth drive function is used the driver automatically implements microstep control over input pulses This helps suppress motor vibration If the smooth drive function is not used vibration may increase in the low speed range although starting characteristics will improve Set whether or not to use the smooth drive using the system parameter for smooth drive SyS 1 01 When a system parameter has been changed the new parameter will become effective after the power is cycled E Speed error gain The speed error gain is used to suppress vibration while the motor is operating or accelerating decelerating Set the required conditions using the following application parameters e Speed error gain 1 APP 3 01 This adjusts vibration during operation e Speed error gain 2 APP 3 02 This adjusts vibration during acceleration deceleration Since the initial values reflect results of adjustment do not change the initial values in normal conditions of use Bi 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 opt
99. t is possible to set the C ON input logic and the excitation position at the C ON input ON Refer to Motor excitation at power ON on p 46 for details The factory setting of the C ON input is normally open Be sure to turn the C ON input ON when operating the motor Set the C ON input to normally closed when the C ON input is not used E CW PLS input CCW DIR input These input serve as the CW and CCW inputs in the 2 pulse input mode or PLS and DIR inputs in the 1 pulse input mode They are common to all pulse input types including 5 VDC input 24 VDC input and line driver input e When no pulse is input be sure to keep the photocoupler in OFF state s The CW and CCW indicate the rotation direction of the motor as seen from the output shaft The output shaft of the TH geared typed motors with ratios of 20 and 30 as well as all ratios of the Harmonic geared type motors rotate in the opposite direction of the motor shaft 2 pulse input mode When the CW input is turned ON the motor will rotate by one step in CW direction When the CCW input is turned ON the motor will rotate by one step in CCW direction CWi pi input OFF ON CCW input oc LLLI CW Motor operation The minimum interval time needed for switching the direction of rotation will vary depending on the operating speed and size of the load Do not shorten the interval time more than necessary COW While one pulse is input the other p
100. t load to the output shaft on the opposite side of the motor output shaft g Permissible overhung load N Ib Permissible Type Model a Distance from the tip of motor output shaft mm in thrust load 0 0 5 0 2 10 0 39 15 0 59 20 0 79 N Ib ARZA 25 5 6 34 7 6 52 11 7 0190099 AR26 0 22 0 049 AR46 35 7 8 44 9 9 5813 85 19 1 z Pus E Standard AR66 S rages 90 20 100 22 130 29 180 40 270 60 is Aan ARS lt 16 7 3 7 gt AR98 260 58 290 65 340 76 390 87 480 108 PAR AR24 15 3 3 17 3 8 20 45 23 5 1 10 2 2 iad AR46 10 2 2 14 3 1 20 45 30 6 7 15 3 3 AR66 70 15 7 80 18 100 22 120 27 150 33 40 9 AR98 220 49 250 56 300 67 350 78 400 90 100 22 AR24 45 10 1 60 13 5 80 18 100 22 20 4 5 5 7 2 73 16 4 84 18 9 100 22 123 27 10 AR46 50 11 2 25 11 2 36 109 24 127 28 150 33 184 41 50 5 200 45 220 49 250 56 280 63 320 72 7 2 250 56 270 60 300 67 340 76 390 87 PS geared AR66 100 22 36 330 74 360 81 400 90 450 101 520 117 50 5 7 2 480 108 540 121 600 135 680 153 790 177 10 AR98 25 850 191 940 210 1050 230 1190 260 1380 310 300 67 36 930 200 1030 230 11
101. t the resolution P 40 SW1 No 3 No 4 switches Change the resolution per revolution of the motor output shaft Controller Connect a controller with pulse oscillation function LEBER Orientalmotor 4 Introduction 4 Introduction Before use Only qualified personnel should work with the product Use the product correctly after thoroughly reading the section 1 Safety precautions on p 3 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 Operating manuals for the AR Series are listed below AR Series Motor OPERATING MANUAL This manual explains the motor functions and how to install the motor among others AR Series DC power input Pulse input type driver OPERATING MANUAL This manual explains the driver functions and how to install the driver among others AR Series DC power input Pulse input type USER MANUAL this document This manual explains the function installation and connection of the driver as well as operating method CE Marking Low Voltage Directives Because the input power supply voltage of
102. this product is 24 VDC 48 VDC it is not subject to the Low Voltage Directive but install and connect this product as follows This product is designed and manufactured to be installed within another device Install the product in an enclosure For the driver power supply use a DC power supply with reinforced insulation on its primary and secondary sides EMC Directive This product has received EMC compliance under the conditions specified in Example of motor and driver installation and wiring on p 20 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 EMI Emission Tests EN 61000 6 4 EN 61800 3 C3 Radiated Emission Test EN 55011 group 1 class A Immunity Tests EN 61000 6 2 EN 61800 3 C3 Radiation Field Immunity Test IEC 61000 4 3 EMS Electrostatic Discharge Immunity Test IEC 61000 4 2 Fast Transient Burst Immunity Test IEC 61000 4 4 Conductive Noise Immunity Test IEC 61000 4 6 Hazardous substances RoHS Directive 2002 95 EC 27Jan 2003 compliant 5 Precautions for use 5 Precautions for use This section covers limitations and requirements the user should consider when using the product Use the supplied cable to connect the motor and driver
