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PKA Series USER MANUAL

1. Signal name of direct I O Initial value OUTO 65 ALM OUT1 67 READY Assignment No Signal name Function 0 Not used Set when the output terminal is not used 1 FWD_R Output in response to the FWD 2 RVS_R Output in response to the RVS 3 HOME_R Output in response to the HOME 4 START_R_ Output in response to the START 5 SSTART_R_ Output in response to the SSTART 6 JOG_R Output in response to the JOG 7 JOG_R Output in response to the JOG 8 MSO_R Output in response to the MSO 9 MS1_R Output in response to the MS1 10 MS2_R Output in response to the MS2 11 MS3_R Output in response to the MS3 12 MS4_R Output in response to the MS4 13 MS5_R Output in response to the MS5 16 FREE_R_ Output in response to the FREE 17 AWO_R Output in response to the AWO 18 STOP_R Output in response to the STOP 32 RO Output the status of the general signal RO 33 R1 Output the status of the general signal R1 34 R2 Output the status of the general signal R2 35 R3 Output the status of the general signal R3 36 R4 Output the status of the general signal R4 37 R5 Output the status of the general signal R5 38 R6 Output the status of the general signal R6 39 R7 Output the status of the general signal R7 40 R8 Output the status of the general signal R8 41 R9 Output the status of the general sig
2. 10 Operation direction M otor operation Time direction ON MO to M5 input OFF M No 1 No 2 No 3 ON FWD input OFF RVS i an input OFF l e Variable speed operation When acceleration deceleration is separate Acceleration deceleration unit ms kHz When accelerating When decelerating VR2 VR1 TA2 TD2 TA1 TD2 VR1 VR2 TA1 i VS VS FWD i a FWD i ae input eee input Ope Operation data No No 1 No 2 Operation data No No 1 No 2 Acceleration deceleration unit s When accelerating When decelerating VR2 VR1 TAR2 TDR2 TAR1 TDR2 VR1 VR2 TDR2 TA2 vs TD2 vs TAI Tb2 l ON ON FWD input eo FWD input off Operation data No No 1 No 2 Operation data No No 1 No 2 e Explanation of labels VS Starting speed Hz VR1 Operating speed of operation data No 1 Hz VR2 Operating speed of operation data No 2 Hz TA1 Acceleration of operation data No 1 TA2 Acceleration of operation data No 2 TD2 Deceleration of operation data No 2 TAR1 Acceleration rate of operation data No 1 ms kHz TAR2 Acceleration rate of operation data No 2 ms kHz TDR2 Deceleration rate of operation data No 2 ms kHz e Calculation method for acceleration deceleration rate TAR1 VR1 VS TA1 TAR2 VR2 VS TA2 TDR2 VR2 VS TD2 37 10 Operation e Variable speed operation When acceleration deceleration is c
3. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO NET OUT7 NET OUT6 NET OUT5 NET OUT4 NET OUT3 NET OUT2 NET OUT1 NET OUTO ALM WNG READY HOME P START_R M2_R M1_R MO_R NET OUT15 NET OUT14 NET OUT13 NET OUT12 NET OUT11 NET OUT10 NET OUT9 NET OUT8 Not used Not used MOVE TIM AREAS AREA ARBAT J S BSY Signal name Function Setting range Not used Set when the output terminal is not used y FWD_R Output in response to the FWD si Be RVS_R Output in response to the RVS z beg HOME_R Output in response to the HOME T START_R Output in response to the START P ra la SSTART_R Output in response to the SSTART r elai JOG_R Output in response to the JOG T U JOG_R Output in response to the JOG r ad MSO_R Output in response to the MSO ont MS1_R Output in response to the MS1 A EN MS2_R Output in response to the MS2 r vea MS3_R Output in response to the MS3 H nae MS4_R Output in response to the MS4 7 econ MS5_R Output in response to the MS5 eae FREE_R Output in response to the FREE 7 E e AWO_R Output in response to the AWO 7 THOR STOP_R Output in response to the STOP ies RO Output the status of the general signal RO Na R1 Output the status of the general signal R1 iat R2 Output the status of the general signal R2 z tents R3 Output the status of the general signal R3 iaia R4 Ou
4. After pulling out of the limit sensor the motor moves only the value set in the backward steps in 2sensor mode home seeking parameter Initial value 200 step E Test operation Test operation is performed using the OPX 2A or MEXEO2 JOG operation and teaching function can be performed e JOG operation Connection condition or operation status for the motor can be checked using JOG operation Refer to the operating manual for each product Example When performing JOG operation with the OPX 2A Speed VR TR TR iste iste VS JOG starting speed VS P P VR JOG operating speed TR Acceleration deceleration rate of JOG Less than 1 s 1 s or more Time Key e Teaching This is a function to move the motor using the OPX 2A or MEXEO2 and set the current position as the position travel amount of the operation data When the position travel amount is set using teaching function the operation mode will always be the absolute mode The operating speed acceleration deceleration speed and starting speed of teaching function are same as those of JOG operation Note J Perform teaching function when the position origin is set See p 43 for setting the position origin 41 10 Operation Stop operation e STOP action When the STOP input is turned ON or STOP is commanded via Speed RS 485 communication while the motor is operating the motor will stop The stopping mode
5. e Query Field name Data Description Slave address 03h Slave address 3 Function code 08h Diagnosis functi h Sub unetan code upper 00 Return the query data Data Sub function code lower 00h D 12h ata walle UPPED Arbitrary data 1234h Data value lower 34h E heck ECh rror check lower Calculation result of CRC 16 Error check upper 9Eh e Response Field name Data Description Slave address 03h Same as query Function code 08h Same as query Sub function code upper 00h Same as query Data Sub function code lower 00h Data value upper 12h Sasa sick Data value lower 34h aie E heck ECh iror cheek low r e Calculation result of CRC 16 Error check upper 9Eh E Writing to multiple holding registers 10h This function code is used to write data to multiple successive registers Up to 16 registers can be written Write the data to the upper and lower at the same time If not an invalid value may be written Registers are written in order of register addresses Note that even when an exception response is returned because some data is invalid as being outside the specified range etc other data may have been written properly Example of write Set the following data as acceleration Nos 2 to 4 as part of operation data at slave address 4 Description Register address Value written Corresponding decimal Operation data acceleration No 2 upper 0604h 0000h 40000 Operati
6. No of ALM d Reset Motor Code LED Alarm type Cause Remedial action operation excitation blinks The number of consecutive e Check the connection RS 485 RS 485 communication between the host system 84h j en errors reached the value set and motor e ALM RST communication error in the communication error e Check the setting of input alarm parameter RS 485 communication e RS 485 The time set in the ae 7 a ination ti ation On RS 485 Se as R d Check the connection e OPX 2A 85h communication P gibi between the host system and yet the communication e MEXEO2 timeout id not b blished motor could not be establishe e Cycle the with the host system power 8Eh Network converter The network converter Check the alarm code of the error generated an alarm network converter FOh Lit CPU error CPU malfunctioned Cycle the power pes Off E Alarm records Up to 10 generated alarms are saved in the NV memory in order of the latest to oldest Alarm records saved in the NV memory can be read and cleared when performing any of the following e Get the alarm records by the monitor command via RS 485 communication e Clear the alarm records by the maintenance command via RS 485 communication e Get and reset the alarm records using the OPX 2A or MEXEO2 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 autom
7. Parameter name Description Setting range Initial value 0 Disable Wrap setting Sets enable disable for the wrap function 1 Enable 0 Wrap setting range Sets the wrap setting range 1 to 8 388 607 step 500 When setting the wrap setting parameter to enable the software overtravel will be disabled It is disabled even when setting the software overtravel parameter to enable 43 10 Operation 44 Example for wrap function Example of operation when the positioning operation is performed in following conditions e Wrap setting rang e 3600 e Resolution 500 P R Electronic gear A parameter 1 Electronic gear B parameter 1 e Command positio n 900 Position Operation mode Incremental Operation mode Absolute 0 0 1000 2700 900 2700 900 A 100 1000 A 1000 1900 1800 1800 3500 9 0 A 1000 A 1900 1000 2700 900 2700 900 2600 1800 1800 0 0 A 4100 5000 2700 900 2700 900 2300 A 5000 1800 1800 my 0 0 A 5000 A 5900 3100 5000 2700 900 2700 900 1800 2200 1800 10 Operation 10 2 Timing charts E When the power supply is turned ON 10 s or more Mai i ON ain power supply opp 1 s or less 1 s or less O ignal Signal i tput utput signa OFF ignal is outpu 1 s or less 1 s or less ON A 7 Input signal OFF Input signal becomes effective 1 2 s or less 1 s or less Motor excitation
8. 1 Send operation data from the master device 2 Send an operation command Master device l STEP 6 Were you able to operate the motor properly How did it go Were you able to operate the motor properly If the motor does not function check the following points Is any alarm present Are the power supply and RS 485 communication cable connected securely Are the slave address transmission rate and termination resistor set correctly Is the master device setting same as parameters of communication parity communication stop bit and transmission waiting time Is the C ERR LED lit e Is the C DAT LED lit For more detailed settings and functions refer to the following pages 66 12 Method of control via Modbus protocol 12 2 Communication specifications Eis trical In conformance with EIA 485 eharacteniaics Use a twisted pair cable TIA EIA 568B CAT5e or higher is recommended and keep the total wiring distance including extension to 50 m 164 ft or less Transmission mode Half duplex Transmission rate Selectable from 9600 bps 19200 bps 38400 bps 57600 bps and 115 200 bps Asynchronous mode data 8 bits stop bit 1 bit 2 bits parity none even number odd number Protocol Modbus RTU mode Connection pattern Up to 31 drivers can be connected to one programmable controller master device Physical layer E Connection example RS 485 communication Termi
9. Note The items under this heading contain important handling instructions that the user should observe to ensure safe use of the product AN Warning General e Do not use the product in explosive or corrosive environments in the presence of flammable gases locations subjected to splashing water or near combustibles Failure 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 e When the power is shut off or the motor does not maintain excitation the motor will lose the holding torque Take measures to keep the moving parts in position for vertical operations such as elevator applications Failure to do so will cause the moving parts to fall and it may result in injury or damage to equipment e Depending on the type of the alarm protective function the motor may stop and lose its holding torque when the alarm generates This may cause injury or damage to equipment e When the motor generates an alarm any of the motor 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 leading to injury or damage to equipment Connection e Keep the motor s input power voltage within the specified rang
10. eT VR VR LS LS LS LS side TVR 4 side fit wis VS i VS LS v x side eta YS side TVS FH VR VR LS LS LS LS VR Hy ots VR Between aside ys Side O 5 VS LS and LS x v VS Starting speed of return to home side itp VS side VS VR Operating speed of return to home E VR VR After pulling out of the limit sensor the motor moves only the value set in the backward steps in 2sensor mode home seeking parameter Initial value 200 step e When concurrently using the SLIT input and or TIM signal for return to home operation When detecting the home use of the SLIT input and or TIM signal will increase the accuracy of home detection When concurrently using the SLIT input and TIM signal adjust the home position so that the TIM signal can be detected while the SLIT input ON When using the 3 sensor mode adjust the home position so that all signals can be detected while the HOMES input ON Operation sequence for the last home seeking of the 3 sensor mode Broken line indicates a home offset move Starting direction of Starting direction of Signal type return to home operation return to home operation Positive side Negative side LS HOMES LS LS HOMES LS side vee E Me side ae ne Y SLIT input side SLIT i OFF LS HOMES LS vrs VR side 5 C evs a
11. Multiple slaves are made into a group and a query is sent to all slaves in the group at once When setting a group write to the upper and lower at the same time using writing to multiple holding registers 10h See p 90 for group details e Driver input command 007Ch 007Dh These are the motor input signals that can be accessed via RS 485 communication See p 20 for each input signal Initial value Address Hex bit7 bit6 bit5 bit4 bits bit2 bitt bito oo7cn Upset Lower Upper NET IN1S NET INT4 NET IN13 NET INT2 NET INTT NET INTO NET IN9 NET ING aide RVS FwD cuoc JOG SSTART MS2 MS1 MSO Lower NET IN7 NET IN6 NET INS NET IN4 NET IN3 NET IN2 NET IN1 NET INO AWO Not used STOP HOME START M2 M1 Mo e Driver output command 007Eh 007Fh These are the motor output signals that can be received via RS 485 communication See p 21 for each output signal Initial value Address Hex bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO o07Eh PPer E z Lower T z 7 Upper NET OUT15 NET OUT14 NET OUT13 NET OUT12 NET OUT11 NET OUT10 NET OUT9 NET OUT8 eae Not used Not used MOVE TIM AREA3 AREA2 AREA1 S BSY1 ewer NET OUT7 NET OUT6 NET OUT5 NET OUT4 NET OUT3 NET OUT2 NET OUT1 NET OU
12. E Noise filter for power supply line e Connect a noise filter in the DC power supply input to prevent the noise generated in the motor from propagating externally through the power supply line e When using a power supply transformer be sure to connect a noise filter to the AC input side of the power supply transformer e For a noise filter use MC1210 TDK Lambda Corporation or equivalent product e Install the noise filter as close to the AC input terminal of DC power supply as possible Use cable clamps and other means to secure the input cables AWG18 0 75 mm or more and output cables AWG18 0 75 mm or more firmly to the surface of the enclosure e Connect the ground terminal of the noise filter to the grounding point using as thick and short a wire as possible e Do not place the input cable parallel with the output cable Parallel placement will reduce noise filter effectiveness if the enclosure s internal noise is directly coupled to the power supply cable by means of stray capacitance E How to ground Install the motor to the grounded metal plate The cable used to ground the 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 11 7 Installation E Wiring the power supply cable and signal cable e Use a supplied leadwire connector assembly for the power supply and I O signals cable and k
13. 1 positive Sets the AREA1 positive direction direction position position AREA1 negative Sets the AREA1 negative direction direction position position AREA2 positive Sets the AREA2 positive direction direction position position 8 388 608 to 8 388 607 step 0 AREA2 negative direction position Sets the AREA2 negative direction position AREAS positive direction position Sets the AREAS positive direction position AREAS negative direction position Sets the AREAS negative direction position E TIM output The TIM output will turn ON every time the motor output shaft rotates by 7 2 If the command speed is faster than 500 Hz TIM output will not be output correctly Pulse 1 20 40 ON OFF TIM on output OFF Motor operation Motor output shaft rotates by7 2 Note When the TIM output is used set the resolution to be an integral multiple of 50 E S BSY output This output is turned ON when the motor is in internal processing state The motor will be in internal processing state at the following condition e The maintenance command is in progress via RS 485 communication 9 Explanation of I O signals E Response output The response output is the output signal that shows the ON OFF status corresponding to the input signals The following tables show the correspondence between the input sign
14. E Data setter The data setter lets you set data and parameters for your PKA Series with ease and also functions as a monitor Model OPX 2A Data setting software The data setting software lets you set parameters for your PKA Series and monitor its operating condition using a PC The software comes with a PC interface cable 5 m 16 4 ft The cable is connected to the USB port on the PC Model MEXEO2 E Data setter cable This is a cable to connect the OPX 2A or MEXEO72 to the PKA Series Model CCOO1IF CA E RS 485 communication cable e This is a cable to link motors Model CCO020 RS4A 2 m 6 6 ft e This is a cable to connect the motor and network converter Model CCO20 RS4B 2 m 6 6 ft 125 e Unauthorized reproduction or copying of all or part of this manual is prohibited If a new copy is required to replace an original manual that has been damaged or lost please contact your nearest Oriental Motor branch or sales office e Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use of any information circuit equipment or device provided or referenced in this manual e Characteristics specifications and dimensions are subject to change without notice e While we make every effort to offer accurate information in the manual we welcome your input Should you find unclear descriptions errors or omissions please contact the nearest office e Orie
15. Not used FWD_R RVS_R HOME_R START_R SSTART_R JOG_R JOG_R NOOR WDM OO 8 MSO_R 9 MS1_R 10 MS2_R 11 MS3_R 12 MS4_R 13 MS5_R 16 FREE_R 17 AWO_R 18 STOP_R 32 33 34 35 RO R1 R2 41 R9 50 M2_R 42 R10 51 M3_R 43 R11 52 M4_R 44 R12 53 M5_R 45 R13 60 LS_R 46 R14 61 LS_R 47 R15 62 HOMES _R 48 MO_R 63 SLIT_R 49 M1_R 65 ALM 66 WNG 67 READY 68 MOVE 70 HOME P 72 TIM 73 AREA1 74 AREA2 75 AREAS 80 S BSY E O function parameter RS 485 10 Operation Name Description Setting range Initial value Effective NET INO input function selection 48 MO NET IN1 input function selection 49 M1 NET IN2 input function selection 50 M2 NET IN3 input function selection 4 START NET IN4 input function selection 3 HOME NET IN5 input function selection 18 STOP NET IN6 input function selection 0 Not used NET IN7 input function selection Sets the function of See tabl below 17 AWO NET IN8 input function selection NET INO to NET IN15 8 MSO NET IN9Q input function selection 9 MS1 NET IN10 input function selection 10 MS2 NET IN11 input function selection 5 SSTART NET IN12 input function selection 6 JOG NET IN13 input function selection 7 JOG NET
16. SHANGHAI ORIENTAL MOTOR CO LTD Tel 400 820 6516 Fax 021 6278 0269 TAIWAN ORIENTAL MOTOR CO LTD Tel 02 8228 0707 Fax 02 8228 0708 SINGAPORE ORIENTAL MOTOR PTE LTD Tel 65 6745 7344 Fax 65 6745 9405 ORIENTAL MOTOR MALAYSIA SDN BHD Tel 03 22875778 Fax 03 22875528 ORIENTAL MOTOR THAILAND CO LTD Tel 66 2 251 1871 Fax 66 2 251 1872 INA ORIENTAL MOTOR CO LTD KOREA Tel 080 777 2042 Fax 02 2026 5495 ORIENTAL MOTOR CO LTD Headquarters Tokyo Japan Tel 03 6744 0361 Fax 03 5826 2576
17. 1 0 1 500 rated current being 100 Speed filter Adjusts the motor response 0 to 200 ms 1 i i B Moving average time ie the time constant for the moving average 0 to 200 ms 1 Filter selection Set either speed filter or moving average filter 0 Speed filter 0 C 1 Moving average filter Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration The maximum driver operating current can be changed using the RUN current parameter If the load is small and there is extra torque setting the operating current lower may suppress the increases in motor temperature Excessively low operating current may cause a problem in starting the motor or holding the load in position Do not reduce the current any more than is necessary 53 10 Operation 54 e Speed filter When setting the filter selection parameter to 0 Speed filter the speed filter will be effective The motor response can be adjusted When setting a higher value for the speed filter you can achieve lower vibration at low speed operation or smoother operation when starting stopping of the motor However if this setting is too high synchronization performance is decreased When setting the value of the speed filter parameter to 0 this function will be invalid Set a suitable value based on the load or application When the speed fi
18. 24 Command code response 25 Command code sl RIG TRIG response STATUS Remote resistor 26 27 38 DATA DATA response 29 Reserved Reserved 103 13 Method of control via Network converter E Communication format Communication format to the PKA Series and NETCO1 M2 NETCO1 M3 are as follows e Remote I O i nput For details on remote I O refer to p 105 e 16 bit mode _ Initial value bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO NET IN7 NET IN6 NET IN5 NET IN4 NET IN3 NET IN2 NET IN1 NET INO AWO Not used STOP HOME START M2 M1 MO NET IN15 NET IN14 NET IN13 NET IN12 NET IN11 NET IN10 NET IN9 NET IN8 RVS FWD JOG JOG SSTART MS2 MS1 MSO e 8 bit mode _ Initial value bit7 bit6 bit5 bit4 bit3 bit2 bit1 bito NET IN7 NET IN6 NET IN5 NET IN4 NET IN3 NET IN2 NET IN1 NET INO AWO Not used STOP HOME START M2 M1 MO e Remote I O output e 16 bit mode _ Initial value bit7 bit6 bit5 bit4 bit3 bit2 bit1 bito NET OUT7 NET OUT6 NET OUT5 NET OUT4 NET OUT3 NET OUT2 NET OUT1 NET OUTO ALM WNG READY HOME P START_R M2_R M1_R MO_R NET OUT15 NET OUT14 NET OUT13 NET OUT12 NET OUT11 NET OUT10 NET OUT9 NET OUT8 Not used Not used MOVE TIM AREAS AREA2 AR
19. 3 705 02C1h Home seeking mode operation 3 sensor mode lower Operating speed of 706 02C2h f home seeking upper Sets the operating speed for 4 to 1 000 000 Hz 1000 707 02C3h Operating speed of return to home operation Ce home seeking lower Acceleration deceleration of Sets the acceleration 7 2C4h 08 02C home seeking upper deceleration rate or E EaR 30000 Acceleration deceleration of acceleration deceleration time Wee SURE 709 o2c5h 1 0 001 s home seeking lower for return to home operation Starting speed of 710 02C6h home seeking upper Sets the starting speed for 1 to 1 000 000 Hz 100 B Starting speed of return to home operation Bae 711 02C7h home seeking lower Position offset of 712 02C8h home seeking upper Sets the amount of offset from 8 388 608 to 0 iti hanical h 7 713 02C9h Position offset of mechanical home 8 388 607 step home seeking lower Starting direction of 714 02CAh F gt home seeking upper Sets the starting direction for 0 Negative direction 1 715 02CBh Starting direction of home detection 1 Positive direction home seeking lower SLIT detection with 716 02CCh home seeking upper Sets whether or notto 0 Disable z concurrently use the SLIT input 1Enable 0 717 o2cpn SLT detection with for return to home operation i home seeking lower Indicates the timing for the data to become effective B Effective after stoppi
20. Example Overvoltage alarm number of blinks 3 Approx Approx 200 ms T 200 ms Approx 1 4 s Interval E Alarm reset Before resetting an alarm always remove the cause of the alarm and ensure safety and perform one of the reset operations specified below Refer to p 47 for the timing chart e Turn the ALM RST input to OFF and then ON The alarm will be reset at the ON edge of the input e Perform an alarm reset using RS 485 communication e Perform an alarm reset using the OPX 2A or MEXEO2 e Cycle the power Some alarms cannot be reset with the ALM RST input OPX 2A MEXE02 or RS 485 communication Check the following table to identify which alarms meet this condition To reset these alarms cycle the power 117 14 Alarms and warnings E Alarm list When an alarm generates the motor operates as follows Excitation off When an alarm generates the motor current will be cut off and the motor will lose its holding torque Excitation on Even when an alarm generates the motor current will not be cut off and the motor position will be held No of ALM Reset Motor Code LED Alarm type Cause Remedial action operation excitation blinks The internal temperature of 24h 2 Main circuit the control circuit has Review the ventilation overheat reached about 80 C condition in the enclosure 176 F s i e ALM RST A voltage exceeding the e
21. IN3 input function selection parameter will be enabled after the power is cycled l STEP 4 Operate the motor 2 Confirm that the motor rotates without problem DC power supply 24 VDC 10 1 Turn the START input ON 62 11 Method of control via I O STEP 5 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 STOP input OFF e Is any alarm present e Are the power supply connected securely For details on I O signals refer to p 16 63 12 Method of control via Modbus protocol 12 Method of control via Modbus protocol The following explains how to implement control from a programmable controller via RS 485 communication The protocol for the RS 485 communication is the Modbus protocol The Modbus protocol is simple and its specification is open to the public so this protocol is used widely in industrial applications Modbus communication is based on the single master multiple slave method Only the master can issue a query command Each slave executes the requested process and returns a response message 12 1 Guidance If you are new to the PKA Series read this section to understand the operating methods along with the operation flow Note Before operating the motor check the condition of the sur
22. SW1 No 3 OFF SW2 No 3 ON Connection device SW2 No 2 OFF SW2 No 1 OFF EERBEH ZNT Remote I O occupied size 16 bit mode e Using the parameter 1 Set the communication address number 0 parameter of the NETCO1 M2 to 1 Enable 2 Cycle the NETCO1 M2 power e Communication parameters will be enabled after the power is cycled e When setting the parameters of the NETCO1 M2 or NETCO1 M3 use an accessory OPX 2A or MEXEO2 99 13 Method of control via Network converter l STEP 2 Check the termination resistor Termination resistor ON CC020 RS4B DC power supply 24 VDC 10 Programmable controller or master device MECHATROLINK I communication cable PKA Series NETCO1 M2 l STEP 3 Turn on the power and check the setting OFF Green Lit Green Lit NETCO1 M2 Green Lit POWER OFF Green Lit OFF Green Lit OFF ALARM C DAT C ERR BCO o N Vom e When ERR red of the PKA Series or C ERR red of the NETCO1 M2 is lit Check the transmission rate or address number of RS 485 communication STATION No e When ERR red of the NETCO1 M2 is lit Check the MECHATROLINK I communication error STEP 4 Positioning operation Control the I O signal of the PKA Series using the I O command DATA_RWA 50h of MEC
23. Stop 20g EOC Ala Selah SPEU PEED Monitors the current command speed Hz 7 1000 000 to 203 OOCBh Command speed lower 1 000 000 Hz 210 00D2h Remaining dwell time upper Monitors how much of the dwell time used in 0 to 50000 ms 211 00D3h Remaining dwell time lower the linked motion operation 2 remains 79 12 Method of control via Modbus protocol Real Name Description Range 212 D4h_ Di 99 rect O status upper Monitors the each direct I O signal See table next 213 00D5h Direct I O status lower Direct I O status 00D4h Register address big bit6 bit5 bit4 bit3 bit2 bitt bito Hex oopan Upper z Lower OUT1 OUTO Upper IN3 IN2 00D5h Lower IN1 INO E Parameter R W command Write or read parameters All commands can be read and written READ WRITE The parameters required for motor operation are available in the following two types e Operation data e User parameters Parameters set via RS 485 communication are saved in the driver s RAM The data saved in the RAM will be erased once the power is turned off On the other hand the parameters saved in the NV memory will be retained even after the power supply is turned off See p 77 Maintenance command for writing the parameters saved in the RAM to the NV memory When turning the motor power ON the parameters saved
24. a TIM signal H 0 ys H VL vs side ae wal 7 side oe _ vp TIM sh TIM a OFF OFF LS HOMES LS LS HOMES LS wns VR wns VR side v B ts ys side Ton Evs SLIT input and side _ 44 yg Side M Ba TIM signal VS Starting speed of return to home ON ON VR Operating speed of return to home SLIT OFF i SLIT OFF i VL Last speed of return to home ON ON When VS lt 500 Hz VS TIM TIM FN When VS2500 Hz 500 Hz OFF OFF 40 10 Operation Operation sequence for the last motion home seeking of the 2 sensor mode Broken line indicates a home offset move Starting direction of Starting direction of Signal type return to home operation return to home operation Positive side Negative side LS LS LS VL LS VR A ott VR side VS side _ys SLIT input side VS side TVS VR VR SLIT ba SLIT a OFF OFF LS LS LS VL LS VR E fo otts VR side a VS side _ys T ae TIM signal side VS side vs VR VR TIM oN TIM oN oA OFF OFF LS LS LS VL LS VR y ens VR side a VS side _ys a ae SLIT input and side eT O a side E TIM signal VL VS Starting speed of return to home ON ON VR Operating speed of return to home SLIT OFF t SLIT OFF A VL Last speed of return to home ON ON When VS lt 500 Hz VS TIM A TIM N When VS2500 Hz 500 Hz OFF OFF
25. able to escape p pe Test operation 10 Operation E Position coordinate management The motor manages the position information e Position origin for the driver The position origin will be set whenever one of the following operations is executed e Return to home operation e P PRESET input is turned ON The position origin will be undefined whenever one of the following operations is executed e The motor s power is cycled e The motor current is removed e The configuration command is performed If the return to home incomplete alarm parameter is set to enable positioning operations can be prohibited while the position origin has not been set The return to home incomplete alarm will generate if the START input SSTART input or the MSO to MSS inputs are turned ON while the position origin has not been set See p 117 for alarm Related parameters Parameter name Description Setting range Initial value Sets the alarm signal status When the positioning operation is started while the position origin has not been set selects whether the alarm generates or not Return to home incomplete alarm 0 Disable 1 Enable e Wrap function The wrap function is a function that resets the command position to 0 whenever the command position exceeds the set value by the wrap setting range parameter The command position varies in a range of 0 to wrap setting value 1 Related parameters
26. e Coordination Command code Name Setting range Initial value Effective Read Write cee 01C0h 11C0Oh Electronic gear A 1 to 65535 01C1h 11Cih Electronic gear B c BREE 0 Positive direction CCW 01C2h 11C2h_ Motor rotation direction 1 Positive direction lt CW 1 01C3h 11C3h_ Software overtravel Sh Disable 1 1 Enable 01C4h 11C4h_ Positive software limit 8 388 607 A 01C5h 11C5h_ Negative software limit 8 388 608 to 8 388 607 step 8 388 608 01C6h 11C6h_ Preset position 0 0 Disable 01C7h 11C7h Wrap setting 1 Enable 0 c 01C8h 11C8h Wrap setting range 1 to 8 388 607 step 500 Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration e Common Command code f Initial o o Read Write Name Setting range vali Effective 0 Signed 01E0h 11E0h_ Data setter speed display 1 Absolute value 0 o1Eth 11Eth Data setter edit 0 Disable 1 1 Enable Indicates the timing for the data to become effective A Effective immediately e I O function Command code Initial ok Read Write Name Setting range value Effective 0880h 1880h INO input function selection 60 0881h 1881h IN1 input function selection 61 gt 3 See table next 0882h 1882h IN2 input function selection 62 0883h 1883h IN3 input
27. of the PKA Series or C ERR red of the NETCO1 CC is lit Check the transmission rate or address number of RS 485 communication e When L ERR red of the NETCO1 CC is lit Check the type of the CC Link communication error 95 13 Method of control via Network converter STEP 4 Execute positioning operation via remote I O of CC Link communication 1 Set the position 1200h and operating speed 1240h of the operation data No 0 of the PKA Series 2 Execute positioning operation by turning the START of the CC Link remote I O address number 1 to ON RY Master to NETCO1 CC RY Master to NETCO1 CC Device No Signal name Initial value Device No Signal name Initial value RYO NET INO MO RY8 NET IN8 MSO RY1 NET IN1 M1 RY9 NET IN9 MS1 RY2 NET IN2 M2 RYA NET IN10 MS2 RY3 NET IN3 START RYB NET IN114 SSTART RY4 NET IN4 HOME RYC NET IN12 JOG RY5 NET IN5 STOP RYD NET IN13 JOG RY6 NET IN6 Not used RYE NET IN14 FWD RY7 NET IN7 AWO RYF NET IN15 RVS STEP 5 Were you able to operate the motor properly How did it go Were you able to operate the motor properly If the motor does not function check the following points Is any alarm present in the PKA Series or NETCO1 CC Are the address number transmission rate and termination resistor set correctly Is the connection parameter of the NETCO1 CC set correctly Is the ERR LED of the PKA S
28. 159 009Fh Warning record 4 lower 160 OOAOh_ Warning record 5 upper 181 eval Warning record 3 lowen Monitors the warning records 1 to 10 00h to FFh 162 00A2h Warning record 6 upper 163 OOA3h_ Warning record 6 lower 164 00A4h Warning record 7 upper 165 OOA5h_ Warning record 7 lower 166 OOA6h_ Warning record 8 upper 167 00A7h Warning record 8 lower 168 OOA8h_ Warning record 9 upper 169 OOA9h_ Warning record 9 lower 170 OOAAh Warning record 10 upper 171 OOABh Warning record 10 lower 172 OOACh_ Communication error code upper Monitors the last received 173 OOADh Communication error code lower communication error code 78 12 Method of control via Modbus protocol Register address Name Description Range Dec Hex 174 OOAEh Communication error code record 1 upper 175 OOAFh Communication error code record 1 lower 176 OOBoh Communication error code record 2 upper 177 00B1h Communication error code record 2 lower 178 00B2h Communication error code record 3 upper 179 00B3h Communication error code record 3 lower 180 00B4h Communication error code record 4 upper 181 OOBSh Communication error code record 4 lower 182 00B6h Communication error code record 5 upper Communication error code 183 geben record 5 lower Monitors the communication error records 1
29. 963 03C3h Data setter edit lower edit using the OPX 2A 1 Enable Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 84 12 Method of control via Modbus protocol Register address pas F Initial 2 oy Name Description Setting range Effective Dec Hex P g rang value MSO operation No 4098 1000h selection upper Sets the operation data No o i corresponding to MSO input 4097 1001h MSO operation No p g p selection lower MS1 operation No 4098 1002 selection upper Sets the operation data No 4 i rresponding to MS1 input 4099 1003h MS1 operation No corresp g p selection lower MS2 operation No 4100 1004h selection upper Sets the operation data No 2 i corresponding to MS2 input E MSZ operation No pegs MS3 tion N 0 to 63 B operation No 4102 1006h selection upper Sets the operation data No F 4103 1007h MS3 operation No corresponding to MS3 input selection lower MS4 operation No 4104 1008h selection upper Sets the operation data No A i corresponding to MS4 input 4105 1009h MS4 operation No p g p selection lower MS5 operation No 4106 100AN selection upper Sets the operation data No 5 4107 100Bh MS5 operation No corresponding
30. By setting the operation mode of operation data to link2 an operation data whose rotating direction is different can be linked In this case the system stops for the dwell time after each positioning operation and then performs operation according to the next operation data If operation data includes data for which single is set the motor will stop after the positioning with respect to the single operation data is completed e Up to four sets of operation data can be linked When combining the linked motion operation and the linked motion operation 2 make sure the total number of linked operation data sets does not exceed four When linked motion operation is performed with five or more sets of operation data linked together an operation data error alarm will generate upon start of operation e No 0 will not be linked even when link2 is set for data No 63 because the operation pertaining to No 63 will be processed independently Example of linked motion operation2 Speed Data No Operating mode Rotating direction Dwell time 1 Link2 Positive Set 2 Link2 Negative Set 3 Link2 Positive Not set 4 Single Positive N A Dwell time Dwell time No 1 No 2 Time MO to M5 i 2 X No 1 0 to M5 input opp f ON START input opp When combining the linked motion operation Data No Operating mode Rotating direction Dwell time and the linked m
31. Check the input voltage of input specification value was ihe powa Suppi Inpu applied i i Age e RS 485 22h Overvoltage e A large inertial load was rs aarm generates communic stopped abruptly or during operation reduce ation 3 A the load or increase the vertical operation was i e OPX 2A Off acceleration deceleration performed e MEXE02 The main power was cut off e Cycle the Check the input voltage of y 25h Undervoltage momentarily or the voltage the main power supply power became low Camimand aulse The command pulse Lower the command pulse 34h 2 ees P frequency exceeded the frequency to the rate at which specified value no alarm is output 41h 9 EEPROM error The Stored data Was Initialize the all parameters Cycle the damaged power The positioning operation 4Ah Return to home was started when the Perform the position preset incomplete position origin has not been or return to home operation set Both the LS and LS 60h LS both sides signals were detected when Check the sensor logic 7 active hardware overtravel parameter was enabled The LS opposite to the operating direction has 6th Reverse limit sensor detected during a Check the LS wiring connection return to home operation in 2 sensor mode or 3 sensor mode e ALM RST E input e An unanticipated load may as 485 have been applied during the return to home commune operation Check the load ation On e If the installation positions OPX 2A o
32. FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series Assignment No Signal name Function Setting range 67 READY Output when the motor is ready o Notready 1 Ready 68 MOVE Output when the motor operates 0 Motor stopped 1 Motor operating 70 HOME P Output when the motor is in home position E Not home position 1 Home position 72 TIM Output once every 7 2 rotation of the motor output 0 TIM OFF shaft 1 TIM ON 73 AREA1 Output when the motor is within the area 1 o Oued E Outside area 74 AREA2 Output when the motor is within the area 2 dciinside rga 75 AREA3 Output when the motor is within the area 3 7 Output when the motor is in internal processing 0 S BSY OFF 80 SRS state 1 S BSY ON Related parameters Parameter name Description Initial value NET OUTO output function selection 48 MO_R NET OUT1 output function selection 49 M1_R NET OUT2 output function selection 50 M2_R NET OUT3 output function selection 4 START_R NET OUT4 output function selection 70 HOME P NET OUT5 output function selection 67 READY NET OUTE6 output function selection 66 WNG NET OUT7 output function selection Assigns the following output signals to 65 ALM NET OUTS output function selection NET OUTO to NET OUT15 See table below 80
33. Gear ratio 1 No speed reduction mechanism between the motor and ball screw Electronic gear B Ball screw lead Resolution 500 x x Gear ratio Electronic gear A Minimum travel amount Electronic gear B 10 mm In this example Resolution 500 x Electronic gear A 0 01 mm Electronic gear B 10 2 Result Electronic gear A 5 1 Therefore the electronic gear A and B are 1 and 2 respectively and the resolution will be 1000 P R Example Rotary table Step angle per one rotation 360 Minimum step angle 0 01 Gear ratio 7 2 Using the geared motor gear ratio 7 2 1 Electronic gear B Step angle per one rotation Resolution 500 x x Gear ratio Electronic gear A Minimun travel amount Electronic gear B 360 1 x Electronic gear A 0 01 7 2 Electronic gear B 360 10 Electronic gear A 36 1 In this example Resolution 500 x Result Therefore the electronic gear A and B are 1 and 10 respectively and the resolution will be 5000 P R 57 10 Operation E Common parameter Name Description Setting range nits Effective value Sets the display method of the speed monitor 0 Signed Datasetter speed display for the OPX 2A 1 Absolute value 9 A Sets whether it is possible to edit using the 0 Disable Data setter edit OPX 2A 4 Enable 1 Indicates the timing for the data to become eff
34. No gs 933 es cee erator No 63 1 0 001 ms kHz or 30000 0340h 1340h Deceleration No 0 243 1 0 001 s to to to 037Fh 137Fh_ Deceleration No 63 03C0h 13C0h Sequential positioning No 0 0 Disable 9 to fo 1 Enable 9 03FFh 13FFh Sequential positioning No 63 0400h 1400h Dwell time No 0 to to to 0 to 50000 1 0 001 s 0 043Fh 143Fh_ Dwell time No 63 1 Indicates the timing for the data to become effective B Effective after stopping the operation 2 This item is effective when the acceleration deceleration type parameter is set to separate If this parameter is set to common the values of the common acceleration and common deceleration parameters will be used initial value separate 3 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 111 13 Method of control via Network converter 112 E User parameter e 1 0 Command code f Initial E Name Setting range Effective Read Write aed value 0 Immediate stop 1 Deceleration stop 9190h 1100A STOP Mput agon 2 Immediate stop Current OFF 3 Deceleration stop Current OFF 0101h 1101h Hardware overtravel o Disable 1 1 Enable 0102h 1102h Overtravel action o Immediate stop 0 1 Deceleration stop 0105h 1105h ARE
35. Not excitation Excitation STOP input e When the STOP input action parameter is immediate stop 4 ms or more STOP i 2 input OFF ON MOVE output OFF 6 ms or less READY ON i output OFF Motor operation Motor excitation Excitation The specific time varies depending on the load operating speed speed filter moving average filter and other e When the STOP input action parameter is deceleration stop __ OFF 4 ms or more Ol STOP input x MOVE an output OFF 6 ms or less READY gk output OFF amp ms or less Motor operation Motor excitation Excitation The specific time varies depending on the load operating speed speed filter moving average filter and other 45 10 Operation e When the STOP input action parameter is immediate stop current off STOP i ON input OFF 4 ms or more MOVE P output OFF ON READY output 200 ms or less ggm OFF Motor operation Delay time when the motor is not excited 220 ms or less 100 ms or less Motor excitation Excitation Not excitation The specific time varies depending on the load operating speed speed filter moving average filter and other e When the STOP input action parameter is deceleration stop current off ON STOP input OFF 4 ms o
36. ON ON 51 ON ON OFF OFF ON ON 20 OFF ON OFF ON OFF OFF 52 ON ON OFF ON OFF OFF 21 OFF ON OFF ON OFF ON 53 ON ON OFF ON OFF ON 22 OFF ON OFF ON ON OFF 54 ON ON OFF ON ON OFF 23 OFF ON OFF ON ON ON 55 ON ON OFF ON ON ON 24 OFF ON ON OFF OFF OFF 56 ON ON ON OFF OFF OFF 25 OFF ON ON OFF OFF ON 57 ON ON ON OFF OFF ON 26 OFF ON ON OFF ON OFF 58 ON ON ON OFF ON OFF 27 OFF ON ON OFF ON ON 59 ON ON ON OFF ON ON 28 OFF ON ON ON OFF OFF 60 ON ON ON ON OFF OFF 29 OFF ON ON ON OFF ON 61 ON ON ON ON OFF ON 30 OFF ON ON ON ON OFF 62 ON ON ON ON ON OFF 31 OFF ON ON ON ON ON 63 ON ON ON ON ON ON 24 9 Explanation of I O signals E START input This signal starts the positioning operation Select the operation data No and turn the START input to ON to start positioning operation Related parameters Parameter name Description Setting range Initial value Petucaioanomne Sets the alarm signal eae When the ee 0 Disable incomplete alarm operation is started while the position origin has not 1 Enable 0 been set selects whether the alarm generates or not i When the return to home incomplete alarm parameter is set to enable the return to home incomplete
37. PRESET Position preset 27 HMI Release of the function limitation of the OPX 2A or MEXE02 32 RO 33 R1 34 R2 35 R3 36 R4 37 RS General signals 38 R6 Use these signals when controlling the system via RS 485 39 R7 communication 40 R8 41 R9 42 R10 43 R11 44 R12 The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series 9 Explanation of I O signals Assignment No Signal name Function 45 R13 General signals 46 R14 Use these signals when controlling the system via RS 485 47 R15 communication 48 MO 49 M1 M2 M3 Select the operation data No using these six bits 52 M4 53 M5 60 LS limit sensor 61 LS limit sensor 62 HOMES Home sensor 63 SLIT Slit sensor Related parameters Parameter name Description Initial value INO input function selection 60 LS IN1 input function selection Assigns the following input signals to INO to 61 LS IN2 input function selection IN3 of the input terminals See table below 62 HOMES IN3 input function selection 18 STOP 0 Not used 8 MSO 18 STOP 36 R4 44 R12 52 M4 1 FWD 9 MS1 24 ALM RST 37 R5 45 R13 53 M5 2 RVS 10 MS2 25 P PRESET 38 R6 46 R14 60 LS 3 HOME 11 MS3 27 HMI 39 R7 47 R15 61 LS 4 START 12 MS4 32 RO 40 R8 48 MO 62 HOMES 5 SSTART 13 MS5 33 R1 41 R9
38. Preset position page 56 e Software overtravel e Wrap setting e Wrap setting range Common e Data setter speed display page 58 e Data setter edit f e INO to IN3 input function selection oe e INO to IN3 input logic level setting e OUTO OUT1 output function selection I O function RS 485 page 59 e NET INO to NET IN15 input function selection e NET OUTO to NET OUT15 output function selection Communication page 60 e Communication timeout e Communication error alarm e Communication parity e Communication stop bit e Transmission waiting time E O parameter 10 Operation Initial Name Description Setting range valig Effective 0 Immediate stop STOP input action Sets how the motor should stop when a 1 Deceleration stop 1 p STOP input is turned ON 2 Immediate stop Current OFF 3 Deceleration stop Current OFF Sets whether to enable or disable 0 Disable Hardware overtravel hardware overtravel detection using 3 1 1 Enable LS inputs Overtr vel actio Sets the motor action to take place 0 Immediate stop 0 upon the occurrence of overtravel 1 Deceleration stop AREA1 positive Sets the position of AREA1 positive direction position direction AREA1 negative Sets the position of AREA1 negative A direction position direction AREA2 positive Sets the position of AREA2 positive direction position direct
39. The centers of the motor s output shaft and load shaft are not aligned Check the connection condition of the motor output shaft and load shaft Motor is resonating If the vibration decreases when the operating speed is changed it means the motor is resonating Change the operating speed setting Load is too small Lower the operating current using the RUN current parameter Vibration will increase if the motor s output torque is too large for the load There is holding torque even if motor excitation is turned off Effect of dynamic brake If the motor becomes the overvoltage condition the motor coil will be short circuited in the control circuit and the holding torque will be generated dynamic brake Return to the normal voltage to release the dynamic brake e Check the alarm message when the alarm generates e I O signals can be monitored using the OPX 2A MEXEO2 or via RS 485 communication Use to check the wiring condition of the I O signals 122 16 Inspection 16 Inspection It is recommended that periodic inspections be conducted for the items listed below after each operation of the motor If an abnormal condition is noted discontinue any use and contact your nearest Oriental Motor sales office E During inspection e Are any of the motor mounting screws loose e Are there any abnormal noises in the motor bearings ball bearings or other moving parts e Are the moto
40. a SSTART input signal is input e Direct positioning operation When any of the MSO to MS5 inputs is turned ON the positioning operation corresponding to the input data No will perform 10 Operation e Selecting the operation data No Select an operation data based on a combination Operation data No M5 M4 M3 M2 M1 Mo of ON OFF status of the MO to M5 inputs 0 OFF OFF OFF OFF OFF OFF See p 24 for selecting the operation data No 1 OFF OFF OFF OFF OFF ON 2 OFF OFF OFF OFF ON OFF e e e e e e e e e e e e e e e 61 ON ON ON ON OFF ON 62 ON ON ON ON ON OFF 63 ON ON ON ON ON ON e Single motion operation The positioning operation is performed only once using a single operation data set To perform single motion operation set operating mode to single using operation data Data Nos 3 and 4 shows the operation profile when motion profiles are set as single Speed No 4 No 3 Time MO to M5 input ON X No 3 M No 4 OFF START i E E input OFF e Linked motion operation When setting the operating mode to link using operation data positioning operation based on the next data number will be performed without stopping the motor A maximum of 4 operation data can be linked If operation data includes data for which single is set the motor will stop after the positioning with respect to the
41. alarm will generate if the positioning operation is started while the position origin has not been set E SSTART input This signal starts the sequential operation Positioning operation based on the next data No will be performed every time the SSTART input turns ON This function is useful when multiple positioning operations must be performed sequentially because there is no need to repeatedly select each data No See p 35 for sequential operation Related parameters Parameter name Description Setting range Initial value Ret m to hom Sets the alarm signal ie When the Pe 0 Disable incomplete alarm operation is started while the position origin has not 1 Enable 0 been set selects whether the alarm generates or not i When the return to home incomplete alarm parameter is set to enable the return to home incomplete alarm will generate if the positioning operation is started while the position origin has not been set E MSO to MS5 input This signal starts the direct positioning operation When any of the MSO to MSS inputs is turned ON the positioning operation corresponding to the input data No will be performed Since the positioning operation is enabled by turning any of the MSO to MSS inputs ON you can save the steps of selecting the operation data No See p 36 for direct positioning operation Related parameters Parameter name Description Setting range Initial value Retu
42. coder TRIG TRIG response STATUS Remote resistor 27 28 39 DATA DATA response 30 31 z Reserved Reserved 13 Method of control via Network converter E 1 O field map for the NETCO1 M3 Update of remote I O data asynchronous is executed by DATA_RWA Command 20h When the remote I O occupied size is 16 bit mode and the number of transmission bytes is 32 bytes initial setting I O field map will be as follows See the network converter NETCO1 M3 OPERATING MANUAL for other I O field map Byte Type Command Response 0 DATA_RWA 20h DATA_RWA 20h 1 WDT RWDT CMD_CTRL CMD_STAT 4 5 7 Reserved Connection status i Address number 0 remote I O input Address number 0 remote 1 O output 5 Address number 1 remote I O input Address number 1 remote 1 O output Address number 2 remote I O input Address number 2 remote I O output Address number 3 remote I O input Address number 3 remote I O output 14 Remote I O 15 Address number 4 remote I O input Address number 4 remote I O output Address number 5 remote I O input Address number 5 remote O output 5 Address number 6 remote I O input Address number 6 remote I O output Address number 7 remote I O input Address number 7 remote I O output 22 23 Register address number Register address number response
43. cutback function When operating the motor take account of the motor torque drop at the time of stopping Preventing electrical noise See 7 5 Installing and wiring in compliance with EMC Directive on p 11 for measures with regard to noise Overvoltage alarm by regeneration energy The overvoltage alarm will generate depending on the operating condition When an alarm is generated review the operating conditions If the motor becomes the overvoltage condition the motor coil will be short circuited in the control circuit and the holding torque will be generated dynamic brake When the voltage returns to normal the dynamic brake will automatically be released Saving data to the NV memory Do not turn off the 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 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 Mtr sie csesscisegecdenastesdsesssveasvetske eee 1 unit e CN1 leadwire connector assembly 00 1 pe 0 6 m 2 ft 12 pins Connector CAD esssiesssvte
44. function selection lower NET IN4 input function 44 1168h 68 selection upper Sets the function of NET INO to NET IN4 input function NET IN8 Scot OCD 4457 1169h Anp selection lower 4458 116Ah NET INS input function selection upper ig 4459 116Bh NET INS input function selection lower 4460 416Ch NET IN6 input function selection upper r 4461 116Dh NET IN6 input function selection lower 4462 116Eh NET IN7 input function selection upper 4463 116Fh NET IN7 input function selection lower 4464 1170h NET IN8 input function selection upper A 4465 1171h NET IN8 input function selection lower Indicates the timing for the data to become effective C Effective after executing the configuration 86 12 Method of control via Modbus protocol Register address Initial Name Description Setting range Effective Dec Hex P g rang value 4466 1172h NET IN9 input function selection upper 6 4467 1173h NET IN9 input function selection lower 4468 1174h NET IN10 input function selection upper 10 NET IN10 input function 4459 1175h selection lower 4470 1176h NET IN11 input function selection upper 5 4471 1177h NET IN11 input function selection lower NET IN12 input function 4472 1178h selection upper Sets the function of NET I