103. tor current reaches the operating current the TLC signal will be output even during acceleration deceleration 65 18 Reference E END output CW CCW input he EEN 5 ms or less 5 ms or less 5 ms or less x BR TP 7 END output OFF 1 8 Position deviation 0 N E Internal speed command Internal speed command under active speed filter Internal speed command External force is applied The output time of the END signal varies depending on the speed filter and operating speed e The END output will turn ON when the position deviation becomes 1 8 and internal speed command is 0 E TIM1 output TIM2 output CWICOW input 2 input OFF 150 us or less 150 us or less 50 us or more T 150 us or less TIM1 oN output OFF 5msorless 5 ms or less 800 US or more 5 ms or less TIM2 output OFF ste When pulses corresponding to 1 50th the resolution are input assuming that the resolution is a multiple of 50 e This timing chart assumes that an operation starts from the position where the TIM output turns ON s The TIMI output is a line driver output while the TIM2 output is an open collector output E Operation by pulse input 0 s or more
104. turned ON the control mode will change from the normal mode to the current control mode In the current control mode noise and vibration can be reduced although the motor synchronicity drops Be sure to turn the CCM input ON OFF after confirming that the motor has stopped Keep the control mode switch in the OFF normal mode If the switch is in the ON current control mode the CCM input will be disabled B MO input When push motion operation is set with the OPX 2A or MEXEO2 the MO input will become effective Combine this input with the M1 and M2 inputs to select a desired current setting for push motion operation Refer to p 48 for the current setting for push motion operation 36 10 Explanation of I O signals 10 2 Output signals The driver outputs signals in the photocoupler open collector output mode or line driver output mode The signal state represents the ON Carrying current or OFF Not carrying current state of the internal photocoupler rather than the voltage level of the signal ALM WNG END READY ALO TLC AL1 TIM2 AL2 ASG BSG TIM1 Driver internal circuit Driver internal circuit 3 5 7 e Y 26C31 or equivalent 4 6 8 9 11 13 15 17 19 10 12 14 16 18 20 10 mA or less gt E The ASG output BSG output and TIM1 output are line driver outputs When connecting a line driver output receive the output signal using a line receiver Also be sure to connect pins
105. ulse should always be turned OFF If both pulses are turned ON simultaneously no pulse will be input 33 10 Explanation of I O signals 34 1 pulse input mode When the PLS input is turned ON while the DIR input is ON the motor will rotate by one step in CW direction When the PLS input is turned ON while the DIR input is OFF the motor will rotate by one step in CCW direction ON PLS input opf E DIR i G e input OFF CW Motor operation The minimum interval time needed for switching the direction of rotation will vary depending on the operating speed and size of the load Do not shorten the interval time more than necessary COW Pulse signal 2 us or more Input a pulse with sharp rising and falling edges as shown inthe ON 999 P figure The figure shows the voltage levels of pulse signals 10 H OFF 0 8 us or more 0 8 us or more 2 us or less Ie us or less E FREE input When the FREE input is turned ON current supplied to the motor will be cut off thereby allowing the motor output shaft to be turned by external force At this time the motor coil is short circuited inside the driver and a holding torque larger than when the power is shut off is generated dynamic brake When the FREE input is turned OFF current will be supplied to excite the motor and the holding torque will be restored The automatic return operation after turning t
106. urrent at CURRENT 0 0 0 to 100 0 96 6 3 APP 0 01 Operating current at CURRENT 1 0 0 to 100 0 96 12 5 APP 0 02 Operating current at CURRENT 2 0 0 to 100 0 96 18 8 APP 0 03 Operating current at CURRENT 3 0 0 to 100 0 96 25 0 APP 0 04 Operating current at CURRENT 4 0 0 to 100 0 96 31 3 APP 0 05 Operating current at CURRENT 5 0 0 to 100 0 96 37 5 APP 0 06 Operating current at CURRENT 6 0 0 to 100 0 96 43 8 APP 0 07 Operating current at CURRENT 7 0 0 to 100 0 96 50 0 APP 0 08 Operating current at CURRENT 8 0 0 to 100 0 96 56 3 APP 0 09 Operating current at CURRENT 9 0 0 to 100 0 96 62 5 APP 0 10 Operating current at CURRENT A 0 0 to 100 0 96 68 8 APP 0 11 Operating current at CURRENT B 0 0 to 100 0 96 75 0 APP 0 12 Operating current at CURRENT C 0 0 to 100 0 96 81 3 APP 0 13 Operating current at CURRENT D 0 0 to 100 0 96 87 5 APP 0 14 Operating current at CURRENT E 0 0 to 100 0 96 93 8 APP 0 15 Operating current at CURRENT F 0 0 to 100 0 96 100 0 APP 3 00 Standstill current 0 0 to 50 0 96 50 0 2P 0 Setting by the pulse input mode select switch 1 2 pulse input mode low active 2 2 pules input mode high active SyS 1 00 Pulse input mode 3 1 pulse input mode low active 0 4 1 pules input mode high active 5 Phase difference mode x1 6 Phase difference mode x2 T Phase difference mode x4 TW 0 CCW MA SyS 1 04 Rotation direction 4 lt C