45. gear c Motor rotation direction 0 Positive direction 900 0384h SNe hy upper Sets the rotation direction of CCW F i i i t tput shaft 1 Positi i i 901 0385h Motor rotation direction motor output sna conte direction lower CW 902 0386h Software overtravel upper Sets whether to enable or int disable software overtravel is sete 1 903 0387h Software overtravel lower detection using soft limits see Positive software limit 904 0388h Seed upper Sets the value of soft limit in 8 388 607 905 ogegh Positive software limit positive direction lower A Negative software limit 8 388 608 to 906 038Ah reset he ee upper Sets the value of soft limit in 8 388 607 step 8 388 608 i imi tive direction 907 038Bh Negative software limit negative direction lower h IP iti ans 0380 roset positon upper Sets the preset position 0 909 038Dh Preset position lower 910 038Eh Wrap setting upper Sets enable disable for the 0 Disable 0 911 038Fh Wrap setting lower wrap function 1 Enable a 912 0390h W tti HORSE mg range upper Sets the wrap setting range 1 to 8 388 607 step 500 913 0391h Wrap setting range lower Data sett d displ 960 03C0h ee Bieter ae ee Sets the display method of 0 Signed Data sett Jaispiay the speed monitor forthe Absolute value g 961 o3c1h Data setter speed display OPX 2A A lower 962 03C2h Data setter edit upper Sets whether it is possible to 0 Disable 1
46. in the NV memory will be sent to the RAM Then the recalculation and setup for the parameters are executed in the RAM Note The NV memory can be rewritten approx 100 000 times When a parameter is changed the timing to reflect the new value varies depending on the parameter See the following four types o Effective immediately 0 0 eee eeeeeeeeeseeereeteeee Executes the recalculation and setup immediately when writing the parameter e Effective after stopping the operation Executes the recalculation and setup after stopping the operation e Effective after executing the configuration Executes the recalculation and setup after executing the configuration e Effective after turning the power ON again Executes the recalculation and setup after turning the power ON again 80 e Operation data 12 Method of control via Modbus protocol Register address ee Initial Effective Dec Hex Name Description Setting range ae el 1024 0400h Position No 0 upper 1923 OO Mtr ROSING O Slower Sets the position distance 8 388 608 to 0 t 10 ee for positioning operation 8 388 607 step 0 1150 047Eh Position No 63 upper aa 1151 047Fh_ Position No 63 lower 1152 0480h Operating speed No 0 upper 1153 0481h Operating speed No 0 lower Sets the operating speed in to to to positioning operation and 0 to 1 000 000 Hz 1000 1278 O4FEh Operatin
47. injury e Before supplying power to the motor turn all input signals to the motor OFF Otherwise the motor may start suddenly at power on and cause injury or damage to equipment e Set a suitable operation speed and acceleration deceleration rate Improper setting may cause loss of the motor synchronism and moving the load to an unexpected direction which may result in injury or damage to equipment e Do not touch the rotating part output shaft during operation Doing so may cause injury e When rotating the output shaft manually while the motor stops cut off the motor current by turning off the power supply or motor excitation Failure to do so may cause injury e The motor surface temperature may exceed 70 C 158 F even under normal operating conditions If the operator is allowed to approach the running motor attach a warning label as shown below in a conspicuous position Failure to do so may result in skin burn s Warning label e Immediately when trouble has occurred stop running and turn off the motor power Failure to do so may result in fire or injury e Static electricity may cause the motor to malfunction or suffer damage While the motor is receiving power do not touch the motor Always use an insulated screwdriver to adjust the motor s switches Disposal e To dispose of the motor disassemble it into parts and components as much as possible and dispose of individual parts components as industrial waste 2 Overview o
48. is not saved in the NV memory even when the batch NV memory write executes the group setting will be cleared when turning the motor power OFF e Function code to execute in a group send Function code Function 10h Writing to multiple holding registers Programmable controller or master device Address 1 Address 2 Address 3 group command 1 group command 1 group command 1 individual Start of positioning operation for address 1 Start of positioning operation for address 2 Master to slave Slave to master Response from address 2 Motor operation at address 1 parent slave Motor operation at address 2 child slave Motor operation at address 3 child slave 90 12 Method of control via Modbus protocol 12 11 Detection of communication errors This function detects abnormalities that may occur during RS 485 communication The abnormalities that can be detected include alarms warnings and communication errors E Communication errors A communication error record will be saved in the RAM You can check the communication errors using the communication error record command via RS 485 communication Note The communication error record will be cleared once the motor power is turned off Type of communication error Error code Cause R g communication error 84h A transmission error was detected See Transmission error on p 71 Command
49. ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate E Alarm warning parameter Initial Name Description Setting range Effective value Return to home incomplete Sets enable disable for the return to home 0 Disable 0 c alarm incomplete alarm 1 Enable Sets the temperature at which a main circuit 40 to 80 C Overheat warming overheat warning generates 104 to 176 F eo Sets the voltage at which an overvoltage Overvoltage warning warning generates fen a0 420 A i 1 0 1 V Undervoltage warning Sets the voltage at which an undervoltage 180 warning generates Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration E Coordination parameter Name Description Setting range Initial value Effective El i A h i f electri ectronie gear Set the denominator of e ectie gear 1 to 65535 Electronic gear B Set the numerator of electric gear c f er Sets the rotation direction of motor 0 Positive direction CCW Motonrolationditaciion output shaft 1 Positive direction CW Sets whether to enable or disable 0 Disable Software overtravel software overtravel detection using soft 4 1 ae 1 Enable limits Positive software limit ree ve value of softlimitin positive 8 388 607 A Sets the
50. n 66h Hardware overtravel ee A aes via continuous operation or e OPX 2A enabled return to home operation e MEXEO2 In single motion operation e Cycle the Wiseiwara init was check to see if the position power reached when sofware exceeds the softlimit In 67h Software overtravel overtravel parameter Was linked motion operation enabled P check to see if the result of 7 i linked position exceeds the softlimit A limit sensor signal was Home seeking offset detected during offset 6Ah ertor movement as part of Check the offset value return to home operation e Data of different directions may be linked in linked motion operation 70h oe operation eet more data may be Check the operation data e Positioning operation of the operating speed 0 r min was performed The resolution set by the Settheslectronie gsar 71h Electronic gear electronic gear parameter correct and eae cle the Cycle the off setting error was outside of the SWOT y y power specification P e ALM RST input e RS 485 When the motor operates communic 81h Network b s error the host system for the Check the host system ation On network converter showsa connector or cable e OPX 2A disconnected status e MEXEO2 e Cycle the power 83h Communication ede sete oN setting Check the transmission rate Cycle the off switch setting error setting switch SW3 power out of specification 119 14 Alarms and warnings
51. not Communication Sets the condition in which a communication 0 Not monitored 0 timeout timeout occurs in RS 485 communication 0 to 10000 ms Sets the condition in which a RS 485 SEN communication error alarm generates A Communication ae error alarm communication error alarm generates after a 1 to 10 times 3 RS 485 communication error has occurred by the number of times set here E WNG output When a warning generates the WNG output turns ON See p 120 for warning descriptions Related parameters Parameter name Description Setting range Initial value Ov rhedt w rnin Sets the temperature at which a main circuit 40 to 80 C 80 9 overheat warning generates 104 to 176 F Overvoltage warning ath AIE A wnich an overvoltage 420 Sot ho SSS eer 150 to 420 1 0 1 V Undervoltage warning ets the voltage at which an undervoltage 180 warning generates 9 Explanation of I O signals E READY output When the driver becomes ready the READY output turns ON Input operating commands after the READY output has turned ON The READY output turns ON when all of the following conditions are satisfied All inputs which start operation are OFF The FREE input is OFF The AWO input is OFF The STOP input is OFF An alarm is not present The motor is not operating Test operation downloading initializing or teaching function was not performed using the OPX 2A Test function downloading or teaching function was not performed using the MEXE
52. not yet defined 88h An exception response exception code 01h 02h was detected See p 71 Execution disable due to user I F communication in progress 89h An exception response exception code 04h was detected See p 71 NV memory processing in progress 8Ah An exception response exception code 03h 04h was Outside setting range 8Ch detected See p 71 Commiandexecutedisable 8Dh An exception response exception code 04h was detected See p 71 E Alarms and warnings When an alarm generates the ALM output will turn OFF and the motor will stop At the same time the ALM LED will start blinking When a warning generates the WNG output will turn ON The motor will continue to operate Once the cause of the warning is removed the WNG output will turn OFF automatically Note f You can also clear the warning records by turning off the motor power e Communication switch setting error When setting the transmission rate setting switch SW3 to positions 8 to F the transmission rate setting switch error will occur e RS 485 communication error 84h The table below shows the relationship between alarms and warnings when an RS 485 communication error occurs Description o of eror Description Warni A warning generates when one RS 485 communication error 84h has been detected arning 3 uae i If normal reception occurs while the warning is present the warning will be reset automati
53. positioning operation will start again after returning to the operation data No n e The operation data No 0 is set to the starting point when turning the power ON e The operation data No 0 is set to the starting point when the following operations are performed And the current operation data No is set to 1 When the motor power is turned ON again When operations other than the positioning operation are performed return to home operation continuous operation etc When an alarm is generated and reset When the STOP input is turned ON When the command turning the excitation OFF is input when FREE or AWO is turned ON When the P PRESET is executed When a configuration is executed e When the operation function is set to link or link2 set all of the linked operation data No to the sequential positioning The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series Example of sequential Data No Operating mode Sequential operation operation 0 Single Set 1 Single Set 2 Single Not set 3 Single Set 4 Link Set 5 Single Set 6 Single Not set Perform sequential operation after power supply is turned on When the SSTART input is turned ON after power supply is turned on a positioning operation is performed based on data No 0 When a SSTART input is turned ON again a p
54. reading from Data Register address lower 02h Number of registers upper 00h Number of registers to be read from the starting Number of registers lower 04h register address 4 registers 0004h Errar check dowel ew Calculation result of CRC 16 Error check upper F9h 12 Method of control via Modbus protocol e Response Field name Data Description Slave address Oth Same as query Function code 03h Same as query Number of data bytes 08h Twice the number of registers in the query Val f i h aluertead trom register address pper o Value read from register address 0402h Value read from register address lower 00h Val f i 1 27h aletead from register addross 1 Upper Value read from register address 0403h Data Value read from register address 1 lower 10h Val f i 2 FFh alue read from register address 2 Upper Value read from register address 0404h Value read from register address 2 lower FFh Val f i D8h ave tees ory register address t3 Upper 8 Value read from register address 0405h Value read from register address 3 lower FOh E heck h MOr NECK OWS og Calculation result of CRC 16 Error check upper A3h E Writing to a holding register 06h This function code is used to write data to a specified register address However since the result combining the upper and lower may be outside the data range write the upper and lower at the same time using the multiple holdin
55. records etc All commands can be read READ Register address Dec Hex Name Description Range ee GOBOhE SE resent alan pba Monitors the present alarm code 129 0081h Present alarm lower 130 0082h Alarm record 1 upper 131 0083h Alarm record 1 lower 132 0084h Alarm record 2 upper 133 0085h Alarm record 2 lower 134 0086h Alarm record 3 upper 135 0087h Alarm record 3 lower 136 0088h Alarm record 4 upper 137 0089h Alarm record 4 lower 138 008Ah_ Alarm record 5 upper 00h to EFh 139 008Bh Alarm record 5 lower Monitors the alarm records 1 to 10 140 008Ch_ Alarm record 6 upper 141 008Dh_ Alarm record 6 lower 142 008Eh Alarm record 7 upper 143 008Fh Alarm record 7 lower 144 0090h Alarm record 8 upper 145 0091h Alarm record 8 lower 146 0092h Alarm record 9 upper 147 0093h Alarm record 9 lower 148 0094h Alarm record 10 upper 149 0095h Alarm record 10 lower 150 0096h krgsent Wany upper Monitors the present warning code 151 0097h Present warning lower 152 0098h Warning record 1 upper 153 0099h Warning record 1 lower 154 009Ah Warning record 2 upper 155 009Bh Warning record 2 lower 156 009Ch Warning record 3 upper 157 009Dh Warning record 3 lower 158 009Eh Warning record 4 upper
56. single operation data is completed Note that only operation data of the same direction can be linked Example of linked motion Data No Operating mode _ If data No 1 is selected positioning will be operation 1 Link performed continuously for Nos 1 to 3 2 Link e If data No 3 is selected single motion operation 3 Single will be performed only for No 3 Speed Started after Started after selecting No 1 selecting No 3 No 1 No 2 No 3 No 3 Time ON MO to M5 input opp X No 1 X No 3 START i an input OFF Multiple operation data of different directions cannot be linked An operation data error alarm will generate during operation e Up to four sets of operation data can be linked When combining the linked motion operation and the linked motion operation 2 make sure the total number of linked operation data sets does not exceed four When linked motion operation is performed with five or more sets of operation data linked together an operation data error alarm will generate upon start of operation e No 0 will not be linked even when link is set for data No 63 because the operation pertaining to No 63 will be processed independently e The acceleration deceleration in linked motion operation corresponds to the acceleration deceleration specified for the operation data No with which the linked motion operation is started 33 10 Operation e Linked motion operation 2
57. the configuration 85 12 Method of control via Modbus protocol Register add AES f iti ae SI Sie AASS Name Description Setting range titel Effective Dec Hex value 4384 1120h INO input logic level setting upper 4385 1124h INO input logic level setting lower 4386 1122h IN1 input logic level setting upper 4387 1123h ee logic level setting Eerie 3 f Sets the INO to IN3 input logic 0 1 N lly cl 4388 1124h N2 input logic level setting ormally closed upper 4389 1125h IN2 input logic level setting lower 4390 1126h IN3 input logic level setting upper 4391 1127h IN3 input logic level setting lower 4416 1140h OUTO output function selection upper Ee OUTO output function 4417 1141h i selection lower Sets the function of output Bas Beania OUT1 output function terminals OUTO and OUT1 p 9 4418 1142h selection upper 67 4419 1143h OUT1 output function selection lower 4448 1160h NET INO input function selection upper ie 4449 1161h NET INO input function selection lower 4450 1162h NET IN1 input function selection upper me o 4451 1163h NET IN1 input function selection lower 4452 1164h NET IN2 input function selection upper Ei 4453 1165h NET IN2 input function selection lower 4454 1166h NET IN3 input function selection upper j 4455 1167h NET IN3 input
58. the motor will stop When the STOP input turns ON while a positioning operation is being performed the balance of the travel amount will be cleared See p 42 for stop action Related parameters Parameter name Description Setting range Initial value 0 Immediate stop Sets how the motor should stop 1 Deceleration stop STOF nputaction when a STOP input is turned ON 2 Immediate stop current OFF 3 Deceleration stop current OFF E AWO input When the AWO input is turned ON the motor current will be cut off The motor will lose its holding torque and the output shaft can be turned with manually Do not turn the AWO input ON when driving a vertical load Since the motor loses its holding torque the load may drop E P PRESET input This is a signal for the command position preset When the P PRESET input is turned from OFF to ON the command position is set as the value of the preset position parameter Effective at ON edge However the preset will not execute in the following conditions e When an alarm is present e When the motor is operating Related parameters Parameter name Description Setting range Initial value Preset position Sets the preset position 8 388 608 to 8 388 607 step 0 ALM RST input When an alarm generates the ALM output will turn OFF and the motor will stop When the ALM RST input is turned from OFF to ON the ALM output will turn ON and the alarm will be reset The
59. will be followed The acceleration deceleration in linked motion operation corresponds to the acceleration deceleration specified for the operation data No with which the linked motion operation is started Common The setting of the common acceleration and common deceleration parameter will be followed Positioning modes The following two operation modes are available e Absolute mode The position distance from home is set Absolute positioning e Incremental mode Each motor destination becomes the starting point for the next movement This mode is suitable when the same position distance is repeatedly used Incremental positioning e Absolute mode e Incremental mode No of 100 steps No of 50 steps No of 50 steps _ No of 50 steps Home Home Starting point Positioning pattern Positioning operation can be performed in the following five patterns e Single motion operation A single operation data set is executed e Linked motion operation Multiple sets of operation data are linked to perform continuous positioning operation e Linked motion operation 2 Linked motion operation is performed with the dwell time function Dwell time refers to a wait time before the next positioning operation is performed Operation data whose rotating direction is different can also be linked e Sequential operation 0 Positioning operation is performed to the next operation data No every time
60. 02 Configuration commands all data initialization commands and batch NV memory read commands are not executed via RS 485 communication The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series E HOME P output The HOME P output turns ON corresponding to the setting of the HOME P function selection parameter e When HOME P function selection parameter is set to home output When the command position is in the home position while the MOVE output is OFF the HOME P output will turn ON However the HOME P output remains OFF when the position origin for the motor has not been set e When HOME P function selection parameter is set to return to home complete output Regardless of the command position if the position origin for the motor is set the HOME P output will turn ON Therefore it turns ON after completing the return to home operation or preset Once the HOME P output turns ON it will not turn OFF until the motor has moved from the position origin See p 43 for setting the position origin Related parameters Parameter name Description Setting range Initial value HOME P function Selects the HOME P output 0 Home output 0 selection function 1 Return to home complete output E MOVE output The MOVE output turns ON while the motor is operating Related parameters Parameter name Descrip
61. 49 M1 63 SLIT 6 JOG 16 FREE 34 R2 42 R10 50 M2 7 JOG 17 AWO 35 R3 43 R11 51 M3 The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series e Do not assign the same input signal to multiple input terminals When the same input signal is assigned to multiple input terminals the function will be executed if any of the terminals becomes active e If the HMI input is not assigned to the input terminal the HMI input will always become ON function limitation release When assigning to both direct I O and network I O the function will be executed when both of them are set to ON E Changing the logic level setting of input signals You can change the logic level setting for input terminals INO to IN3 using the parameter Related parameters Parameter name Description Initial value INO input logic level setting Changes the logic level setting for input IN1 input logic level setting terminals INO to IN3 IN2 input logic level setting 0 Normally open IN3 input logic level setting 1 Normally closed 0 Normally open 17 9 Explanation of I O signals E Assignment to the output terminals The output signals shown below can be assigned to the output terminals OUTO and OUT1 of CN1 by setting parameters For details on output signals refer to p 28 1 8
62. 5 communication lower Sets the condition in which a 4610 1202h Communication error alarm RS 485 communication error A upper alarm generates A communication error alarm 1 to 10 ti 3 generates after a RS 485 9 meS icati communication error has 4611 1203h Communication error alarm lower occurred by the number of times set here Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration 88 Setting range for IN input function selection 12 Method of control via Modbus protocol Not used FWD RVS HOME START SSTART JOG JOG NOORWONM O 8 MSO 9 MS1 10 MS2 11 MS3 12 MS4 13 MS5 16 FREE 17 AWO 18 STOP 24 ALM RST 25 P PRESET 27 HMI 32 RO 33 R1 34 R2 35 R3 R4 R5 R6 R7 R8 R9 R10 R11 44 R12 45 R13 46 R14 47 R15 48 MO 49 M1 50 M2 51 M3 52 M4 53 M5 60 LS 61 LS 62 HOMES 63 SLIT The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series Setting range for OUT output function selection 0 Not used 8 MSO_R 32 RO 41 R9 50 M2_R 66 WNG 1 FWD_R 9 MS1_R 33 R1 42 R10 51 M3_R 67 READY 2 RVS_R 10 MS2_R 34 R2 43 R11 52 M4_R 68 MOVE 3 HOME_R 11 MS3_R 35 R3 44 R12 53
63. A positive direction position o106h 1106h AREA negative A direction position oom tom AREAS poste AREA2 8 388 608 to 8 388 607 step 0 o1o8h 1108h AREA negative direction position 0109h 1109h AREAS positive direction position otoah 110Ah_ AREAS negative direction position Minimum ON time 010Bh 110Bh for MOVE output 0 to 255 ms 0 0800h 1800h MSO operation No 0 selection 0801h 1801h MS1 operation No 1 selection 0802h 1802h ee No 9 MS3 ion N 0 to 63 B 0803h 1803h operation INo 3 selection 0804h 1804h MS4 operation No 4 selection 0805h 1805h MS5 operation No 5 selection 0806h 1806h HOME P function 0 Home output 0 A selection 1 Return to home complete output Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation e Motor Command code Initial L o Name Setting range Effective Read Write ILANI value 0120h 1120h RUN current 0 to 1000 1 0 1 1000 A 0121h 1121h STOP current 0 to 500 1 0 1 500 0125h 1125h Speed filter 0 to 200 ms 1 B 0126h 1126h Moving average time 1 to 200 ms 1 0810h 1810h Filter selection 0 Speed filter 0 c 1 Moving average filter Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing the configuration 13 Method of control via Netw
64. AREA1 74 AREA2 75 AREAS 80 S BSY 89 12 Method of control via Modbus protocol 12 10 Group send Multiple slaves are made into a group and a query is sent to all slaves in the group at once e Group composition A group consists of one parent slave and child slaves and only the parent slave returns a response Parent slave Query sent to Master the parent slave Response e Group address Query sent to u To perform a group send set a group address to the Master the parent slave child slaves to be included in the group The child slaves to which the group address has been Child slave Executes the set can receive a query sent to the parent slave process but does not send a response e Parent slave No special setting is required on the parent slave to perform a group send The address of the parent slave becomes the group address When a query is sent to the parent slave from the master the parent slave executes the requested process and then returns a response same as with the unicast mode e Child slave Use a group command to set a group address to each child slave Change the group in the unicast mode Real F egister address N m Description Setting Initial Dec Hex range value 48 0030h Group upper 1 No group specification Group send is not performed 1 or 1 to 31 1 49 0031h Group lower 1 to 31 Sets a group address Nye Since the group setting
65. Do not use the FREE input since there is no electromagnetic brake type in the PKA Series Setting range for NET OUT output function selection 0 Not used 8 MSO_R 32 RO 1 FWD_R 9 MS1_R 33 R1 2 RVS_R 10 MS2_R 34 R2 3 HOME_R 11 MS3_R 35 R3 4 START_R 12 MS4_R 36 R4 5 SSTART_R 13 MS5_R 37 R5 6 JOG_R 16 FREE_R 38 R6 7 JOG_R 17 AWO_R 39 R7 18 STOP_R 40 R8 R9 50 R10 51 R11 52 R12 53 R13 60 R14 61 R15 62 MO_R 63 M1_R 65 M2_R M3_R M4_R M5_R LS_R LS_R HOMES_R SLIT_R ALM 66 WNG 67 READY 68 MOVE 70 HOME P 72 TIM 73 AREA1 74 AREA2 75 AREAS 80 S BSY 59 10 Operation E Communication parameter Initial Name Description Setting range Effective value Sets the condition in which a Communication timeout communication timeout occurs in RS 485 0 Not monitored 0 ae 0 to 10000 ms communication Sets the condition in which a RS 485 A communication error alarm generates A Communication error alarm communication error alarm generates after 1 to 10 times 3 a RS 485 communication error has occurred by the number of times set here 0 None Communication parity Sets the parity of RS 485 communication 1 Even number 1 2 Odd number Communication stop bit Sets the stop bit of RS 485 0 1 bit 0 D communication 1 2 bit Transmission waiting time Sets the transmission waiting time of 0 to 10000 1 0 1 ms 100