107. use the application parameter for END signal offset APP 2 04 to compensate the deviation band 47 12 Extended functions 12 2 Operation 48 E Push motion operation Push motion operation is a type of operation where pulses are input to pressurize the load continuously When selecting a push motion operation with the application parameter for I O input mode APP 2 00 turning the T MODE input ON and inputting pulses push motion operation will start Pulses will be continuously input and accumulate even when the load is balanced with the torque Do not perform push motion operation with geared types Doing so may cause damage to the motor or gearhead e Setting the current for push motion operation Set a desired current for push motion operation using any of the application parameters for push motion current 0 to 7 any one of APP 2 05 to APP 2 12 The current value set in the parameter will be used to limit the output torque Select a desired current based on a combination of ON OFF status of the MO to M2 inputs Setting range 0 to 100 Push motion current parameter Initial value 96 M2 M1 MO 0 APP 2 05 30 0 OFF OFF OFF 1 APP 2 06 40 0 OFF OFF ON 2 APP 2 07 50 0 OFF ON OFF 3 APP 2 08 60 0 OFF ON ON 4 APP 2 09 70 0 ON OFF OFF 5 APP 2 10 80 0 ON OFF ON 6 APP 2 11 90 0 ON ON OFF 7 APP 2 12 100 0 ON ON ON Performing the push motion operation 1
108. ut mode and 2 pulse input Pulse input mode select switch es according to the pulse output mode of the controller P40 SW1 No 1 N 1 pulse input mode low active P44 OFF 2 pulse input mode low active The factory setting of the pulse input mode depends on the destination country This switch toggles the driver between the normal mode and current control mode Control mode select switch OFF Normal mode Keep the switch in this position in normal conditions of use P50 SW1 No 2 ON Current control mode Set the switch to this position if you want to suppress l noise or vibration Factory setting OFF Normal mode l These two switches are used to set the resolution per revolution of the motor Resolution switches output shaft P 40 eD Factory setting OFF for No 3 and No 4 1000 P R PAS DIN lever Install the driver to a DIN rail P 18 14 7 Installation 7 Installation This chapter explains the installation location and installation methods of the motor and driver 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 Inside an enclosure that is installed indoors provide vent holes Operating ambient temperature Motor
109. ution set by the electronic gear was outside the specified range Sensor error during operation A sensor error occurred while the motor was operating Initial sensor error A sensor error occurred when the power was turned on Initial rotor rotation error The motor output shaft rotated at a speed of 15 r min or more while the initialization was still in progress following a power on Motor combination error A motor not supported by the driver is connected EEPROM error Data stored in the driver was damaged 76 18 Reference Mode Parameter Standard Extended C t PAN c urren PX 2A e iti specification function Normal e co Name Setting range Initial value control display Available Available Available Available Available Available Available Available 5 T Not available Available Available Available i Not available Available Available Available APP 2 01 ALO 2 signal output E 0 Disable Available Available Available Available 3 Available Available Available Available x Not available Available Available Available APP 5 01 Overflow rotation during 0 01 to 300 00 rev 3 00 current on Not available Available Available Available APP 5 03 Overload 0 1 to 30 0 s 5 0 Available Available Available Available T EE Available Available Available Available
110. viation of 1 8 or more has occurred Current control mode The operating current has reached the limit Descriptions of alarms Overheat protection The internal temperature of the driver exceeded 85 C 185 F The cumulative value of applied loads exceeding the maximum torque Overload reached or exceeded the value set in the parameter for overload APP 5 03 The speed of the motor output shaft exceeded 4 500 r min excluding Overspeed geared motors Command pulse error The command pulse frequency exceeded the specified value Overvoltage protection e A voltage exceeding the specified value was applied e A large inertial load was operated Undervoltage The main power was cut off momentarily or the voltage became low Excessive position deviation during current ON e When the motor was in a state of current ON the deviation between the command position and actual position exceeded the value set in the parameter for overflow rotation during current on APP 5 01 e The load is large or acceleration deceleration rate is low Excessive position deviation during current OFF The C ON input was turned ON while an excessive position deviation warning at current OFF was present Abnormal operation data Return to electrical home operation was performed while an abnormal operation data warning was present Electronic gear setting error The power was turned on when the resol

ARシリーズ DC電源入力パルス列入力タイプ

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ARシリーズ DC電源入力 パルス列入力タイプ

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ARシリーズ DC電源入力パルス列入力タイプ