66. EA1 S BSY e 8 bit mode X Initial value bit7 bit6 bit5 bit4 bit3 bit2 bit1 bito NET OUT7 NET OUT6 NET OUT5 NET OUT4 NET OUT3 NET OUT2 NET OUT1 NET OUTO ALM WNG READY HOME P START_R M2_R M1_R MO_R e Remote Register Field Command NETCO1 M2 NETCO1 M3 to PKA Series bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Command code TRIG DATA Explanation of command Name Description Setting range Gammardicods The command sets the command code for write and read of parameters monitor and maintenance This is the trigger for handshake to execute the command code 0 No Motion TRIG When turning the TRIG from 0 to 1 the command code and DATA will 5 1 Execution be executed DATA This is the data writing to the PKA Series little endian Response PKA Series to NETC01 M2 NETC01 M3 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Command code STATUS TRIG_R DATA_R Explanation of command Name Description Setting range Command code The response returns the command code of the command This is the trigger for handshake indicating the completion of the 0 Not processing TRIG_R command code When the command code is completed the J Exec tion completion TRIG_R will be turned from 0 to 1 P STATUS This indicates the result that executed the command code r ae operation DATA_R This is the data reading fro
67. FF Disabled termination resistor for RS 485 communication 120 Q ON Enabled Factory setting No 1 and No 2 Both OFF termination resistor disabled 12 4 Communication mode Modbus protocol communication is based on the single master multiple slave method Under this protocol messages are sent in one of two methods e Unicast mode The master sends a command to only one slave The slave executes the Master process and returns a response Slave e Broadcast mode Response If slave address 0 is specified on the master the master can send a Master Query command to all slaves Each slave executes the process but does not Slave return a response 12 5 Communication timing Tbi Tb3 Broadcast C3 5 Tb2 Master Slave Response No response Character Name Description Intervals between received messages are monitored If no message Tb1 Communication timeout could be received after the time set in the communication timeout parameter a communication timeout alarm generates The time after the slave switches its communication line to the transmission mode upon receiving a query from the master until it Tb2 Transmission waiting starts sending a response Sets using the transmission waiting time Tb2 10 ms time parameter The actual transmission waiting time corresponds to the silent interval C3 5 processing time transmission waiting time The tim
68. FREE i FREEON 17 AWO_R Output in response to the AWO i NO 18 STOP_R Output in response to the STOP 7 ea 32 RO Output the status of the general signal RO A Snia 33 R1 Output the status of the general signal R1 a ij at 34 R2 Output the status of the general signal R2 irate 35 R3 Output the status of the general signal R3 T la 36 R4 Output the status of the general signal R4 fo 37 R5 Output the status of the general signal R5 feet 38 R6 Output the status of the general signal R6 Eai 39 R7 Output the status of the general signal R7 alae 40 R8 Output the status of the general signal R8 r iai 41 R9 Output the status of the general signal R9 7 canis 42 R10 Output the status of the general signal R10 i a aot 43 R11 Output the status of the general signal R11 r iaia 44 R12 Output the status of the general signal R12 X O 45 R13 Output the status of the general signal R13 to et 46 R14 Output the status of the general signal R14 1 Eea 47 R15 Output the status of the general signal R15 Ea 48 MO_R 49 M1_R an Output in response to the MO to M5 A ESPET Oe 52 M4_R 53 M5_R 60 LS_R Output in response to the LS H MER 61 LS_R Output in response to the LS E heat 62 HOMES_R Output in response to the HOMES n OE a 63 SLIT_R Output in response to the SLIT Seo 65 ALM Output the alarm status normally closed R pl ei 66 WNG Output the warning status i ie Warning present 9 Explanation of I O signals The
69. HATROLINK II communication 1 Set the position 1200h and operating speed 1240h of operation data No 0 of the PKA Series 2 Execute positioning operation by turning the START of the address number 0 to ON Initial value bit7 bit bit5 bit bit3 bit2 bitt bit NET IN7 NET IN6 NET INS NET IN4 NET IN3 NET IN2 NET IN1 NET INO AWO Notused STOP HOME START M2 M1 MO NET IN15 NET IN14 NET IN13 NET IN12 NET IN11 NET IN10 NET IN9 NET IN8 RVS FWD JOG JOG SSTART MS2 MS1 MSO 100 13 Method of control via Network converter STEP 5 Were you able to operate the motor properly How did it go Were you able to operate the motor properly If the motor does not function check the following points Is any alarm present in the PKA Series or NETCO1 M2 Are the address number transmission rate and termination resistor set correctly Is the communication parameter of the NETCO1 M2 set correctly Is the ERR LED of the PKA Series or the C ERR LED of the NETCO1 M2 lit RS 485 communication error Is the ERR LED of the NETCO1 M2 lit MECHATROLINK II II communication error Is the PKA Series motor excited Or is the excitation setting correct Is the PKA Series parameter set correctly Is the STOP input of the PKA Series I O turned ON For more detailed settings and functions refer to the following pages 101 13 Method o
70. IM Output once every 7 2 rotation of the motor output shaft 7 Peon SPAT Oupa wen eters wine D Outside area AREA3 aa when the motor is within the area 3 ues S BSY Output when the motor is in internal processing state i Sees 107 13 Method of control via Network converter 13 5 Command code list This is common to NETCO1 CC NETCO1 M2 and NETCO1 M3 E Group function The PKA Series has a group function Multiple slaves are made into a group and a operation command is sent to all slaves in the group at once e Group composition A group consists of one parent slave and child slaves e Group address To perform a group send set a group address to the child slaves to be included in the group The child slaves to which the group address has been set can receive a command sent to the parent slave The operation command will be sent to the child slaves in the same group by sending it to the parent slave Parent slave No special setting is required on the parent slave to perform a group send The address of the parent slave becomes the group address Child slave Use a group 1018h to set a group address to each child slave Only remote I O input can execute the group function Read from commands and parameters or write to commands and parameters cannot be executed e Group setting The group setting is not saved in the NV memory even when the maintenance command batch NV memory write executes Command c
71. IN14 input function selection 1 FWD NET IN15 input function selection 2 RVS c NET OUTO output function selection 48 MO_R NET OUT1 output function selection 49 M1_R NET OUT2 output function selection 50 M2_R NET OUTS output function selection 4 START_R NET OUT4 output function selection 70 HOME P NET OUT5 output function selection 67 READY NET OUTE6 output function selection 66 WNG NET OUT7 output function selection Sets the function of 65 ALM 7 See table below NET OUTS output function selection NET OUTO to NET OUT15 80 S BSY NET OUT9 output function selection 73 AREA1 NET OUT10 output function selection 74 AREA2 NET OUT11 output function selection 75 AREA3 NET OUT12 output function selection 72 TIM NET OUT13 output function selection 68 MOVE NET OUT14 output function selection 0 Not used NET OUT15 output function selection 0 Not used Indicates the timing for the data to become effective C Effective after executing the configuration Setting range for NET IN input function selection 0 Not used 7 JOG 16 FREE 33 R1 40 R8 47 R15 1 FWD 8 MSO 17 AWO 34 R2 41 R9 48 MO 2 RVS 9 MS1 18 STOP 35 R3 42 R10 49 M1 3 HOME 10 MS2 24 ALM RST 36 R4 43 R11 50 M2 4 START 11 MS3 25 P PRESET 37 R5 44 R12 51 M3 5 SSTART 12 MS4 27 HMI 38 R6 45 R13 52 M4 6 JOG 13 MS5 32 RO 39 R7 46 R14 53 M5 The FREE input is a function that is used for an electromagnetic brake type motor
72. KA566KD M4 2 280 B 7 Installation 7 3 Installing a load When connecting a load to the motor align the centers of the load shaft and motor output shaft Also keep the overhung load and thrust load under the permissible values Installation method Description Using a coupling Align the centers of the motor output shaft and load shaft in a straight line 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 Align the motor output shaft and gear shaft in parallel with each other and let the gears mesh at the center of the tooth widths Using a belt drive Using a gear drive 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 7 4 Permissible overhung load and permissible thrust load The overhung load and the thrust load on the motor s output shaft must be kept under the permissible values listed on below The permissible thrust loads are the motor s mass The thrust load should not exceed the motor s mass Failure d
73. M5_R 70 HOME P 4 START_R 12 MS4_R 36 R4 45 R13 60 LS_R 72 TIM 5 SSTART_R 13 MS5_R 37 R5 46 R14 61 LS_R 73 AREA1 6 JOG_R 16 FREE_R 38 R6 47 R15 62 HOMES R_ 74 AREA2 7 JOG_R 17 AWO_R 39 R7 48 MO_R 63 SLIT_R 75 AREAS 18 STOP_R 40 R8 49 M1_R 65 ALM 80 S BSY Setting range for NET IN input function selection 0 Not used 7 JOG 16 FREE 33 R1 40 R8 47 R15 1 FWD 8 MSO 17 AWO 34 R2 41 R9 48 MO 2 RVS 9 MS1 18 STOP 35 R3 42 R10 49 M1 3 HOME 10 MS2 24 ALM RST 36 R4 43 R11 50 M2 4 START 11 MS3 25 P PRESET 37 R5 44 R12 51 M3 5 SSTART 12 MS4 27 HMI 38 R6 45 R13 52 M4 6 JOG 13 MS5 32 RO 39 R7 46 R14 53 M5 The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series Setting range for NET OUT output function selection Not used FWD_R RVS_R HOME_R START_R SSTART_R JOG_R JOG_R NOoR WMO 8 MSO_R 9 MS1_R 10 MS2_R 11 MS3_R 12 MS4_R 13 MS5_R 16 FREE_R 17 AWO_R 18 STOP_R 32 RO 33 R1 34 R2 35 R3 36 R4 37 R5 38 R6 39 R7 40 R8 41 42 43 44 45 46 47 48 49 R9 R10 R11 R12 R13 R14 R15 MO_R M1_R 50 M2_R 51 M3_R 52 M4_R 53 M5_R 60 LS_R 61 LS_R 62 HOMES _R 63 SLIT_R 65 ALM 66 WNG 67 READY 68 MOVE 70 HOME P 72 TIM 73
74. MS1_R 33 R1 42 R10 51 M3_R 67 READY 2 RVS_R 10 MS2_R 34 R2 43 R11 52 M4_R 68 MOVE 3 HOME_R 11 MS3_R 35 R3 44 R12 53 M5_R 70 HOME P 4 START_R 12 MS4_R 36 R4 45 R13 60 LS_R 72 TIM 5 SSTART_R 13 MS5_R 37 R5 46 R14 61 LS_R 73 AREA1 6 JOG_R 16 FREE_R 38 R6 47 R15 62 HOMES_R 74 AREA2 7 JOG_R 17 AWO_R 39 R7 48 MO_R 63 SLIT_R 75 AREAS 18 STOP_R 40 R8 49 M1_R 65 ALM 80 S BSY e O function RS 485 Command code Name Setting range Initial value Effective Read Write 08B0h 18B0h NET INO input function selection 48 08B1h 18B1h_ NET IN1 input function selection 49 08B2h 18B2h NET IN2 input function selection 50 08B3h 18B3h NET IN3 input function selection 4 08B4h 18B4h NET IN4 input function selection 3 08B5h 18B5h NET IN5 input function selection 18 08B6h 18B6h NET IN6 input function selection 0 08B7h 18B7h NET IN7 input function selection Sge Able below 17 08B8h 18B8h NET IN8 input function selection 8 08B9h 18B9h NET IN9 input function selection 9 08BAh 18BAh NET IN10 input function selection 10 08BBh 18BBh NET IN11 input function selection 5 08BCh 18BCh NET IN12 input function selection 6 08BDh 18BDh_ NET IN13 input function selection 7 O8BEh 18BEh NET IN14 input function selection 1 O8BFh 18BFh_ NET IN15 input function selection 2 c 08COh 18COh_ NET OUTO output function selection 48 08C1h 18C1h_ NET OUT1 output function selection 49 08C2h 18C2h NET OUT2 output functio
75. N9 to See table on p 89 6 NET IN12 input function NET IN15 4473 1179h selection lower 4474 417Ah NET IN13 input function selection upper 7 4475 117Bh NET IN13 input function selection lower 4476 117Ch NET IN14 input function selection upper 4477 117Dh NET IN14 input function selection lower 4478 417Eh NET IN15 input function selection upper 4 4479 417Fh NET IN15 input function selection lower NET OUTO output function aia ew selection upper 48 c 4481 1181h NET OUTO output function selection lower 4482 1182h NET OUT1 output function selection upper 49 NET OUT1 output function ee esh selection lower 4484 1184h NET OUT2 output function selection upper 50 NET OUT2 output function nae 1185h selection lower NET OUT3 output function 4406 11861 selection upper 4 NET OUT3 output function 4487 1187h selection lower Sets the function of NET OUTO r See table on p 89 NET OUT4 output function to NET OUT7 4488 1188h a selection upper 70 NET OUT4 output function nae 1189h selection lower 4490 118Ah NET OUT5 output function selection upper 67 4491 418Bh NET OUTS output function selection lower NET OUT6 output function mee ech selection upper 66 NET OUT6 output function 39 eh selection lower 4494 448Eh NET OUT7 output function selection upper 65 4495 418Fh NET OUT7 output function selection lower Indicates the timing for the data to become effecti
76. OFF 6 ms or less MOVE PP output OFF 6 ms or less y ON READY output OFF Motor operation E Continuous operation FWD RVS input ON OFF M5 input p fn ED MO to M5 input OFF ON MOVE output OFF 6 ms or less 6 ms or less ON READY output OFF Motor operation 6 ms or less 6 ms or less E JOG operation JOG input ON JOG input OFF ON MOVE output OFF 4 ms or more 6 ms or less 6 ms or less ON READY output OFF Motor operation 10 Operation 49 10 Operation E Return to home operation 4 ms or more i ON HOME input OFF ON HOMES input OFF 6 ms or less s m a MOVE output OFF E 6 ms or less ON READY output OFF 6 ms or less ON i HOME P output OFF Motor operation kd 50 10 Operation 10 3 Operation data and parameters The parameters required for motor operation are available in the following two types e Operation data e User parameters The parameters are saved in the RAM or NV memory The data saved in the RAM will be erased once the power is turned off On the other hand the parameters saved in the NV memory will be retained even after the power supply is turned off When turning the motor power ON the parameters saved in the NV memory will be sent to the RAM Then the recalculation and setup for the parameters are executed in the RAM W
77. Orientalmotor IA HM 60063 2 All in One 5 Phase Stepping Motor PKA Series USER MANUAL CE Rs 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 ook WD 10 11 Safety precautions ccccccccceceeees 3 Overview of the PKA Series 5 System configuration cccccee 6 Introduction stscctccststs tocctecstecuteenteentecctcte 7 Precautions fOr USC ccceeeeeeeeeees 8 Preparation eecerea meaner errr anaeenar rarer crer 9 6 1 Checking the product c cece 9 6 2 Product tyPe oro denoi oh 9 6 3 Names and functions of parts 0 9 Installation cssssesssssteeeeeeeeeeees 10 7 1 Location for installation ccc 10 7 2 Installation method cceeeeeeeees 10 7 3 Installing a load eeeeeeeeeeeteeeeneeeeeees 11 7 4 Permissible overhung load and permissible thrust load ccceee 11 7 5 Installing and wiring in compliance with EMC Directive cccceessseeeeesteeeeeeaes 11 COMME CH OM ia ieccitencaechendecsincsoncatendients 13 8 1 Connection of power supply and I O signals grounding motor 13 8 2 Connecting the data setter 15 8 3 Connecting the RS 485 communication Cablesh nt
78. RS 485 communication Indicates the timing for the data to become effective A Effective immediately D Effective after turning the power ON again 60 11 Method of control via I O 11 Method of control via I O The following explains how to set operation data and parameters using an accessory OPX 2A or MEXEO2 sold separately or via RS 485 communication and also explains how to control the operation with I O See each operating manual for the detailed setting method of the OPX 2A or MEXE02 11 1 Guidance If you are new to the PKA Series read this section to understand the operating methods along with the operation flow Note Before operating the motor check the condition of the surrounding area to ensure safety l STEP 1 Check the installation and connection DC power supply 24 VDC 10 Check gt Power supply connection 7 OPX 2A or MEXEO2 connection IN 3 input connection 61 11 Method of control via I O STEP 2 Turn on the power and set operation data and parameters Set the following parameter e IN3 input function selection 4 START Set the operation data corresponding to one motor revolution e Position 500 step DC power supply 24 VDC 10 l STEP3 Cycle the power The
79. S BSY NET OUT9 output function selection 73 AREA1 NET OUT10 output function selection 74 AREA2 NET OUT11 output function selection 75 AREAS NET OUT12 output function selection 72 TIM NET OUT13 output function selection 68 MOVE NET OUT14 output function selection 0 Not used NET OUT15 output function selection 0 Not used 0 Not used 9 MS1_R 33 R1 42 R10 51 M3_R 67 READY 1 FWD_R 10 MS2_R 34 R2 43 R11 52 M4_R 68 MOVE 2 RVS_R 11 MS3_R 35 R3 44 R12 53 M5_R 70 HOME P 3 HOME_R 12 MS4_R 36 R4 45 R13 60 LS_R 72 TIM 4 START_R 13 MS5_R 37 R5 46 R14 61 LS_R 73 AREA1 5 SSTART_R 16 FREE_R 38 R6 47 R15 62 HOMES _R_ 74 AREA2 6 JOG_R 17 AWO_R 39 R7 48 MO_R 63 SLIT_R 75 AREA3 7 JOG_R 18 STOP_R 40 R8 49 M1_R 65 ALM 80 S BSY 8 MSO_R 32 RO 41 R9 50 M2_R 66 WNG 23 9 Explanation of I O signals 9 3 Input signals The following input signals 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 E Internal circuit 6 6 KQ ed 1KQ f VA 6 6 KQ aa 1kQ f VA 6 6 kQ J ne ea va IN3 o 6 6 kQ J IN COM 1o i y E MO to M5 input Select a desired operation data number for positioning operation or continuous operati
80. SW1 No 1 ASV 1 kQ M5 15 9 Explanation of I O signals 9 Explanation of I O signals In this manual I O signals are described as follows e Direct I O I O signals accessed via I O signal connector CN1 e Network I O I O signals accessed via RS 485 communication Set the following parameters using the OPX 2A MEXE02 or RS 485 communication 9 1 Assignment of direct I O E Assignment to the input terminals The input signals shown below can be assigned to the input terminals INO to IN3 of CN1 by setting parameters For details on input signals refer to p 24 Signal name of direct I O Initial value INO 60 LS IN1 61 LS IN2 62 HOMES IN3 18 STOP Assignment No Signal name Function 0 Not used Set when the input terminal is not used 1 FWD Continuous operation in the positive direction 2 RVS Continuous operation in the negative direction 3 HOME Return to home operation 4 START Positioning operation 5 SSTART Sequential operation 6 JOG JOG operation in the positive direction 7 JOG JOG operation in the negative direction 8 MSO 9 MS1 ue Mee Direct positioning operation 11 MS3 12 MS4 13 MS5 16 FREE Motor excitation switching between excitation and 17 AWO non excitation 18 STOP Stop of the motor operation 24 ALM RST Reset of the current alarm 25 P
81. TO ALM WNG READY HOME P START_R M2_R M1_R MO_R 76 E Maintenance command These commands are used to reset alarms and warnings They are also used to execute the batch processing for the NV memory All commands can be read and written READ WRITE Executes when writing from 0 to 1 12 Method of control via Modbus protocol Register add Pp egister address N e Description Setting Dec Hex range 384 0180h Reset alarm upper Resets the alarms that are present Some alarms cannot 385 0181h Reset alarm lower be reset with the reset alarm 184h 388 018 Clear alarm records upper Cesantes 389 0185h Clear alarm records lower 390 0186h CI i ga ea records WURDEN Clears warning records 391 0187h Clear warning records lower 392 0188h Coe eo error PP Clears the communication error records Clear communication error 393 0189h records lower 394 018Ah P PRESET execute upper pi Presets the command position 0 1 395 018Bh P PRESET execute lower a 396 018Ch_ Confi ti f aie oul upper Executes the parameter recalculation and the setup 397 018Dh Configuration lower 398 018Eh All data initialization upper Resets the parameters saved in the NV memory to the 399 018Fh_ All data initialization lower initial settings 400 0190h Batch NV memory read upper Reads the parameters saved in the NV memory
82. _R M2_R M1_R MO_R 98 13 Method of control via Network converter 13 3 When using the motor with MECHATROLINK communication See the following explanation when using the PKA Series in combination with the network converter NETCO1 M2 or NETCO1 M3 via MECHATROLINK communication E Guidance If you are new to the PKA Series read this section to understand the operating methods along with the operation flow Note e Before operating the motor check the condition of the surrounding area to ensure safety e See the network converter NETCO1 M2 NETCO1 M3 OPERATING MANUAL for how to set the parameter STEP 1 Set the transmission rate station address and address number e Using the switches Setting condition of PKA Series Setting condition of NETCO1 M2 e Address number of the PKA Series 0 e MECHATROLINK I station address 61 e RS 485 transmission rate 625 kbps e RS 485 transmission rate 625 kbps e Connection device of RS 485 communication e Remote I O occupied size 16 bit mode Network converter e Number of transmission bytes 32 bytes MECHATROLINK I Address number Transmission rate of Station address SW2 0 RS 485 communication x10 6 x1 1 61 SW1 7 625 kbps Transmission rate of ASN SW3 7 625 kbps ase NETCO1 M2 p LI VSS RS 485 communication E SNe 345 Vey We O PKA Series Number of transmission bytes 32 bytes m Address number A
83. act tint entieatie wid 15 Explanation of I O signals 16 9 1 Assignment of direct I O eee 16 9 2 Assignment of network I O 008 20 9 3 Input Signals ceesceeeeeeeesteeeeeeeeeeees 24 9 4 Output Signals cceceeeeeeeeeeeeetees 28 9 5 General signals RO to R15 008 31 Operation aicines tals tacitacsinditeccistiiscsandiies 10 1 Operation types s es E Positioning operation m Continuous operation E JOG operation oie eeeeeeseeseneeeeteeeseeeees E Return to home operation ccceeeeeereeteeee 39 M Test Operation cececeececeeeeceseceeeeeeeneeeeeeneees 41 M Stop Operation eee eseeseeeeseeeetetseeseeeees 42 E Position coordinate management 0 43 10 2 Timing Charts 0 ccseeeeeeeeseeeeeseeeeee 45 10 3 Operation data and parameters 51 E Setting the operation data eee 51 E Parameter list 1 3 4 4 2 sesicacitaee ea E I O parameter E Motor parameter m Operation parameter E Return to home parameter ceeeeeeeeeeeee 56 E Alarm warning parameter cceeeeeereeteeee 56 E Coordination parameter 56 E Common parameter cee cece cece m I O function parameter m I O function parameter RS 485 eee 59 E Communication parameter eee 60 Method of control via I O 61 TET Guidance iii sec aide neti 61 12 Method of control via Modbus protoc
84. after stopping The surface is hot and may cause a skin burn s Transportation e Do not carry the motor by holding the motor output shaft or leadwire connector assembly Doing so may cause injury Installation e Install the motor in the enclosure in order to prevent injury e Keep the area around the motor free of combustible materials in order to prevent fire or a skin burn s e Provide a cover over the rotating parts output shaft of the motor Failure to do so may result in injury Connection e The connectors CN1 CN2 CN3 and CN4 of the motor 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 motor and these equipment to short damaging both e When connecting check the indication of the motor and be sure to observe the polarity of the power supply Reverse polarity connection may cause damage to the motor The power supply circuit and the RS 485 communication circuit are not electrically insulated Therefore when controlling multiple motors via RS 485 communication the reverse polarity of the power supply will cause a short circuit and may result in damage to the motors Operation e Provide an emergency stop device or emergency stop circuit external to the equipment so that the entire equipment will operate safely in the event of a system failure or malfunction Failure to do so may result in
85. alarm will be reset at the ON edge of the ALM RST input Always reset an alarm after removing the cause of the alarm and after ensuring safety Note that some alarms cannot be reset with the ALM RST input See p 117 for alarm descriptions E HMI input When the HMI input is turned ON the function limitation of the OPX 2A or MEXEO2 will be released When the HMI input is turned OFF the function limitation will be imposed e T O test Test operation Teaching Download the parameters Initialize the parameters If the HMI input is not assigned to the input terminal the HMI input will always become ON function limitation release When assigning to both direct I O and network I O the function will be executed when both of them are set to ON LS input LS input These signals are input from the applicable limit sensors The LS input is for the side sensor and the LS input is for the side sensor Return to home operation Operates according to the return to home sequence when detecting LS input or LS input Any other operation Detect the hardware overtravel and stop the motor See p 42 for hardware overtravel Related parameters Parameter name Description Setting range Initial value Haraware ovenravel Sets whether to enable or disable hardware 0 Disable 1 overtravel detection using LS inputs 1 Enable Overtravel action Sets the motor stop action to take place upon 0 Immediate stop 0 the occurrence of ov
86. als and output signals Input signal Output signal Input signal Output signal FWD FWD_R FREE FREE_R RVS RVS_R AWO AWO_R HOME HOME_R STOP STOP_R START START_R Mo MO_R SSTART SSTART_R M1 M1_R JOG JOG_R M2 M2_R JOG JOG_R M3 M3_R MSO MSO_R M4 M4_R MS1 MS1_R M5 M5_R MS2 MS2_R LS LS_R MS3 MS3_R LS LS_R MS4 MS4_R HOMES HOMES_R MS5 MS5_R SLIT SLIT_R The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series The response output is the output signal to return the status of the input signal Therefore the output signals corresponding to the input signals for motor operation START_R output etc do not show the movement of the motor itself 9 5 General signals RO to R15 RO to R15 are general signals that enable control via RS 485 communication Using RO to R15 I O signals for the external device can be controlled by the master device via the motor Direct I O of the driver can be used as an I O unit See following example for setting of the general signals e When outputting the signals from the master device to the external device Assign the general signal RO to the OUTO output and NET INO When setting the NET INO to 1 the OUTO output turns ON When setting the NET INO to 0 the OUTO output turns OFF e When inputting the output of the external device to the m
87. and via RS 485 communication e Clear the warning records by the maintenance command via RS 485 communication e Get and reset the warning records using the OPX 2A or MEXEO2 Note You can also clear the warning records by turning off the motor power 14 3 Communication errors Up to 10 communication errors are saved in the RAM in order of the latest to the oldest and you can check via RS 485 communication E Communication error list 14 Alarms and warnings Code Communication error type Cause Remedial action RS 485 communication One of the following errors was detected e Check the connection between the host system and motor 84h Framing error error BCC error e Check the setting of RS 485 communication The command requested by the master e Check the setting value for the 88h Command not yet defined could not be executed because of being command undefined e Check the flame configuration Exesutier disable due to The command requested by the master orn usar tE comm nicationiin could not be executed since the OPX 2A Wait until the processing for the OPX 2A or or MEXE02 was communicating with the MEXEO2 will be completed progress driver ia EAA could not be A nv l Wait until the internal processing will Execution disable due to o Dae eee mo complete 8Ah NV memory processing in Internal processing was in progress e When the EEPROM error was progress S BSY is ON generated
88. aster device Assign the general signal R1 to the IN3 input and NET OUT1S When turning the IN3 input ON by the external device the NET OUT15 becomes 1 When turning the IN3 input OFF the NET OUT15 becomes 0 The logic level of the IN3 input can be set using IN3 logic level setting parameter Direct I O RS 485 communication 1 0 RS 485 communication ae RO OUTO RO NET INO Programmable controller Sensor Touch panel 1 0 RS 485 communication etc etc C He R1 NET OUT15 31 10 Operation 10 Operation This chapter explains the types of operation and timing charts 10 1 Operation types 32 Positioning operation Positioning operation is an operation in which motor operating speed position distance and other items are set as operation data and then executed When the positioning operation is executed the motor begins at the starting speed and accelerates until the operating speed is reached Then once the operating speed is reached that speed is maintained The motor decelerates when the stopping position approaches and finally comes to a stop Speed Travel amount gray part Operating speed Acceleration Deceleration rate rate Starting speed Time The acceleration deceleration in the positioning operation can be set as follows using the acceleration deceleration type parameter Separate The acceleration deceleration set under the applicable operation data No
89. atically E Warning list Code Warning type Cause Remedial action Main circuit The internal inert ie coritrol circuit Review the ventilation condition in the 21h has exceeded the set value of the overheat overheat ons enclosure warning parameter e The voltage of the power supply exceeded the eA in er e Check the input voltage of the power supply 22h Overvoltage overvoltage warning e If this alarm generates during operation e A large inertial load was stopped abruptly or seiner Sie or inereass the vertical operation was performed acceleration deceleration rate e The power supply voltage dropped from the value set in the parameter for undervoltage 25h Undervoltage warning Check the input voltage of the power supply e The main power was cut off momentarily or the voltage became low Electronic gear The resolution set in the electronic gear Set the electronic gear correctly and then An setting error parameter is outside the specified range cycle the power RS 485 e Check the connection between the host 84h A RS 485 communication error was detected system and motor communication error e Check the setting of RS 485 communication 120 E Warning records Up to 10 generated warnings are saved in the RAM in order of the latest to oldest Warning records saved in the RAM can be read or cleared when performing any of the following e Get the warning records by the monitor comm
90. cally Alarm An alarm generates when a RS 485 communication error 84h has been detected consecutively by the number of times set in the communication error alarm parameter e RS 485 communication timeout 85h If communication is not established with the master after an elapse of the time set by the communication timeout parameter a RS 485 communication timeout alarm will generate 91 12 Method of control via Modbus protocol 12 12 Timing charts 92 E Communication start E Operation start E Operation stop speed change E General signals E Configuration Communication Internal processing Master P ly i a ower supply input OFF 1 s or more ___ __ Master Quer Communication y Slave Response Tb2 transmission waiting time C3 5 silent interval command processing time 2 Master Query Slave Response Communication 3 MOVE phe output OFF 1 A message including a query to start operation via RS 485 communication 2 Tb2 transmission waiting time C3 5 silent interval command processing time 3 C3 5 silent interval 4 ms or less 2 _ Master uery Communication Query Slave Response 3 4 Motor speed command 1 A message including a query to stop operation and another to change the speed via RS 485 communication 2 Tb2 transmission waiting time C3 5 silent interval com
91. e to avoid fire e For the motor power supply use a DC power supply with reinforced insulation on its primary and secondary sides Failure to do so may cause electric shock e Connect the cables securely according to the wiring diagram in order to prevent fire e Do not forcibly bend pull or pinch the cable or lead wire Doing so may cause fire Applying stress to the connection area of the connectors may cause damage to the product Operation e Turn off the power in the event of a power failure Or the motor may suddenly start when the power is restored and may cause injury or damage to equipment e Do not turn the motor excitation OFF while operating The motor will stop its operation and lose the holding torque This may cause injury or damage to equipment e Configure an interlock circuit in sequence program so that the system including the motor operates on the safe side when a RS 485 communication error generates Repair disassembly and modification e Do not disassemble or modify the motor Refer all such internal inspections and repairs to the branch or sales office from which you purchased the product 1 Safety precautions Caution General e Do not use the motor beyond its specifications Doing so may result in injury or damage to equipment e Keep your fingers and objects out of the openings in the motor Failure to do so may result in fire or injury e Do not touch the motor during operation or immediately
92. e until the next query is sent in broadcasting A time Tb3 Broadcasting interval equivalent to or longer than the silent interval C3 5 plus 5 ms is required Be sure to provide a waiting time of 3 5 characters or more If this 03 5 Silent interval waiting time is less than 3 5 characters long the driver cannot transmission rate is 19200 bps or more respond The silent interval should be 1 75 ms or more when the 69 12 Method of control via Modbus protocol 12 6 Message The message format is shown below Master Query Slave Slave address lt _ lt Slave address Function code Response Function code Data Data Error check Error check E Query The query message structure is shown below Slave address Function code Data Error check 8 bits 8 bits Nx8 bits 16 bits e Slave address Specify the slave address unicast mode If the slave address is set to 0 the master can send a query to all slaves broadcast mode e Function code The function codes and message lengths supported by the PKA Series are as follows Function code Description Broadcast 03h Read from a holding register s Impossible 06h Write to a holding register Possible 08h Perform diagnosis Impossible 10h Write to multiple holding registers Possible e Data Set data associated with the selected function code The specific data length varies depending on the f
93. ecause an error occurred at the slave e User I F communication in progress 89h Downloading initializing or teaching function is in progress using the OPX 2A Downloading or initialization is in progress using the MEXE02 e NV memory processing in progress 8Ah Internal processing was in progress S BSY is ON An EEPROM error alarm was present e Outside the parameter setting range 8Ch The value write is outside the setting range e Command execute disable 8Dh 12 7 Function code E Reading from a holding register s 03h This function code is used to read a register 16 bits Up to 16 successive registers 16x16 bits can be read Read the upper and lower data at the same time If they are not read at the same time the value may be invalid If multiple holding registers are read they are read in order of register addresses Example of read Read operation data for positions Nos 1 and 2 of slave address 1 72 Description Register address Value read Corresponding decimal Operation data position No 1 upper 0402h 0000h 10000 Operation data position No 1 lower 0403h 2710h Operation data position No 2 upper 0404h FFFFh 10000 Operation data position No 2 lower 0405h D8FOh e Query Field name Data Description Slave address Oth Slave address 1 Function code 03h Reading from a holding register s Begister address upper oah Register address to start
94. ection device of RS 485 communication Factory setting OFF No 5 No 6 Not used Keep this switch in the OFF position Addressnumber setin Use this switch when controlling the system via RS 485 communication P68 switch SW2 9 Use this switch and SW1 No 3 of the function setting switch to set the address P93 number of RS 485 communication Factory setting 0 i Transmission rate setting Use this switch when controlling the system via RS 485 communication P 68 switch SW3 Set the transmission rate of RS 485 communication Factory setting 7 P 93 Power supply and I O signal 3 connector CN1 Connect the main power supply 24 VDC and I O signals P 13 RS 485 communication a tes connectors CN2 CN3 Connect the RS 485 communication cable P 15 Data edit connector CN4 Connect a PC in which the MEXEO2 has been installed or the OPX 2A P 15 Mounting holes 4 locations Secure the motor with screws using these mounting holes P 10 7 Installation 7 7 1 7 2 1 0 Installation This chapter explains the installation location and installation methods of the motor along with load installation The installation and wiring methods in compliance with the EMC Directive are also explained Location for installation The motor has been designed and manufactured to be installed within another device Install it in a well ventilated location that provides easy access for inspection The location must also satisfy the following c
95. ective A Effective immediately E 1 O function parameter Name Description Setting range Initial value Effective INO input function selection 60 LS IN1 input function selection Sets the function of input terminals a0 table below 61 LS IN2 input function selection INO to IN3 62 HOMES IN3 input function selection 18 STOP INO input logic level setting c IN1 i logic level setti mul aoe ae seng Sets the INO to IN3 input logic 0 Normally open 0 IN2 input logic level setting 1 Normally closed IN3 input logic level setting OUTO output function selection Sets the function of output See table below 65 ALM OUT1 output function selection terminals OUTO and OUT1 67 READY Indicates the timing for the data to become effective C Effective after executing the configuration Setting range for IN input function selection 0 Not used 8 MSO 18 STOP 36 R4 44 R12 52 M4 1 FWD 9 MS1 24 ALM RST 37 R5 45 R13 53 M5 2 RVS 10 MS2 25 P PRESET 38 R6 46 R14 60 LS 3 HOME 11 MS3 27 HMI 39 R7 47 R15 61 LS 4 START 12 MS4 32 RO 40 R8 48 MO 62 HOMES 5 SSTART 13 MS5 33 R1 41 R9 49 M1 63 SLIT 6 JOG 16 FREE 34 R2 42 R10 50 M2 7 JOG 17 AWO 35 R3 43 R11 51 M3 58 The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series Setting range for OUT output function selection
96. eep it as short as possible When extending the lead wire use a shielded cable of AWG22 0 3 mm or more e To ground a power supply cable use a metal clamp or similar device that will maintain contact with the entire circumference of the cable Attach a cable clamp to the end of the cable and connect it as shown in the figure Shielded cable Cable clamp E Notes about installation and wiring e Connect the motor and other peripheral control equipment directly to the grounding point so as to prevent a potential difference from developing between grounds e When relays or electromagnetic switches are used together with the system use noise filters and CR circuits to suppress surges generated by them e Keep cables as short as possible without coiling and bundling extra lengths e Place the input cable and output cable of a noise filter separately from each other E Example of installation and wiring Leadwire connector assembly Programmable controller Noise DC power Filter supply Power supply cable FG Signal cable Shielded cable Shielded cable Grounded panel E Precautions about static electricity Static electricity may cause the motor to malfunction or suffer damage While the motor is receiving power handle the motor with care and do not come near or touch the motor Always use an insulated screwdriver to adjust the motor s switches AC ACCS The motor uses par
97. election 48 MO NET IN1 input function selection 49 M1 NET IN2 input function selection 50 M2 NET IN3 input function selection 4 START NET IN4 input function selection 3 HOME NET IN5 input function selection 18 STOP NET IN6 input function selection 0 Not used NET IN7 input function selection Assigns the following input signals to 17 AWO NET IN8 input function selection NET INO to NET IN15 See table below 8 MSO NET IN9Q input function selection 9 MS1 NET IN10 input function selection 10 MS2 NET IN11 input function selection 5 SSTART NET IN12 input function selection 6 JOG NET IN13 input function selection 7 JOG NET IN14 input function selection 1 FWD NET IN15 input function selection 2 RVS 0 Not used 7 JOG 16 FREE 33 R1 40 R8 47 R15 1 FWD 8 MSO 17 AWO 34 R2 41 R9 48 MO 2 RVS 9 MS1 18 STOP 35 R3 42 R10 49 M1 3 HOME 10 MS2 24 ALM RST 36 R4 43 R11 50 M2 4 START 11 MS3 25 P PRESET 37 R5 44 R12 51 M3 5 SSTART 12 MS4 27 HMI 38 R6 45 R13 52 M4 6 JOG 13 MS5 32 RO 39 R7 46 R14 53 M5 The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series e Do not assign the same input signal to multiple input terminals When the same input signal is assigned to multiple input terminals the function will be executed if any of the terminals becomes active e If the HMI in
98. ensor mod 1 Operating speed for Sets the operating speed for return to home home seeking operation 110 1 000 000 Hz 1009 Acceleration deceler Sets the acceleration deceleration rate or 1 to 1 000 000 ation rate for acceleration deceleration time for 1 0 001 ms kHz or 30000 home seeking return to home operation 1 0 001 s Starting speed for Sets the starting speed for return to home home seeking operation Tito DONO OOP Hz 109 Position offset for Sets the amount of offset from mechanical 8 388 608 to 0 home seeking home 8 388 607 step Starting direction Tor Sets the starting direction for home detection 0 Negative direction 1 home seeking 1 Positive direction SLIT detection with Sets whether or not to concurrently use the 0 Disable 0 home seeking SLIT input for return to home operation 1 Enable TIM signal detection Sets whether or not to concurrently use the 0 Disable 0 with home seeking TIM signal for return to home operation 1 Enable Backward steps in Set the travel amount after pulling out of the 2sensor mode limit sensor in 2 sensor mode return to home 1 to 32767 step 200 home seeking operation E FWD input RVS input These signals start the continuous operation Operation is performed based on the FWD or RVS input and the operating speed corresponding to the selected operation data No Turn the FWD signal to ON to perform continuous operation in the positive direction Turn the RVS signal to ON to perfor
99. ensor mode Operating speed of 0161h 1161h home seeking 1 to 1 000 000 Hz 1000 Acceleration deceleration 1 to 1 000 000 mies pieen of home seeking 1 0 001 ms kHz or 1 0 001 s 30000 0163h 1163h Starting speed of 1 to 1 000 000 Hz 100 home seeking o164h 1164h Position offset of 8 388 608 to 8 388 607 step 0 home seeking B 0165h 1165h Starting direction of 0 Negative direction 1 home seeking 1 Positive direction SLIT detection with 0166h 1166h home seeking 0 Disable i i j 1 Enabl 0167h 1167h TIM signal detection with nable home seeking Backward steps in 0830h 1830h 2sensor mode 1 to 32767 step 200 home seeking Indicates the timing for the data to become effective B Effective after stopping the operation 2 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate e Alarm warning Command code Initial oe Name Setting range Effective Read Write eis value 0184h 1184h Return to home incomplete 0 Disable 0 c alarm 1 Enable 01A0h 11A0h Overheat warning 40 to 80 C 104 to 176 F 80 01A3h 11A3h O It i 420 A ea 150 to 420 1 0 1 V 01A4h 11A4h Undervoltage warning 180 Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration 113 13 Method of control via Network converter 114
100. eries or the C ERR LED of the NETCO1 CC lit RS 485 communication error Is the L ERR LED of the NETCO1 CC lit CC Link communication error Is the PKA Series motor excited Or is the excitation setting correct Are the PKA Series parameters set correctly Is the STOP input of the PKA Series I O turned ON For more detailed settings and functions refer to the following pages 96 E Remoter esistor list 13 Method of control via Network converter Remote register is common to 6 axes connection mode and 12 axes connection mode Monitor read and write of parameters and maintenance command for the PKA Series or NETCO1 CC are executed using remote register RWw Master to NETC01 CC RWr NETCO1 CC to master Address No Description Address No Description RWwn0 Command code of monitor 0 RWrnO Data of monitor 0 lower 16 bit RWwn1 Address number of monitor 0 RWrn1 Data of monitor 0 upper 16 bit RWwn2 Command code of monitor 1 RWrn2 Data of monitor 1 lower 16 bit RWwn3 Address number of monitor 1 RWrn3 Data of monitor 1 upper 16 bit RWwn4 Command code of monitor 2 RWrn4 Data of monitor 2 lower 16 bit RWwn5 Address number of monitor 2 RWrn5 Data of monitor 2 upper 16 bit RWwn6 Command code of monitor 3 RWrn6 Data of monitor 3 lower 16 bit RWwn7 Address number of monitor 3 RWrn7 Data of monitor 3 upper 16 bit RWwn8 Command code of monitor 4 RWrn8 Data of mon
101. ers using the OPX 2A MEXEQ2 or via RS 485 communication Parameter name Setting range Initial value Description Communication timeout 0 Not monitored 0 to 10000 ms Sets the condition in which a communication timeout occurs in RS 485 communication Communication error alarm 1 to 10 times Sets the condition in which a RS 485 communication error alarm generates A communication error alarm generates after a RS 485 communication error has occurred by the number of times set here 75 12 Method of control via Modbus protocol 12 9 Register address list All data used by the motor is 32 bit wide Since the register for the Modbus protocol is 16 bit wide one data is described by two registers Since the address assignment is big endian the even number addresses become the upper and the odd number addresses become the lower E Operation command Commands related to motor operation Operation commands are not saved in the NV memory Register address WRITE READ Name Description Dec Hex 48 0030h R W Group upper Sets the address number for the 49 0031h Group lower group send 124 007Ch Rw Driver input command upper Sets the input command to the 125 007Dh Driver input command lower driver 12 7Eh Dri 9u R IVS output command upper Sets the output status of the driver 127 007Fh Driver output command lower e Group 0030h 0031h
102. ertravel 1 Deceleration stop 27 9 Explanation of I O signals E HOMES input This is an input signal from the HOME sensor The mechanical home position is detected when using 3 sensor mode return to home operation See p 39 for return to home operation E SLIT input Connect when detecting the home position using a slit disk etc When detecting the home use of the SLIT input in addition to the HOMES will increase the accuracy of home detection See p 39 for return to home operation 9 4 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 E Internal output circuit OUTO 7 OUTO a OUT1 ol OUTI hk E ALM output When an alarm generates the ALM output will turn OFF At the same time the ALM LED of the driver will blink and the motor current will be cut off and stop The ALM output is normally closed See p 117 for alarm descriptions Related parameters Parameter name Description Setting range Initial value Sets the alarm signal status When the positioning Return to home operation is started while the position origin has 0 Disable 0 incomplete alarm not been set selects whether the alarm generates 1 Enable or
103. f LS and HOMES are e MEXEO2 close to one another the e Cycle the return to home sequence power may not end properly Return to home operation depending on the starting 62h 7 Home seeking error P direction of return to home did not complete normally operation Review the sensor installation positions and the starting direction of return to home operation Return to home operation may have been performed in a condition where both LS and LS were detected Check the sensor logic 118 14 Alarms and warnings No of ALM Reset Motor Code LED Alarm type Cause Remedial action operation excitation blinks The HOMES is not detected at a position between LS 63h No HOMES and LS during installa HOMES between ned Gd LS and LS return to home operation in 3 sensor mode e Adjust the connection condition of the motor output shaft and load as well as the HOMES position so that at least one of the SLIT input or TIM None of the SLIT input or output will turn ON while 64h TIM SLIT signal TIM output could be HOMES is ON error detected during e If the SLIT input or TIM return to home operation output are not used with HOMES set the TIM signal detection with home seeking parameter and SLIT detection with ALM RST home seeking parameter npu to disable e RS 485 A LS or LS signal was Pull out from the limit sensor sion O
104. f control via Network converter 102 E 1 O field map for the NETCO1 M2 Update of remote I O data asynchronous is executed by the DATA_RWA Command 50h When the remote I O occupied size is 16 bit mode and the number of transmission bytes is 32 bytes initial setting I O field map will be as follows See the network converter NETCO1 M2 OPERATING MANUAL for other I O field map Byte Part Type Command Response 1 E DATA_RWA 50h DATA_RWA 50h Z Header field ALARM PTION 2 OPTIO STATUS 4 5 i A Reserved Connection status 7 Address number 0 remote I O Address number 0 remote I O 8 input output 9 Address number 1 remote I O Address number 1 remote I O 10 input output 11 Address number 2 remote I O Address number 2 remote I O 12 input output 13 Address number 3 remote I O Address number 3 remote I O 14 input output Remote I O 15 Address number 4 remote I O Address number 4 remote I O 16 input output 17 Address number 5 remote I O Address number 5 remote I O 18 Data field input output 19 Address number 6 remote I O Address number 6 remote I O 20 input output 21 Address number 7 remote I O Address number 7 remote I O 22 input output Register address number Register address number response 25 Command code response 26 i Command
105. f the PKA Series 2 Overview of the PKA Series The PKA Series is a 5 phase stepping motor integrated with a control circuit The motor is compatible with I O control and RS 485 communication The operation data and parameters can be set using an accessory data setter OPX 2A or data setting software MEXE02 both are sold separately or via RS 485 communication E Main features e Three operating patterns You can perform positioning operation return to home operation and continuous operation Up to 64 operation data points can be set and multi point positioning is also possible Low vibration and low noise The microstep drive control circuit implemented the smooth drive function achieves low vibration and low noise Supports RS 485 communication Modbus RTU You can set operation data and parameters or issue operation start stop commands from the master station Up to 31 motors can be connected to one master The RS 485 communication protocol is the Modbus protocol Alarm and warning functions The motor provides alarms that are designed to protect the motor 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 Accessory When controlling the motor using the I O signals an accessory OPX 2A or MEXEO2 is required Set the data or parameters to operate the motor using the OPX 2A or MEXEO2 Be sure to p
106. for NET OUT output function selection 0 Not used 8 MSO_R 32 RO 41 R9 50 M2_R 66 WNG 1 FWD_R 9 MS1_R 33 R1 42 R10 51 M3_R 67 READY 2 RVS_R 10 MS2_R 34 R2 43 R11 52 M4_R 68 MOVE 3 HOME_R 11 MS3_R 35 R3 44 R12 53 M5_R 70 HOME P 4 START_R 12 MS4_R 36 R4 45 R13 60 LS_R 72 TIM 5 SSTART_R 13 MS5_R 37 R5 46 R14 61 LS_R 73 AREA1 6 JOG_R 16 FREE_R 38 R6 47 R15 62 HOMES_R 74 AREA2 7 JOG_R 17 AWO_R 39 R7 48 MO_R 63 SLIT_R 75 AREAS 18 STOP_R 40 R8 49 M1_R 65 ALM 80 S BSY e Communication Command code Initial ay Read Write Name Setting range value Effective meer 0 Not monitored 0900h 1900h Communication timeout 1 to 10000 ms 0 A 0901h 1901h Communication error alarm 1 to 10 times 3 Indicates the timing for the data to become effective A Effective immediately 14 Alarms and warnings 14 Alarms and warnings The motor provides alarms that are designed to protect the motor 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 At the same time the ALARM LED will start blinking The present alarm can be checked by counting the number of times the ALARM LED blinks or using the OPX 2A MEXEO2 or RS 485 communication
107. function setting switch Make sure each address number slave address you set for each driver is unique Address number slave address 0 is reserved for broadcasting so do not use this address Factory setting SW1 No 3 OFF SW2 0 Address number 0 SW1 No 3 swe Address number SW1 No 3 swe Address number slave address slave address 0 Not used 0 16 1 1 1 17 2 2 2 18 3 3 3 19 ki 4 4 20 5 5 5 21 6 6 6 22 OFF i aN 7 23 8 8 8 24 9 9 9 25 A 10 A 26 B 11 B 27 C 12 C 28 D 13 D 29 E 14 E 30 F 15 F 31 68 12 Method of control via Modbus protocol E Transmission rate Set the transmission rate using transmission rate setting switch SW3 SW3 Transmission rate The transmission rate to be set should be the same as the transmission rate of 0 9600 bps the master device 1 19200 bps Factory setting 7 625 000 bps 2 38400 bps Do not set SW3 to positions 5 to F The factory setting 7 is the 3 57600 bps transmission rate for when connecting to the network converter 4 115 200 bps 5toF Not used E Termination resistor Use a termination resistor for the motor located farthest away positioned at SW1 Termination resistor the end from the programmable controller master device No 1 No 2 120 Q Turn SW1 No 1 and No 2 of the function setting switch ON to set the O
108. function selection 18 0890h 1890h INO input logic level setting c 0891h 1891h IN1 input logic level setting 0 Normally open 0 0892h 1892h IN2 input logic level setting 1 Normally closed 0893h 1893h IN3 input logic level setting O8A0h 18A0h OUTO output function selection 65 f f See table next 08A1h 18A1h OUT1 output function selection 67 Indicates the timing for the data to become effective C Effective after executing the configuration Setting range for IN input function selection 0 Not used 8 MSO 18 STOP 36 R4 44 R12 52 M4 1 FWD 9 MS1 24 ALM RST 37 R5 45 R13 53 M5 2 RVS 10 MS2 25 P PRESET 38 R6 46 R14 60 LS 3 HOME 11 MS3 27 HMI 39 R7 47 R15 61 LS 4 START 12 MS4 32 RO 40 R8 48 MO 62 HOMES 5 SSTART 13 MS5 33 R1 41 R9 49 M1 63 SLIT 6 JOG 16 FREE 34 R2 42 R10 50 M2 7 JOG 17 AWO 35 R3 43 R11 51 M3 The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series Setting range for OUT output function selection 13 Method of control via Network converter 0 Not used 8 MSO_R 32 RO 41 R9 50 M2_R 66 WNG 1 FWD_R 9
109. g registers 10h Example of write Write 80 50h as speed filter to slave address 2 Description Register address Value write Corresponding decimal Speed filter 024Bh 50h 80 e Query Field name Data Description Slave address 02h Slave address 2 Function code 06h Writing to a holding register Regi 2h gister address uppei 2 Register address to be written Data Register address lower 4Bh Val i h ane write upper o9 Value written to the register address Value write lower 50h E heck l F8h fror heck lower 8 Calculation result of CRC 16 Error check upper 6Bh e Response Field name Data Description Slave address 02h Same as query Function code 06h Same as query Regi 2h egister address upper 0 Same asig eiy Dafa Register address lower 4Bh Value write upper 00h Same as query Value write lower 50h E heck l F8h rror check lower 8 Calculation result of CRC 16 Error check upper 6Bh 73 12 Method of control via Modbus protocol E Diagnosis 08h This function code is used to diagnose the communication between the master and slave Arbitrary data is sent and the returned data is used to determine whether the communication is normal 00h reply to query is the only sub function supported by this function code Example of diagnosis Send arbitrary data 1234h to the slave 3
110. g speed No 63 continuous operation upper 1279 O4FFh Operating speed No 63 lower 1280 0500h_ Operation mode No 0 upper 1281 0501h Operation mode No 0 Selects how to specify the lower position travel amount in i Poa 0 Incremental to to to positioning operation 1 Absolute 0 1406 057Eh Operation mode No 63 absolute mode or upper incremental mode 1407 057Fh_ Operation mode No 63 lower 1408 0580h Operation function No 0 upper 1409 0581h Operation function No 0 lower Sets perform positioning 0 Single motion to to to operation as single motion 1 Linked motion 0 B 1534 O5FEh Operation function No 63 or linked motion operation 2 Linked motion 2 upper 1535 O5FFh Operation function No 63 lower 1536 0600h Acceleration No 0 upper Sets the acceleration rate or Ey Ba h cee No 0 lower Acceleration time in 1662 067Eh Acceleration No 63 upper a penta and 1 to 1 000 000 1663 067Fh Acceleration No 63 lower p i 0 1990 1664 0680h Deceleration No 0 upper Harao Moke Si 39009 i 1 0 001 s 1665 0681h Deceleration No 0 lower Seis the deceleration rate to to to or deceleration time in ositioning operation and 1790 O6FEh Deceleration No 63 upper post Riera 1791 O6FFh Deceleration No 63 lower continuous operation 1920 0780h Sequential positioning No 0 upper 1921 0781h Sequential positioning No 0 lower Sets enable or disable an s Saue 0 Disable to to to
111. he motor eS operation Stop operation ALM RST Reset of the current alarm 1 Reset alarm P PRESET Position preset 1 Preset HMI Release of the function limitation of the OPX 2A or 0 Function limitation MEXE02 1 Function limitation release RO to R15 General signals Use these signals when controlling the 0 OFF system via RS 485 communication 1 ON MO to M5 Select the operation data No using these six bits 0 to 63 Operation data No The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series e Do not assign the same input signal to multiple input terminals When the same input signal is assigned to multiple input terminals the function will be executed if any of the terminals becomes active e If the HMI input is not assigned to the input terminal the HMI input will always become ON function limitation release When assigning to both direct I O and network I O the function will be executed when both of them are set to ON 105 13 Method of control via Network converter E Output signals from the PKA Series The following output signals can be assigned to the NET OUTO to NET OUT15 of remote I O using the parameter See the following table for the assignments of the NET OUTO to NET OUT15 For details on parameter refer to I O function parameter RS 485 on p 59 _ Initial value
112. he motor located farthest away positioned at SW1 Termination resistor the end from the programmable controller master device No 1 No 2 120 Q Turn SW1 No 1 and No 2 of the function setting switch ON to set the OFF Disabled termination resistor for RS 485 communication 120 Q ON Enabled Factory setting No 1 and No 2 Both OFF termination resistor disabled 13 2 When using the motor with CC Link communication See the following explanation when using the PKA Series in combination with the network converter NETCO1 CC via CC Link communication E Guidance If you are new to the PKA Series read this section to understand the operating methods along with the operation flow e Before operating the motor check the condition of the surrounding area to ensure safety e See the network converter NETCO1 CC OPERATING MANUAL for how to set the parameter STEP 1 Set the transmission rate station address and address number e Using the switches Setting condition of PKA Series Setting condition of NETCO1 CC e Address number of the PKA Series 0 CC Link station number 1 e RS 485 transmission rate 625 kbps RS 485 transmission rate 625 kbps e Connection device of RS 485 communication CC Link transmission rate Same as the master station Network converter Operation mode 6 axes connection mode Transmission rate of CC Link station number 1 Address number eae SW2 0 RS 485 communication x10 6 x1 1 SW1 7 625 kb
113. hen a parameter is changed the timing to reflect the new value varies depending on the parameter See the following four types e Effective immediately 00 0 cc eeecceeeeeeeeeeteeneeee Executes the recalculation and setup immediately when writing the parameter e Effective after stopping the operation Executes the recalculation and setup after stopping the operation e Effective after executing the configuration Executes the recalculation and setup after executing the configuration e Effective after turning the power ON again Executes the recalculation and setup after turning the power ON again l e The parameters are written in the RAM when writing via RS 485 communication l e The NV memory can be rewritten approx 100 000 times Setting the operation data Up to 64 operation data can be set data Nos 0 to 63 Name Description Setting range vin Effective PostioniNe d Sets the position distance for positioning 8 388 608 to 0 Position No 63 operation 8 388 607 step Operating speed No 0 Sets the operating speed in positioning 0 to 1 000 000 Hz 1000 Operating speed No 63 operation and continuous operation Operation mode No 0 Selects how to specify the position travel 0 1 ga Incremental amount in positioning operation absolute 1 Absolute 0 Operation mode No 63 mode or incremental mode i Operation function No 0 ph ai 0 Single motion Sets perform positioning operat
114. initialize the parameter via An EEPROM error alarm was present RS 485 communication The setting data requested by the master 8Ch Outside setting range could not be executed due to outside the Check the setting data range 8Dh Command execute disable nen ine commana could not De Check the motor status executed it tried to do it E Communication error records Up to 10 communication errors are saved in the RAM in order of the latest to oldest Communication error records saved in the RAM can be read or cleared when performing any of the following e Get the communication error records by the monitor command via RS 485 communication e Clear the communication error records by the maintenance command via RS 485 communication e Get and reset the communication error records using the OPX 2A or MEXEO2 Note You can also clear the communication records by turning off the motor power 121 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 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 C
115. input 3 initial value STOP White 9 OUT0 a Black 10 OUTO Control output 0 initial value ALM Brown 11 OUT1 are Red 12 OUTI Control output 1 initial value READY E Connecting the power supply Use a power supply that can supply the current capacity Model Input power Power supply show in the table to the right supply voltage current capacity PKA544KD 1 4A _PKA544KD_ 54 ypc 1oy 1440r more PKA566KD 2 5 A or more E Grounding method Ground the Frame Ground terminal FG of pin No 1 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 13 8 Connection E I O signal connection example e Keep the input signal to 24 VDC e Use output signals at 24 VDC 10 mAor less If the output signal current exceeds 10 mA connect external resistor R to keep the current to 10 mA or below e Connecting to a current sink output circuit NPN specifications Controller Control circuit T 24 VDC OVV A 24 VDC or less 10 mA or less gt OUTO R X X outo R OUT1 K X oum e Connecting to a current source output circuit PNP specifications Controller Control circuit 24 VDC A vt 1 kQ 1 kQ K 1 kQ Vo V 10 mA o
116. ion 8 388 608 to 8 388 607 step 0 AREA2 negative Sets the position of AREA2 negative direction position direction AREAS positive Sets the position of AREAS positive direction position direction AREAS negative Sets the position of AREA3 negative direction position direction Minimum ON time for Sets the minimum time during which MOVE output the MOVE output remains ON 0110 2939 MS 9 MSO operation No Sets the operation data No 0 selection corresponding to MSO input MS1 operation No Sets the operation data No 1 selection corresponding to MS1 input MS2 operation No Sets the operation data No 2 selection corresponding to MS2 input 0 to 63 B MS3 operation No Sets the operation data No 3 selection corresponding to MS3 input MS4 operation No Sets the operation data No 4 selection corresponding to MS4 input MS5 operation No Sets the operation data No 5 selection corresponding to MS5 input Bch 0 Home output le function ki timing to output the HOME P 4 Return to home complete 0 A put output Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation E Motor parameter PARN Initial re Name Description Setting range value Effective Sets the motor operating current based on the ard RUN current rated current being 100 0 to 1000 1 0 1 1000 Sets the motor standstill current as a A STOP current percentage of the rated current based on the 0 to 500
117. ion e AREA1 positive direction position e Minimum ON time for MOVE output e MSO operation No selection e MS1 operation No selection e MS2 operation No selection ee 53 e AREA1 negative direction position e MS3 operation No selection e AREA2 positive direction position e MS4 operation No selection e AREA2 negative direction position e MS5 operation No selection e AREAS positive direction position e HOME P function selection e AREAS negative direction position e RUN current e Moving average time aie 53 e STOP current e Filter selection e Speed filter e Common acceleration e JOG starting speed e Common deceleration e Acceleration deceleration type ee e Starting speed e Acceleration deceleration unit e JOG operating speed e Acceleration deceleration rate of JOG e JOG travel amount Return to home page 56 e Home seeking mode e Operating speed of home seeking e Acceleration deceleration of home seeking e Starting speed of home seeking e Position offset of home seeking e Starting direction of home seeking e SLIT detection with home seeking e TIM signal detection with home seeking e Backward steps in 2sensor mode home seeking Alarm warning page 56 e Return to home incomplete alarm e Overheat warning e Overvoltage warning e Undervoltage warning Coordination e Electronic gear A e Electronic gear B e Motor rotation direction e Positive software limit e Negative software limit e
118. ion and continuous eerie 1 to 1 000 000 1 0 001 ms kHz or 30000 Sets the common deceleration rate or common 1 0 001 s 2 3 Common deceleration deceleration time in positioning operation and continuous operation Sets the starting speed in positioning operation and continuous operation The motor will Starting speed operate at the starting speed if the operating 0 10 1000 000 He 199 speed is below the starting speed B JOG operating speed Sets the operating speed for JOG operation 1 to 1 000 000 Hz 1000 i Sets the acceleration deceleration rate or 1 to 1 000 000 Acoeleration deceleration acceleration deceleration time for JOG 1 0 001 ms kHz or 30000 rate of JOG i 3 operation 1 0 001 s JOG starting speed Sets the starting speed for JOG operation O to 1 000 000 Hz 100 Sets whether to use the common acceleration Acceleration deceleration h 0 Common tyg deceleration or the acceleration deceleration i Separate 1 yP specified for the operation data Sep P ee ecener Sets the acceleration deceleration unit en 0 C JOG travel amount Sets the travel amount for JOG operation 1 to 8 388 607 step 1 Indicates the timing for the data to become effective B Effective after stopping the operation C Effective after executing the configuration 2 This item is effective when the acceleration deceleration type parameter is set to common initial value separate 3 Acceleration decelerati
119. ion as a A single motion or linked motion operation 1 Einked moton 9 Operation function No 63 9 P 2 Linked motion 2 B Acceleration No 0 Sets the acceleration rate or acceleration time in positioning operation and Acceleration No 63 continuous operation O D 30000 Deceleration No 0 Sets the deceleration rate or deceleration 4_9 991 s time in positioning operation and Deceleration No 63 continuous operation Sequential positioning No 0 Sets enable or disable sequential 0 Disable 0 Sequential positioning No 63 positioning operation 1 Enable Dwell time No 0 7 Sets the dwell time to be used in 0 to 50000 1 0 001 s 0 Dwell time No 63 linked motion operation 2 2 3 Indicates the timing for the data to become effective B Effective after stopping the operation This item is effective when the acceleration deceleration type parameter is set to separate If this parameter is set to common the values of the common acceleration and common deceleration parameters will be used initial value separate Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 51 e 10 Operation 52 Parameter list The setting items for each parameter are as follows e STOP input action e Hardware overtravel e Overtravel act
120. ion rate TAR1 VR1 VS TAC TAR2 VR2 VS TAC TDR2 VR2 VS TDC POS JOG travel amount VR JOG operating speed TR JOG acceleration deceleration rate VS JOG starting speed VS VR VL E Return to home operation Return to home operation is an operation in which the reference point of positioning mechanical home position is detected automatically 10 Operation When a HOME is turned ON a return to home operation is started in the preset direction When an offset from the mechanical home is set in the position offset of home seeking parameter the offset position becomes the home This home is called the electrical home If the position offset of home seeking parameter is 0 the mechanical home and electrical home will become the same Mechanical home LS HOMES Offset operation Electrical home Return to home operation LS Two home detection modes are available 3 sensor mode high speed operation and 2 sensor mode constant speed operation The desired mode can be set using the home seeking mode parameter The operation pattern varies depending on the starting direction and position of home detection In the 2 sensor mode a rectangular pattern is performed Operation sequence of the 3 sensor mode The home is detected using the three sensors LS LS and HOMES The ON edge of HOMES defines the home Starting position of return to home Br
121. is determined by the setting of the STOP input action parameter For example the operation when setting STOP input action Motor operation parameter to deceleration stop is shown in the figure to the ON ue right STOP input OFF Hardware overtravel Hardware overtravel is the function that limits the operation Speed range by installing the limit sensor LS at the upper and lower limit of the operation range Motor operation If the hardware overtravel parameter is set to enable the motor can be stopped when detecting the limit sensor Time The stopping mode is determined by the setting of overtravel f ON action parameter LS input OFF The operation example when setting the overtravel action parameter to immediate stop is shown in the figure to the right Related parameters Parameter name Description Setting range Initial value Hardware overiavel Sets whether to enable or disable hardware 0 Disable 1 overtravel detection using LS inputs 1 Enable v rtrav l action Sets the motor action to take place upon the 0 Immediate stop 0 occurrence of overtravel 1 Deceleration stop Software overtravel The software overtravel is a function that limits the range of Speed movement via software settings If the software overtravel parameter is set to enable the motor can be stopped when exceeding the software limit Motor operation The stopping mode is determined by the setting
122. iticochowe Sets the alarm signal status When the positioning 0 Disable z operation is started while the position origin has not i 0 incomplete alarm 1 Enable been set selects whether the alarm generates or not Mee operation dala Sets operation data No corresponding to MSO input 0 No selection MS1 operation data No selection Sets operation data No corresponding to MS1 input 1 ae data Sets operation data No corresponding to MS2 input Operation data 2 No 0 to 63 Mes operation gaa Sets operation data No corresponding to MS3 input 3 No selection Moe operation data Sets operation data No corresponding to MS4 input 4 No selection MS5 operation data s i No s lection Sets operation data No corresponding to MS5 input 5 When the return to home incomplete alarm parameter is set to enable the return to home incomplete alarm will generate if the positioning operation is started while the position origin has not been set 25 9 Explanation of I O signals E HOME input This signal starts the return to home operation Turn the HOME input ON to start return to home operation When the return to home operation is completed and the motor stops the HOME P output turns ON See p 39 for return to home operation Related parameters Parameter name Description Setting range Initial value Home seeking F 0 2 sensor mode mod Sets the mode for return to home operation J lt 3is
123. ition is referred to as No response The causes of no response are explained below Transmission error The slave discards the query and does not return a response if any of the following transmission errors is detected Cause of transmission error Description Framing error Stop bit 0 was detected Parity error A mismatch with the specified parity was detected Mismatched CRC The calculated value of CRC 16 was found not matching the error check value Invalid message length The message length exceeded 256 bytes Other than transmission error A response may not be returned without any transmission error being detected Cause Description If the query was broadcast the slave executes the requested process but does not return a response The slave address in the query was found not matching the slave address of the motor Broadcast Mismatched slave address e Exception response An exception response is returned if the slave cannot execute the process requested by the query Appended to this response is an exception code indicating why the process cannot be executed The message structure of exception response is as follows Slave address Function code Exception code Error check 8 bits 8 bits 8 bits 16 bits Function code The function code in the exception response is a sum of the function code in the query and 80h Example query 03h Exception response 83h Examp
124. itor 4 lower 16 bit RWwn9 Address number of monitor 4 RWrn9 Data of monitor 4 upper 16 bit RWwnA Command code of monitor 5 RWrnA Data of monitor 5 lower 16 bit RWwnB Address number of monitor 5 RWrnB Data of monitor 5 upper 16 bit RWwnC Command code RWrnC Command code response RWwnD Address number RWrnD Address number response RWwnE Data lower RWrnE Data lower RWwnF Data upper RWrnF Data upper E Assignment of remote I O Remote I O assignments of the PKA Series are as follows mon n is an address assigned to the master station by the CC Link station number setting See the network converter NETCO1 CC OPERATING MANUAL for 6 axes or 12 axes mode e 6 axes connection mode Command RY Master to NETCO1 CC Response RX NETCO1 CC to master Device No Description Device No Description RYn7 to RYnO RYnF to RYn8 amp Address number 0 remote I O input RXn7 to RXn0 RXnF to RXn8 amp Address number 0 remote I O output RY n 1 7 to RY n 1 0 Address number 1 remote I O RX n 1 7 to RX n 1 0 Address number 1 remote I O RY n 1 F to RY n 1 8 input RX n 1 F to RX n 1 8 output RY n 2 7 to RY n 2 0 Address number 2 remote I O RX n 2 7 to RX n 2 0 Address number 2 remote I O RY n 2 F to RY n 2 8 input RX n 2 F to RX n 2 8 output RY n 3 7 to RY n 3 0 Address n
125. le of exception response Master Query Slave Slave address Oth lt _ lt Slave address Oth Function code 06h Response Function code 86h Register address upper 02h Data Exception code 04h R Register address lower 1Eh Error check lower 02h Value written upper FFh Error check upper 61h Value written lower FFh Error check lower E9h Error check upper C4h 71 12 Method of control via Modbus protocol Exception code This code indicates why the process cannot be executed Exception code Communication error code Cause Description Oth 02h 88h Invalid function The process could not be executed because the function code was invalid The function code is not supported The sub function code for diagnosis 08h is other than OOh Invalid data address The process could not be executed because the data address was invalid The address is not supported other than 0000h to 1FFFh Register address and number of registers are 2000h or more in total 03h 8Ch Invalid data The process could not be executed because the data was invalid The number of registers is 0 or more than 17 The number of bytes is other than twice the number of registers The data length is outside the specified range 04h 89h 8Ah 8Ch 8Dh Slave error The process could not be executed b
126. lter parameter is set to 0 ms Setting speed Motor speed MOVE output e Moving average filter When setting the filter selection parameter to 1 Moving average filter the moving average filter will be effective The motor response can be adjusted The positioning time can be shortened by suppressing the residual vibration for the positioning operation Optimum value for the moving average time parameter varies depending on the load or operation condition When setting the value of the moving average time parameter to 0 this function will be invalid Set a suitable value based on the load or application When the speed filter parameter is set to 200 ms Setting speed Motor speed MOVE output When the moving average time parameter is not used When the moving average time parameter is set to 200 ms Rectangular Setting speed Motor speed Setting speed Motor speed operation MOVE output MOVE output 200 ms 200 ms Setting speed LA Setting speed Trapezoidal Motor speed Yo A Motor speed operation MOVE output J l MOVE output 200 ms 200 ms E Operation parameter 10 Operation Name Description Setting range Initial Effective value Sets the common acceleration rate or common Common acceleration acceleration time in positioning operat
127. m continuous operation in the negative direction The motor operates continuously while the FWD or RVS input is ON When the FWD or RVS input is turned OFF the motor will decelerate to a stop If the signal of the same direction is turned ON again during deceleration the motor will accelerate and continue operating If the FWD and RVS inputs are turned ON simultaneously the motor will decelerate to a stop When the operation data No is changed during continuous operation the speed will change to the one specified for the new operation data No See p 36 for continuous operation JOG input JOG input These signals start the JOG operation Turn the JOG signal to ON to perform JOG operation in the positive direction Turn the JOG signal to ON to perform JOG operation in the negative direction See p 38 for JOG operation Related parameters Parameter name Description Setting range Initial value JOG travel amount Sets the travel amount for JOG operation 1 to 8 388 607 step 1 JOG operating speed nes the operating speed tor JOG 1 to 1 000 000 Hz 1000 operation Acceleration deceleration Sets the acceleration deceleration rate or 1 to 1 000 000 acceleration deceleration time for JOG 1 0 001 ms kHz or 30000 rate of JOG operation 1 0 001 s JOG starting speed Sets the starting speed for JOG operation 0 to 1 000 000 Hz 100 9 Explanation of I O signals E STOP input When the STOP input turns ON
128. m the PKA Series little endian 104 13 Method of control via Network converter 13 4 Details of remote I O This is common to NETCO1 CC NETCO1 M2 and NETCO1 M3 Input signals to the PKA Series The following input signals can be assigned to the NET INO to NET IN15 of remote I O using the parameter See the following table for the assignments of the NET INO to NET IN1S For details on parameter refer to I O function parameter RS 485 on p 59 __ Initial value bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO NET IN7 NET IN6 NET IN5 NET IN4 NET IN3 NET IN2 NET IN1 NET INO AWO Not used STOP HOME START M2 M1 MO NET IN15 NET IN14 NET IN13 NET IN12 NET IN11 NET IN10 NET IN9 NET IN8 RVS FWD JOG JOG SSTART MS2 MS1 MSO Signal name Function Setting range Not used Set when the input terminal is not used FWD Continuous operation in the positive direction 0 Deceleration stop RVS Continuous operation in the negative direction 1 Operation HOME Return to home operation START Positioning operation SSTART Sequential operation 0 No operation JOG JOG operation in the positive direction 1 Start operation JOG JOG operation in the negative direction MSO to MS5 ___ Direct positioning operation FREE Motor excitation switching between excitation and 0 Excitation AWO non excitation 1 Non excitation STOP Stop of t
129. mand processing time 3 C3 5 silent interval command processing time 4 The deceleration method to be applied at the time of stopping varies according to the value set by the STOP input action parameter 2 Master Query Slave Response Communication 3 G signal X eneral signals opp 1 A message including a query for remote output via RS 485 communication 2 Tb2 transmission waiting time C3 5 silent interval command processing time 3 C3 5 silent interval 4 ms or less Query Query Slave Response 3 Internal processing was in progress x A message including a query for configuration via RS 485 communication 2 Tb2 transmission waiting time C3 5 silent interval command processing time 3 C3 5 silent interval 1 s or less 13 Method of control via Network converter 13 Method of control via Network converter The following explains how to control the PKA Series with CC Link communication or MECHATROLINK communication via the network converter 13 1 Setting the PKA Series switches When using the PKA Series in combination with the network converter set the switches before use Function setting switch SW1 i No 1 No 2 Set the termination resistor No 3 Set the address number No 4 Set the connection device No 5 N
130. motor is in internal processing state Related parameters Parameter name Description Initial value OUTO output function selection Assigns the following output signals to OUTO and 65 ALM OUT1 output function selection OUT1 of the output terminals See table below 67 READY 0 Not used 9 MS1_R 33 R1 42 R10 51 M3_R 67 READY 1 FWD_R 10 MS2_R 34 R2 43 R11 52 M4_R 68 MOVE 2 RVS_R 11 MS3_R 35 R3 44 R12 53 M5_R 70 HOME P 3 HOME_R 12 MS4_R 36 R4 45 R13 60 LS_R 72 TIM 4 START_R 13 MS5_R 37 R5 46 R14 61 LS_R 73 AREA1 5 SSTART_R 16 FREE_R 38 R6 47 R15 62 HOMES _R_ 74 AREA2 6 JOG_R 17 AWO_R 39 R7 48 MO_R 63 SLIT_R 75 AREAS 7 JOG_R 18 STOP_R 40 R8 49 M1_R 65 ALM 80 S BSY 8 MSO_R 32 RO 41 R9 50 M2_R 66 WNG 19 9 Explanation of I O signals 9 2 Assignment of network I O Assign the I O function via RS 485 communication E Assignment of input signals The input signals shown below can be assigned to the NET INO to NET IN15 of the network I O by setting parameters See each command description for the assignment of the NET INO to NET IN15 i Signal name Function Setting range 0 Not used Set when the input terminal is not used 1 FWD Continuous operation in the positive direction 0 Deceleration stop 2 RVS Continuous operatio
131. n E Return to home parameter Name Description Setting range nial Effective value Home seeking mode Set the mode for return to home operation 0 2 sensor mode 1 1 3 sensor mode Operating speed of Sets the operating speed for 1 to 1 000 000 Hz 1000 home seeking return to home operation Accelerationdecsler tioniof Sets the acceleration deceleration rate or 1 to 1 000 000 home seskin acceleration deceleration time for 1 0 001 ms kHz or 30000 9 return to home operation 1 0 001 s Starting speed of Sets the starting speed for return to home home seeking operation 1 10 1 000 000 Z 100 Position offset of Sets the amount of offset from mechanical 8 388 608 to 0 B home seeking home 8 388 607 step Starting direction of Sets the starting direction for home 0 Negative direction A home seeking detection 1 Positive direction SLIT detection with Sets whether or not to concurrently use the home seeking SLIT input for return to home operation 0 Disable 0 TIM signal detection with Sets whether or not to concurrently use the 1 Enable home seeking TIM signal for return to home operation B ckwaridisteps ih 2sensor Set the travel amount after pulling out of pse the limit sensor in 2 sensor mode 1 to 32767 step 200 mode home seeking f return to home operation Indicates the timing for the data to become effective B Effective after stopping the operation 2 Acceleration deceleration rate
132. n Tests EN 61000 6 4 Radiated Emission Test EN 55011 group 1 class A Immunity Tests EN 61000 6 2 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 E Hazardous substances RoHS Directive 2002 95 EC 27Jan 2003 compliant m oy o WS AERA B AAAS 7 BA VA HE ARS ABE oO AS FISH BEEZ 2 ASA ARSE AS mge Fy 5 Precautions for use 5 Precautions for use This section covers limitations and requirements the user should consider when using the product Do not apply an overhung load and thrust load in excess of the specified permissible limit Operating the motor under an excessive overhung load or thrust load may damage the motor bearings ball bearings Be sure to operate the motor within the specified permissible limit of overhung load and thrust load Refer to p 11 for details Motor surface temperature The motor surface temperature may exceed 75 C 167 F under certain conditions ambient temperature operating speed duty cycle etc To prevent damage of the control circuit or deterioration of the motor bearings ball bearings use the motor in a condition where the motor surface temperature will not exceed 75 C 167 F Maximum static torque at excitation When the motor stops the maximum static torque at excitation of the motor will drop by about 50 by the current
133. n in the negative direction 1 Operation 3 HOME Return to home operation 4 START Positioning operation 5 SSTART Sequential operation 6 JOG JOG operation in the positive direction 7 JOG JOG operation in the negative direction i 3 MSO 0 No operation 1 Start operation 9 MS1 Ms Direct positioning operation 11 MS3 12 MS4 13 MS5 16 FREE Motor excitation switching between excitation 0 Excitation 17 AWO and non excitation 1 Non excitation 18 STOP Stop of the motor operation X a operation Stop operation 24 ALM RST _ Reset of the current alarm 0 No Operation 1 Reset alarm 25 P PRESET Position preset 0 No operation 1 Preset 27 HMI Release of the function limitation of the 0 Function limitation OPX 2A or MEXE02 1 Function limitation release 32 RO 33 R1 34 R2 35 R3 36 R4 37 R5 38 R6 g oats eneral signals 4 Use thoes sures when controlling the system 7 N via RS 485 communication 41 R9 42 R10 43 R11 44 R12 45 R13 46 R14 47 R15 48 MO 49 M1 i S the operation data No using these six 0 to 63 Operation data No 52 M4 53 M5 The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series 20 Related parameters 9 Explanation of I O signals Parameter name Description Initial value NET INO input function s
134. n selection 50 08C3h 18C3h_ NET OUTS3 output function selection 4 08C4h 18C4h_ NET OUT4 output function selection 70 08C5h 18C5h_ NET OUT5 output function selection 67 08C6h 18C6h_ NET OUT6 output function selection 66 08C7h 18C7h_ NET OUT7 output function selection S table below 65 08C8h 18C8h_ NET OUTS8 output function selection 80 08C9h 18C9h NET OUT9 output function selection 73 O8CAh 18CAh NET OUT10 output function selection 74 O8CBh 18CBh NET OUT11 output function selection 75 08CCh 18CCh_ NET OUT12 output function selection 72 08CDh 18CDh_ NET OUT13 output function selection 68 O8CEh 18CEh NET OUT14 output function selection 0 O8CFh 18CFh NET OUT15 output function selection 0 Indicates the timing for the data to become effective C Effective after executing the configuration Setting range for NET IN input function selection 0 Not used 7 JOG 16 FREE 33 R1 40 R8 47 R15 1 FWD 8 MSO 17 AWO 34 R2 41 R9 48 MO 2 RVS 9 MS1 18 STOP 35 R3 42 R10 49 M1 3 HOME 10 MS2 24 ALM RST 36 R4 43 R11 50 M2 4 START 11 MS3 25 P PRESET 37 R5 44 R12 51 M3 5 SSTART 12 MS4 27 HMI 38 R6 45 R13 52 M4 6 JOG 13 MS5 32 RO 39 R7 46 R14 53 M5 The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series 115 13 Method of control via Network converter 116 Setting range
135. nal R9 42 R10 Output the status of the general signal R10 43 R11 Output the status of the general signal R11 44 R12 Output the status of the general signal R12 45 R13 Output the status of the general signal R13 46 R14 Output the status of the general signal R14 47 R15 Output the status of the general signal R15 48 MO_R Output in response to the MO 49 M1_R Output in response to the M1 50 M2_R Output in response to the M2 51 M3_R Output in response to the M3 52 M4_R Output in response to the M4 53 M5_R Output in response to the M5 60 LS_R Output in response to the LS 61 LS_R Output in response to the LS 62 HOMES_R Output in response to the HOMES 63 SLIT_R Output in response to the SLIT 65 ALM Output the alarm status normally closed 66 WNG Output the warning status 67 READY Output when the motor is ready 68 MOVE Output when the motor operates The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series 9 Explanation of I O signals Assignment No Signal name Function 70 HOME P Output when the motor is in home position 72 TIM Output once every 7 2 rotation of the motor output shaft 73 AREA1 Output when the motor is within the area 1 74 AREA2 Output when the motor is within the area 2 75 AREA3 Output when the motor is within the area 3 80 S BSY Output when the
136. nation resistor SW1 No 1 No 2 ON Master Termination resistor Address Address Address number 1 number 2 number 31 Internal input circuit CN2 TR 6 A5V 1kQ TR C TEE GND G inl Fi SD 120 Q ae CN3 t r C H TR Q SW1 No 2 US TR 2 1kQ GND G FG 4 FG V 67 12 Method of control via Modbus protocol 12 3 Setting the switches Function setting switch SW1 i Transmission rate setting switch SW3 No 1 No 2 Set the termination resistor No 3 Sot th addrasenuinber Address number setting switch SW2 No 4 Set the connection device No 5 No 6 Not used Be sure to turn off the motor power before setting the switches If the switches are set while the power is still on the new switch settings will not become effective until the motor power is cycled E Setting the connection device Set the connection device of RS 485 communication using the function setting switch SW1 No 4 Set to ON when controlling via Modbus protocol Factory setting OFF Network converter SW1 No 4 Connection device ON General purpose master device Modbus protocol OFF Network converter E Address number slave address Set the address number slave address using the address number setting switch SW2 and SW1 No 3 of the
137. ndary sides Oriental Motor Co Ltd is not responsible for any damage caused through failure to observe this warning E Operating Manuals for the PKA Series Operating manuals for the PKA Series are listed below e PKA Series OPERATING MANUAL This manual explains safety precautions connector pin assignments and others e PKA Series USER MANUAL this document This manual explains the function installation and connection of the motor as well as operating method After reading the above manuals keep them in a convenient place so that you can reference them at any time E CE Marking Because the input power supply voltage of this product is 24 VDC it is not subject to the Low Voltage Directive but install and connect this product as follows e This product is designed and manufactured to be installed within another device Install the product in an enclosure e For the motor power supply use a DC power supply with reinforced insulation on its primary and secondary sides e Installation conditions e Overvoltage category I e Pollution degree 2 e Degree of protection IP20 e EMC Directive This product has received EMC compliance under the conditions specified in Example of installation and wiring on p 12 Be sure to conduct EMC measures with the product assembled in your equipment by referring to 7 5 Installing and wiring in compliance with EMC Directive p 11 Applicable Standards EMI Emissio
138. ng mode direction value 1 Single Positive MS1 operation No selection 1 2 Link Negative MS2 operation No selection 2 3 Link Negative 4 Single Negative Speed No 1 No 2 No 3 No 4 Time Se f ON MS1 input OFF o f ON MS2 input OFF C Stop the positioning operation When the STOP input is turned ON the current positioning operation stops The stopping mode is determined by the setting of the STOP input action parameter Continuous operation The motor operates continuously while the FWD or RVS input is ON Operation is performed based on the FWD or RVS input and the operating speed corresponding to the selected operation data No When the operation data No is changed during continuous operation the speed will change to the speed specified by the new operation data No When the FWD or RVS input is turned OFF the motor will decelerate to a stop If the signal of the same direction is turned ON again during deceleration the motor will accelerate and continue operating If the FWD and RVS inputs are turned ON simultaneously the motor will decelerate to a stop The acceleration deceleration in the continuous operation can be set as follows using the acceleration deceleration type parameter Separate The acceleration deceleration set under the applicable operation data No will be followed Common The setting of the common acceleration and common deceleration parameter will be followed
139. ng the operation C Effective after executing the configuration 83 12 Method of control via Modbus protocol Register address Name Description Setting range Initial value Effective Dec Hex P grana 718 02CEh TIM signal detection with Sets whether or not to home seeking upper concurrently use the TIM 0 B 719 o2cFh TM signal detection with signal for return to home home seeking lower operation 0 Disable R to h i 1 Enable 776 0308h Feturn to home incomplete Sets enable disable for the alarm upper i R h i return to home incomplete 0 C 777 0309h eturn to home incomplete alarm alarm lower 832 0340h Overheat warning upper Sets the temperature at 40 to 80 C which a main circuit 104 to 176 F 80 833 0341h Overheat warning lower overheat warning generates Q 838 0346h Overvoltage warning Sets the voltage at which an upper overvoltage warning 420 A 47h I ing I enerates sa moarn ouemolage warra loner 15020 840 0348h uppen 9 9 Sets the voltage at which an 1 0 1 V undervoltage warning 180 841 0349h Undervoltage warning generates lower 896 0380h Electronic gear A upper Set the denominator of 1 897 0381h Electronic gear A lower electric gear deere 898 0382h Electronic gear B upper Set the numerator of electric 1 899 0383h Electronic gear B lower
140. nieren ieee hacen eters 99 E I O field map for the NETCO1 M2 102 E I O field map for the NETCO1 M3 103 E Communication format 104 13 4 Details of remote I O eee 105 E Input signals to the PKA Series 105 E Output signals from the PKA Series 106 13 5 Command code list cee M Group function wo eee cteeeeeeeeeneeeeaes E Maintenance command E Monitor command E Operation data E User parameter oo cece cece etenik 14 Alarms and warnings 00008 TANAIS iia aaao adasen e aiana 14 2 WarningS ccccceeeeceeeeeceeeeeeeeeeeeeeeees 14 3 Communication errors sese 121 15 Troubleshooting and remedial ActionS csceee 122 16 Inspection ssssesssessseeeeeeeeeseeeerreenn 123 17 General specifications 124 18 Accessories sold separately 125 1 Safety precautions 1 Safety precautions The precautions described below are intended to prevent danger or injury to the user and other personnel through safe correct use of the product Use the product only after carefully reading and fully understanding these instructions A Warnin Handling the product without observing the instructions that accompany a Warning g symbol may result in serious injury or death A Caution Handling the product without observing the instructions that accompany a Caution symbol may result in injury or property damage
141. nimum time during which the MOVE output 0 to 255 ms 0 535 0217h Minimum ON time for remains ON MOVE output lower 576 0240h RUN current upper Sets the motor operating current based on the rated 0 to 1000 1 0 1 1000 577 0241h RUN current lower current being 100 578 0242h STOP current upper Sets the motor standstill current as a percentage of the 0 to 500 1 0 1 500 rated current based on the o 1 0 1 579 0243h STOP current lower rated current being 100 586 024Ah Speed filt er upper Adjusts the motor response 0 to 200 ms 1 587 024Bh Speed filter lower 588 024Ch Moving average time l upper Sets the time constant for the 0 to 200 ms 1 589 o24pn Moving average time moving average filter B lower Common acceleration Sets the common acceleration 640 oS upper rate or common acceleration i any ence dr 30000 i time in positioning operation ee 641 0281h Common acceleration p g op 1 0 001 s lower and continuous operation Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation 82 12 Method of control via Modbus protocol eulsigl address Name Description Setting range Iriitia Effective Dec Hex value 642 0282h Common deceleration Sets the common deceleration 4 to 1 000 000 upper rate or common decelera
142. ntalmotor is a registered trademark or trademark of Oriental Motor Co Ltd in Japan and other countries Modbus is a registered trademark of the Schneider Automation Inc CC Link is a registered trademark of the CC Link Partner Association MECHATROLINK is a registered trademark of the MECHATROLINK Members Association Other product names and company names mentioned in this manual may be registered trademarks or trademarks of their respective companies and are hereby acknowledged The third party products mentioned in this manual are recommended products and references to their names shall not be construed as any form of performance guarantee Oriental Motor is not liable whatsoever for the performance of these third party products Copyright ORIENTAL MOTOR CO LTD 2012 e Please contact your nearest Oriental Motor office for further information ORIENTAL MOTOR U S A CORP Technical Support Tel 800 468 3982 8 30 a m to 5 00 P M P S T M F 7 30 a M to 5 00 P M C S T M F E mail techsupport orientalmotor com www orientalmotor com ORIENTAL MOTOR EUROPA GmbH Headquarters and D sseldorf Office Tel 0211 52067 00 Fax 0211 52067 099 Munich Office Tel 089 3181225 00 Fax 089 3181225 25 Hamburg Office Tel 040 76910443 Fax 040 76910445 ORIENTAL MOTOR UK LTD Tel 01256 347090 Fax 01256 347099 ORIENTAL MOTOR FRANCE SARL Tel 01 47 86 97 50 Fax 01 47 82 45 16 ORIENTAL MOTOR ITALIA s r l Tel 02 93906346 Fax 02 93906348
143. o 6 Not used Transmission rate setting switch SW3 Address number setting switch SW2 Be sure to turn off the motor power before setting the switches If the switches are set while the power is still on the new switch settings will not become effective until the driver power is cycled E Setting the connection device Set the connection device of RS 485 communication using the function setting switch SW1 No 4 Turn this switch OFF when controlling via the network converter Factory setting OFF Network converter E Address number slave address Set the address number slave address using the address number setting switch SW2 and SW1 No 3 of the function setting switch Make sure each address number slave address you set for each driver is unique Factory setting SW1 No 3 OFF SW2 0 Address number 0 SW1 No 3 swe Address number SW1 No 3 swe Address number slave address slave address 0 0 0 16 1 1 1 17 2 2 2 18 3 3 3 19 4 4 4 20 5 5 5 21 6 6 6 22 OFF ud 7 ON 7 23 8 8 8 24 9 9 9 25 A 10 A 26 C 12 C 28 D 13 D 29 F 15 F 31 93 13 Method of control via Network converter E Transmission rate Set the transmission rate to 625 000 bps using the transmission rate setting switch SW3 Factory setting 7 625 000 bps E Termination resistor Use a termination resistor for t
144. o used to execute the batch processing for the NV memory All commands can be read and written READ WRITE Executes when writing from 0 to 1 Command Name Description Setting code range 30C0h Resetalarm Resets the alarms that are present Some alarms cannot be reset with the reset alarm 30C2h Clear alarm records Clears alarm records 30C3h Clear warning records Clears warning records 30C4h Cissy communication Brat Clears the communication error records records 30C5h P PRESET execute Presets the command position 30C6h Configuration pr the parameter recalculation and the 1 Execute 30C7h All data initialization Resets the parameters saved in the NV memory to the initial settings Reads the parameters saved in the NV memory to 30C8h Batch NV memory read the RAM All operation data and parameters previously saved in the RAM are overwritten 30C9h Batch NV memory write Writes the parameters saved in the RAM to the NV memory Note The NV memory can be rewritten approx 100 000 times 109 13 Method of control via Network converter E Monitor command Monitor the command position command speed alarm and warning records etc All commands can be read READ ee Name Description Range 2040h Present alarm Monitors the present alarm code 2041h Alarm record 1 2042h Alarm record 2 2043h Alarm record 3 2044h Alarm record 4 cael Alarm
145. ode Description Setting range Initial value Read Write cage Set the group 0018h 1018h Group 1 Individual No group setting 1 Individual 0 to 31 Set the group Set in the 0 to 11 range when using the NETCO1 CC and set in the 0 to 15 range when using the NETCO1 M2 or NETCO1 M3 e Example for setting of the group function Set as follows when making a group by setting the PKA Series of address number to the parent slave and by setting the PKA Series of address number 2 and 3 to the child slaves PKA Series of address number 1 PKA Series of address number 2 PKA Series of address number 3 group command 1 group command 1 group command 1 individual 108 13 Method of control via Network converter This is a timing chart for when assigning the START signal to NET IN3 remote I O of the PKA Series in the group NETCO1 to slave Address number 1 NET IN3 ON Motor operation at address number 1 parent slave Group command 1 l Motor operation at address number 2 child slave Group command 0 l Motor operation at address number 3 child slave Group command 0 l When inputting a command to the parent slave with remote I O the motors of the parent slave and child slaves will operate The motors will not operate if the command is input to the child slaves E Maintenance command These commands are used to reset alarms and warnings They are als
146. of overtravel action parameter f Time The operation pattern shown on the right applies when an Software limit operation where a soft limit is to be exceeded is started e Software overtravel will become effective after the position origin is set See p 43 for setting the position origin e When the value of the software limit is changed while the motor is operating the motor will stop based on the setting of overtravel action parameter Related parameters Parameter name Description Setting range Initial value Sets whether to enable or disable software 0 Disable Software overtravel ae i 1 overtravel detection using soft limits 1 Enable m ae are n are 8 388 608 to Positive software limit Sets the value of soft limit in positive direction 8 388 607 step 8 388 607 Negative software limit Sets the value of soft limit in negative direction 70 389 608 10 8 388 608 8 388 607 step e Escape from the limit sensor 42 It is possible to escape in the negative direction when detecting the positive direction limit and possible to escape in the positive direction when detecting the negative direction limit The following operations can be used when escaping from the limit sensor Types of operation Limit sensors LS Software limit Positioning operation Will not operate unable to escape Continuous operation Allowed to operate able to escape Return to home operation Allowed to operate
147. oken line indicates a home offset move Starting direction of return to home operation Starting direction of return to home operation operation Positive side Negative side LS HOMES LS LS HOMES LS sid os VR esa Es E VL side wo VS side wo VS tee VR See VR LS HOMES LS LS HOMES LS ons VR side H Se LS ee a side M TVS sae VR LS HOMES LS LS HOMES LS side s OVR side own my HOMES VL v y a VL E side ae VS side amp yS See VR see VR LS HOMES LS LS HOMES LS Between side HOMES and LS Starting speed of side return to home Operating speed of return to home Last speed of return to home When VS lt 500 Hz VS When VS2500 Hz 500 Hz Between HOMES and LS LS side side LS 39 10 Operation Operation sequence of the 2 sensor mode The home is detected using LS and LS When the motor pulls off of the limit sensor and both LS and LS turn OFF the applicable position will be used to define the home Broken line indicates a home offset move Starting position Starting direction of Starting direction of of return to home return to home operation return to home operation operation Positive side Negative side LS LS LS LS side TVR 4 side pap aes VS VS LS v x side tT YS side TVS
148. ol ccceeeeeeeeeees 64 12 1 GUIDANCE iatna auiii 64 12 2 Communication specifications 67 12 3 Setting the switches 0 eeeees 68 12 4 Communication Mode cccccccceeees 69 12 5 Communication timing 0 cceeee 69 12 6 Message eeeeceeceeeeeeeeseeeeeeseeeeeeenenes 70 12 7 Function code cccccceeeeeeeeeeeeeeeeeneees 72 E Reading from a holding register s 03h 72 m Writing to a holding register O6h 73 M Diagnosis O8h 0 0 ec eeeeeeeceeteeteeeseeseeeseeaeeeee 74 E Writing to multiple holding registers 10h 74 12 8 Setting of RS 485 communication 75 12 9 Register address list eect E Operation command 0 0 ee eeeeseeeeeeeeeeeees E Maintenance command E Monitor command cccccccesscccesseeeesseeeeees E Parameter R W comman ccccccceesseeees 80 12 10 Group send 90 12 11 Detection of communication errors 91 12 12 Timing Charts s 92 13 Method of control via Network CONVESTES cccccceeeeeeeeeees 93 13 1 Setting the PKA Series switches 93 13 2 When using the motor with CC Link COMMUNICATION cccccccceeeseesssteeaeees E Cri dances 625 access iadas a e tn I ns E Remote resistor list ccccceccesccesseeeessseeeees E Assignment of remote I O 13 3 When using the motor with MECHATROLINK communication 99 E Guidance neesat
149. ommon Acceleration deceleration unit ms kHz When accelerating VR2 When decelerating VR1 TAC VS TAC VR1 TDC TAC VR2 TDC VS TDC ON FWD input OFF FWD input ON OFF Operation data No No 1 No 2 Operation data No No 1 Acceleration deceleration unit s When accelerating No 2 When decelerating VR2 TAR2 VRI TAR1 y ac lt TAC VR1 TDR2 TAR1 TDR2 VR2 TDC vs TAC FWD i fat input OFF Lu i O FWD input OFF Operation data No No 1 e Explanation of labels VS Starting speed Hz VR1 Operating speed of operation data No 1 Hz VR2 Operating speed of operation data No 2 Hz TAC Common acceleration TDC Common deceleration E JOG operation When the JOG signal to ON JOG operation is in the positive direction When the JOG signal to ON JOG operation is in the negative direction Speed VR VS TR VS No 2 Operation data No No 1 TAR1 Acceleration rate of operation data No 1 ms kHz TAR2 Acceleration rate of operation data No 2 ms kHz TDR1 Deceleration rate of operation data No 1 ms kHz TDR2 Deceleration rate of operation data No 2 ms kHz TR POS POS Time VR TR TR ON JOG input OFF JOG i A input OFF 38 No 2 e Calculation method for acceleration decelerat
150. on based on the combination of ON OFF states of the MO to M5 inputs Operation ms m4 m3 m2 m1 Mo Qperation ms m4 m3 m2 m1 Mo 0 OFF OFF OFF OFF OFF OFF 32 ON OFF OFF OFF OFF OFF 1 OFF OFF OFF OFF OFF ON 33 ON OFF OFF OFF OFF ON 2 OFF OFF OFF OFF ON OFF 34 ON OFF OFF OFF ON OFF 3 OFF OFF OFF OFF ON ON 35 ON OFF OFF OFF ON ON 4 OFF OFF OFF ON OFF OFF 36 ON OFF OFF ON OFF OFF 5 OFF OFF OFF ON OFF ON 37 ON OFF OFF ON OFF ON 6 OFF OFF OFF ON ON OFF 38 ON OFF OFF ON ON OFF 7 OFF OFF OFF ON ON ON 39 ON OFF OFF ON ON ON 8 OFF OFF ON OFF OFF OFF 40 ON OFF ON OFF OFF OFF 9 OFF OFF ON OFF OFF ON 41 ON OFF ON OFF OFF ON 10 OFF OFF ON OFF ON OFF 42 ON OFF ON OFF ON OFF 11 OFF OFF ON OFF ON ON 43 ON OFF ON OFF ON ON 12 OFF OFF ON ON OFF OFF 44 ON OFF ON ON OFF OFF 13 OFF OFF ON ON OFF ON 45 ON OFF ON ON OFF ON 14 OFF OFF ON ON ON OFF 46 ON OFF ON ON ON OFF 15 OFF OFF ON ON ON ON 47 ON OFF ON ON ON ON 16 OFF ON OFF OFF OFF OFF 48 ON ON OFF OFF OFF OFF 17 OFF ON OFF OFF OFF ON 49 ON ON OFF OFF OFF ON 18 OFF ON OFF OFF ON OFF 50 ON ON OFF OFF ON OFF 19 OFF ON OFF OFF
151. on data acceleration No 2 lower 0605h 2710h Operation data acceleration No 3 upper 0606h 0000h 20000 Operation data acceleration No 3 lower 0607h 4E20h Operation data acceleration No 4 own 0608h 0007h 500 000 Operation data acceleration No 4 lower 0609h A120h 12 Method of control via Modbus protocol e Query Field name Data Description Slave address 04h Slave address 4 Function code 10h Writing to multiple holding registers Regi h ge Zere e UPPE us Register address to start writing from Register address lower 04h Number of registers upper 00h Number of registers to be written from the Number of registers lower 06h _ Starting register address 6 registers 0006h Number of data bytes OCh Twice the number of registers in the command Value written to register address upper 00h i Value written to register address 0604h Value written to register address lower 00h Val i i 1 27h ag writter to register address 1 upper Value written to register address 0605h Data Value written to register address 1 lower 10h Val i i 2 h aug written Ke register address 2 upper 00 Value written to register address 0606h Value written to register address 2 lower 00h Val i i 4Eh ae Wwrittori ip register address 3 DRE Value written to register address 0607h Value written to register address 3 lower 20h Val i i 4 h ae wal
152. on rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate e Acceleration deceleration rate and acceleration deceleration time Acceleration deceleration unit Set the acceleration deceleration unit using the acceleration deceleration unit parameter Acceleration deceleration rate ms kHz or acceleration deceleration time s can be set e Acceleration deceleration unit ms KHz e Acceleration deceleration unit s VS Starting speed VR Operating speed TA Acceleration TD Deceleration Speed Hz Speed Hz VR VR TA TD VS VS Time s TA l TD J Time s Common setting and separate setting of the acceleration deceleration The acceleration deceleration for positioning operation or continuous operation can be set as follows using the acceleration deceleration type parameter Separate The acceleration deceleration set under the applicable operation data No will be followed Common The setting of the common acceleration and common deceleration parameter will be followed e When performing linked operation the acceleration deceleration for the starting linked operation data No is applied even when the acceleration deceleration type parameter is set to separate e See p 36 for the acceleration deceleration when performing variable speed operation 55 10 Operatio
153. onditions Inside an enclosure that is installed indoors provide vent holes Operating ambient temperature 0 to 50 C 32 to 122 F non freezing Operating ambient humidity 85 or less non condensing Area that is free of explosive atmosphere or toxic gas such as sulfuric gas or liquid Area not exposed to direct sun Area free of excessive amount of dust iron particles or the like Area not subject to splashing water rain water droplets oil oil droplets or other liquids Area free of 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 Installation method The motor can be installed in any direction Install the motor onto an appropriate flat metal plate having excellent vibration resistance and heat conductivity When installing the motor secure it with four bolts not supplied through the four mounting holes provided Do not leave a gap between the motor and metal plate Insert the pilot located on the motor s installation surface into the mounting plate s e Installation method A e Installation method B Mounting hole Mounting hole Metal plate Tightening torque Effective depth Installation Model Nominal size N m oz in of bolt mm in method PKA544KD M3 1 142 4 5 0 177 A P
154. onnection error in the power supply Check the connections between the motor and power supply The motor current is set wrong Return the RUN current or STOP current parameter to its initial setting and check the motor operation If the operating current is too low the motor torque will also be too low and operation will be unstable The AWO input is turned ON Turn the AWO input OFF and confirm that the motor will be excited The motor does not operate The STOP input is turned ON The position distance is not set in the operation data while positioning operation Turn the STOP input OFF Check the operation data The FWD input and RVS input are turned ON simultaneously in the continuous operation Turn either FWD input or RVS input ON The motor rotates in the direction opposite to the specified direction The rotation direction parameter is set wrong Check the setting of the rotation direction parameter Motor operation is unstable Connection error in the power supply Check the connections between the motor and power supply The RUN current or STOP current parameter is too low Return the RUN current or STOP current parameter to its initial setting and check the motor operation If the operating current is too low the motor torque will also be too low and operation will be unstable Motor vibration is too great
155. ork converter e Operation Command code Initial esl Name Setting range Effective Read Write grong value 0140h 1140h Common acceleration 1 to 1 000 000 30000 0141h 1141h Common deceleration 1 0 001 ms kHz or 1 0 001 s 7 0142h 1142h Starting speed 0 to 1 000 000 Hz 100 0143h 1143h JOG operating speed 1 to 1 000 000 Hz 1000 Acceleration deceleration 1 to 1 000 000 B 0144h 1144h rate of JOG 1 0 001 ms kHz or 1 0 001 s 3 30000 0145h 1145h JOG starting speed 0 to 1 000 000 Hz 100 0146h 1146h Acceleration deceleration 0 Common 1 type 1 Separate 0147h 1147h Acceleration deceleration 0 ms kHz 0 c unit 1 s 0824h 1824h JOG travel amount 1 to 8 388 607 step 1 Indicates the timing for the data to become effective B Effective after stopping the operation C Effective after executing the configuration 2 This item is effective when the acceleration deceleration type parameter is set to common initial value separate 3 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate e Return to home Command code Initial Name Setting range Effective Read Write ee value 0160h 1160h Home seeking mode 0 sensor mode 1 1 3 s
156. ositioning operation is performed based on data No 1 Then when a SSTART input is turned ON again the driver returns to No 0 and performs a positioning operation based on data No 0 since sequential operation is set to disable for data No 2 Speed Time ON SSTART input opp 35 10 Operation 36 When the sequential positioning operation is performed from data No 3 to 5 When the START input is turned ON with No 3 selected a positioning operation is performed based on data No 3 When the SSTART input is turned ON positioning operations are performed based on data No 4 and 5 Then when a SSTART input is turned ON again the driver returns to No 3 and performs a positioning operation based on data No 3 since sequential operation is set to disable for data No 6 Speed No 3 No 4 No 5 No 3 Time MO to M5 i on X No 3 to M5 input off o ON START input OFF si ON SSTART input opp o Direct positioning operation When any of the MSO to MSS inputs is turned ON the positioning operation corresponding to the input data No will be performed Since the positioning operation is enabled by turning any of the MSO to MSS inputs ON you can save the step of selecting the operation data No Example of direct e Operation data e Parameter ositioning operation i i i p ane Data No Operating Rotating Parameter name Setti
157. otion operation 2 1 Link2 Positive Set 2 Link Negative N A 3 Link Negative N A 4 Single Negative N A Speed Dwell time No 1 No 2 No 3 No 4 Time M M5 i a No 1 0 to M5 input OFF X o START i input OFF 34 10 Operation e Sequential operation When the sequential positioning value of the operation data is set to enable positioning operation is performed for the next operation data No every time the SSTART input turns ON This function is useful when multiple positioning operations must be performed sequentially because there is no need to select each data number When the sequential positioning of operation data is executed up to the data No set to disable the operation returns to the original data No that was selected before starting the sequential operation And the sequential operation will start again If the starting point for the sequential operation is changed using the MO to M5 inputs or the MSO to MS5 inputs multiple sequential operations can be set How to perform the sequential operation 1 Selects the data No n for the starting point for the sequential positioning and perform the positioning operation by turning the START input ON 2 Turn the SSTART input ON Perform positioning operation based on data No n 1 3 Turn the SSTART input ON again Perform positioning operation based on data No n 2 The operation data No that the sequential positioning is set to disable will not perform The
158. parameter See the following four types e Effective immediately 00 0 cc ceeeeeeeeeeteeeteeneees Executes the recalculation and setup immediately when writing the parameter e Effective after stopping the operation Executes the recalculation and setup after stopping the operation e Effective after executing the configuration Executes the recalculation and setup after executing the configuration e Effective after turning the power ON again Executes the recalculation and setup after turning the power ON again e The parameters are written in the RAM area when writing via the NETCO1 CC NETCO1 M2 or NETCO1 M3 e When saving data to the NV memory execute batch NV memory write of the maintenance command e The NV memory can be rewritten approx 100 000 times Command code Initial a N Sett Eff Read Write ame etting range value ective 0200h 1200h Position No 0 8 388 608 to 8 388 607 to to to aig 0 023Fh 123Fh Position No 63 p 0240h 1240h Operating speed No 0 to to to 0 to 1 000 000 Hz 1000 027Fh 127Fh Operating speed No 63 0280h 1280h Operation mode No 0 y 0 Incremental Is iD 1o 1 Absolute 0 02BFh 12BFh Operation mode No 63 02C0h 12C0h Operation function No 0 0 Single motion to to to 1 Linked motion 0 02FFh 12FFh Operation function No 63 2 Linked motion 2 B 0300h 1300h Acceleration No 0 to to to F 1 to 1 000 000 Fh 133Fh_ Accel
159. ps Transmission rate of RS 485 communication ZEON SW3 7 625 kbps Ee NETCO1 CC Spe PKA Series CC Link transmission rate O B RATE Same as master device Ipag O OO Address number SW1 No 3 OFF Connection device SW1 No 4 OFF a Operation mode Network converter A i T axes connection mode HEBHEE ONDT 94 13 Method of control via Network converter e Using the parameter 1 Set the connection address number 0 1D80h parameter of the NETCO1 CC to 1 Enable 2 Execute the batch NV memory write E85h of the NETCO1 CC 3 Cycle the NETCO1 CC power Note Connection parameters will be enabled after the power is cycled STEP 2 Check the termination resistor Termination CC020 RS4B Termination DC power supply resistor ON resistor ON 24 VDC 10 24 V Programmable TL A TELL T FG Programmable controller or master device Termination resistor 110 Q 1 2 W CC Link communication cable SFG Termination PKA Series NETCO1 CC resistor 110 Q 1 2 W l STEP 3 Turn on the power and check the setting OFF Green Lit Green Lit Green Lit OFF Green Lit POWER L RUN OFF ALARM L ERR Green Lit C DAT SD Green Lit OFF C ERR RD Green Lit s le mm le x VAU v e When ERR red
160. put is not assigned to the input terminal the HMI input will always become ON function limitation release When assigning to both direct I O and network I O the function will be executed when both of them are set to ON E Assignment to the output terminals The output signals shown below can be assigned to the NET OUTO to NET OUT1S5 of the network I O by setting parameters See each command description for the assignment of the NET OUTO to NET OUT15 Assignment No Signal name Function Setting range 0 Not used Set when the output terminal is not used 1 FWD_R Output in response to the FWD on 2 RVS_R Output in response to the RVS De aei 3 HOME_R Output in response to the HOME P PAEA 4 START_R Output in response to the START A T 5 SSTART_R Output in response to the SSTART H N 6 JOG_R Output in response to the JOG r a 7 JOG_R_ Output in response to the JOG H ON 8 MSO_R Output in response to the MSO co 9 MS1_R Output in response to the MS1 emg 10 MS2_R Output in response to the MS2 P E 21 9 Explanation of I O signals 20 Assignment No Signal name Function Setting range 11 MS3_R Output in response to the MS3 T pte 12 MS4_R Output in response to the MS4 h emt 13 MS5_R Output in response to the MS5 T ok 16 FREE R Output in response to the
161. r 3 Deceleration stop Current off 514 0202h Hardware overtravel upper Sets whether to enable or Di disable hardware overtravel a Sni 1 515 0203h Hardware overtravel lower detection using LS inputs pode 516 0204h Overtravel action upper Sets the motor action to take place upon the occurrence of ae a 0 517 0205h Overtravel action lower overtravel ere MO SIOR AREA1 positive direction 22 20Ah es 3 gee position upper Sets the position of AREA1 523 o20Bh AREA positive direction positive direction position lower AREA1 negative direction 24 20Ch TA 2 0206 position upper Sets the position of AREA1 525 020Dh AREA1 negative direction negative direction position lower AREA2 positive direction 2 20Eh Be 326 020 position upper Sets the position of AREA2 527 020Fh AREA2 positive direction positive direction position lower 8 388 608 to 0 A 528 0210h AREA2 negative direction 8 388 607 step position upper Sets the position of AREA2 529 021th AREA2 negative direction negative direction position lower AREAS positive direction 212h m 930 j position upper Sets the position of AREA3 531 0213h AREAS positive direction positive direction position lower AREAS negative direction 2 214h mi 33 0 position upper Sets the position of AREAS i i i tive direction 533 0215h AREA3 negative direction negative direction position lower Mini N time f 534 0216h AE E D Sets the mi
162. r less gt 24 VDC or less A OUTO OUTO OUT1 14 8 2 Connecting the data setter Connect the motor to the OPX 2A or MEXEO2 using an accessory data setter cable sold separately Caution Data setter cable CCOO01IF CA CN4 OPX 2A cable or cable that comes with the MEXE0O2 eo E 8 Connection The connectors CN1 CN2 CN3 and CN4 of the motor 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 l motor and these equipment to short damaging both 8 3 Connecting the RS 485 communication cable Connect this cable if you want to control your product via RS 485 communication or network converter Connect the RS 485 communication cable to CN2 or CN3 You can use the vacant connectors to connect a different PKA Series communication cable Refer to p 125 for det An accessory RS 485 is available sold separately ails Network converter O O i E CN2 CN3 connector pin assignments Signal nas Pin No nae Description A TR RS 485 communication signal 2 TR RS 485 communication signal 3 GND GND 4 FG Frame Ground e Pin assign CC020 RS4B CC020 RS4A e Internal circuit
163. r more MOVE a output OFF ON READY output 200 ms or less OFF Motor operation 6 ms or less Delay time when the motor is not excited 220 ms or less 100 ms or less Motor excitation Excitation Not excitation The specific time varies depending on the load operating speed speed filter moving average filter and other E AWO input AWO i oe input OFF 6 ms or less READY a output OFF Motor excitation 46 200 ms or less 220 ms or less 100 ms or less Excitation Not excitation 10 Operation E ALM RST input e When an alarm generates and the motor maintains excitation Alarm generation 1sormore _ 4msormore ALM RST i A input OFF 6 ms or less 6 ms or less ALM output OUPUE OEF 6 ms or less 6 ms or less READY output ON OFF ALM output is normally closed It is ON during normal operation and it turns OFF when an alarm generates e When an alarm generates and the motor does not maintain excitation Alarm generation 1 sor more __4 ms or more ALM RST input ON i RM SFE 6 ms or less 6 ms or less ON ALM output OF F 6 ms or less 250 ms or less READY oN output OFF 60 ms or less k 200 ms or less Motor excitation Excitation Not excitation ALM output is normally closed It is ON d
164. r output shaft and load shaft out of alignment The motor uses semiconductor elements Handle the motor with care since static electricity may damage semiconductor elements Static electricity may damage the motor 123 17 General specifications 17 General specifications 124 Degree of protection IP20 Ambient 7 temperature 0 to 50 C 32 to 122 F non freezing Operation Humidity 85 or less non condensing environment Altitude Up to 1000 m 3300 ft above sea level Surrounding atmosphere No corrosive gas dust water or oil Ambient 7 temperature 25 to 70 C 13 to 158 F non freezing Storage Humidity 85 or less non condensing environment Altitude Up to 3000 m 10000 ft above sea level Surrounding atmosphere No corrosive gas dust water or oil Ambient F temperature 25 to 70 C 13 to 158 F non freezing Shipping Humidity 85 or less non condensing environment Altitude Up to 3000 m 10000 ft above sea level Surrounding l l atmosphere No corrosive gas dust water or oil Insulation resistance 100 MQ or more when 500 VDC megger is applied between the following places Between FG terminal and power supply terminal Dielectric strength Applied 500 VAC 50 60 Hz for 1 minute leak current 10 mA or less Between FG terminal and power supply terminal 18 Accessories sold separately 18 Accessories sold separately
165. record S Monitors the alarm records 1 to 10 2046h Alarm record 6 2047h Alarm record 7 2048h Alarm record 8 2049h Alarm record 9 204Ah Alarm record 10 204Bh Present warning Monitors the present warning code 204Ch Warning record 1 204Dh Warning record 2 204Eh Warning record 3 204Fh Warning record 4 00h to FFh 2050h Warning record 5 2051h Warning record 6 2052h Warning record 7 2053h Warning record 8 2054h Warning record 9 2055h Warning record 10 Monitors the warning records 1 to 10 2057h Communication error code record 1 2058h Communication error code record 2 2059h Communication error code record 3 205Ah Communication error code record 4 205Bh Communication error code record 5 Monitors the communication error records 205Ch Communication error code record 6 1 to 10 that have occurred in the past 205Dh Communication error code record 7 205Eh Communication error code record 8 205Fh Communication error code record 9 2060h Communication error code record 10 2061h Present selected data No N a operation data No currently 0 to 63 Monitors the operation data No corresponding to the data used in the current positioning operation This address is used in linked motion operation and 2062h Present operation data No sequential operation While the motor is 1 to 63 stopped the last used operation data number is indicated 1 is indicated until the positioning operation is perfo
166. repare either one when using I O signals E Related products The AR Series DC power input built in controller type can be used via various network when connecting to a network converter Network converter Supported network NETCO1 CC CC Link communication NETCO1 M2 MECHATROLINK I communication NETCO1 M3 MECHATROLINK M communication 3 System configuration 3 System configuration PC in which the MEXEO2 has been installed Data setter OPX 2A OPERATIONAL UNIT OPX 2 Data setter cable CCOO1IF CA Orientalmotor Network converter or master device Connect when controlling the system via RS 485 communication The PC must be supplies by the customer Programmable controller Connect to CN2 or CN3 P 15 Connect to CN4 P 15 AC power supply LO Connect to CN1 Noise filter P 13 Use a noise filter to FG eliminate noise It has the effect of reducing noise generated from the power supply and motor P 11 4 Introduction 4 Introduction E 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 For the motor power supply use a DC power supply with reinforced insulation on its primary and seco
167. rmed after turning the power ON 2063h Command position Monitors the command position 2 147 483 648 to 2 147 483 647 step 2064h Command speed r min 2065h Command speed Hz Monitors the current command speed 9600 to 9600 r min Forward Reverse 0 Stop 1 000 000 to 1 000 000 Hz 2069h Remaining dwell time Monitors how much of the dwell time used in the linked motion operation 2 remains 0 to 50000 ms 206Ah Direct I O status Monitors the each direct I O signal See table next 110 13 Method of control via Network converter Direct I O status 206Ah Byte bit7 bit6 bit5 bit4 bit3 bit2 bit1 bito 0 IN1 INO z z Z E 1 a IN3 IN2 2 OUT1 OUTO 3 z Operation data The parameters required for motor operation are available in the following two types e Operation data e User parameters The parameters are saved in the RAM or NV memory The data saved in the RAM will be erased once the power is turned off On the other hand the parameters saved in the NV memory will be retained even after the power supply is turned off When turning the PKA Series power ON the parameters saved in the NV memory will be sent to the RAM Then the recalculation and setup for the parameters are executed in the RAM When a parameter is changed the timing to reflect the new value varies depending on the
168. rounding area to ensure safety l STEP 1 Check the installation and connection DC power supply 24 VDC 10 Check gt Power supply connection OPX 2A or MEXEO2 connection Master device Check RS 485 communication cable connection 64 12 Method of control via Modbus protocol STEP 2 Set the switches Set the SW1 FF Set the slave address and transmission rate m Termination resistor m Termination resistor Set the slave address m Slave address Ef LER Set the transmission m ON Modbus protocol rate Set the switches Check Set the switches l STEP 3 Turn on the power and set the parameters Set the following communication parameters e Communication parity e Communication stop bit e Transmission waiting time DC power supply 24 VDC 10 eee k Moa Master device l STEP 4 Cycle the power Communication parameters will be enabled after the power is cycled If you have changed any of the communication parameters be sure to cycle the power 65 12 Method of control via Modbus protocol l STEP 5 Operate the motor 3 Confirm that the motor rotates without problem ZIZI DC power supply 24 VDC 10
169. sequential positioning 1 Enable 0 2046 O7FEh Sequential positioning operation i No 63 upper 2047 O7FFh Sequential positioning No 63 lower 2048 0800h Dwell time No 0 upper 2049 0801h Dwell time No 0 lower Sets the dwell time to be nee f 0 to 50000 to to to used in linked motion 1 0 001 s 0 2174 087Eh Dwell time No 63 upper operation 2 ood 2175 087Fh_ Dwell time No 63 lower 1 Indicates the timing for the data to become effective B Effective after stopping the operation 2 This item is effective when the acceleration deceleration type parameter is set to separate If this parameter is set to common the values of the common acceleration and common deceleration parameters will be used initial value separate 3 Acceleration deceleration rate ms kHz or acceleration deceleration time s can be selected using acceleration deceleration unit parameter initial value acceleration deceleration rate 81 ae 12 Method of control via Modbus protocol e User parameters Register address Initial D c Hex Name Description Setting range value Effective 0 Immediate stop 12 200h STOP i i i 5 0200h STOP input action upper Sais how the moterehould 1 Deceleration stop i 2 Immediate stop stop when a STOP input is Current off 1 t d ON 513 0201h STOP input action lowe
170. sevsresssessevesiaasesscsuessiseaeseenes 2 pes e OPERATING MANUAL cccecceceseeeteeeeeeees 1 copy 6 2 Product type PKA544KD Frame size 42 mm 1 65 in Model PKA566KD Frame size 60 mm 2 36 in 6 3 Transmission rate setting switch SW3 Address number setting switch SW2 LED Function setting switches SW1 Names and functions of parts Pilot Output shaft Mounting holes 4 locations Power supply and I O signal connector CN1 RS 485 communication connectors CN2 CN3 Data edit connector CN4 Name Function Ref PWR Green This LED is lit while the power is input This LED will blink when an alarm generates It is possible to check the generated ALM Red alarm by counting the number of times the LED blinks eii LED DAT Green This LED will blink or illuminate steadily when the driver is communicating with the master station properly via RS 485 communication This LED will illuminate when a RS 485 communication error occurs with the master ERRE station 7 Use this switch when controlling the system via RS 485 communication No 1 No 2 Set the termination resistor 120 Q of RS 485 communication Factory Function setting switches setting OFF P 68 SW1 No 3 Using this switch and the address number setting switch SW2 set the P93 address number of RS 485 communication Factory setting OFF No 4 Set the conn
171. tem area e Remote 1 O input e 6 axes connection mode See the network converter NETCO1 CC OPERATING MANUAL for details Initial value Device No bit7 bit6 bit5 bit4 bit3 bit2 bit1 bito RYn7 to RYnO NET IN7 NET IN6 NET IN5 NET IN4 NET IN3 NET IN2 NET IN1 NET INO AWO Not used STOP HOME START M2 M1 MO RYnF to RYn8 NET IN15 NET IN14 NET IN13 NET IN12 NET IN11 NET IN10 NET IN9 NET IN8 RVS FWD JOG JOG SSTART MS2 MS1 MSO e 12 axes connection mode __ Initial value Device No bit7 bit6 bit5 bit4 bit3 bit2 bit1 bito RYn7 to RYn0 NET IN7 NET IN6 NET IN5 NET IN4 NET IN3 NET IN2 NET IN1 NET INO AWO Not used STOP HOME START M2 M1 MO e Remote I O output e 6 axes connection mode _ Initial value Device No bit7 bit6 bit5 bit4 bit3 bit2 bit1 bito RYn7 to NET OUT7 NET OUT6 NET OUT5 NET OUT4 NET OUT3 NET OUT2 NET OUT1 NET OUTO RYn0 ALM WNG READY HOME P START_R M2_R M1_R MO_R RYnF to NET OUT15 NET OUT14 NET OUT13 NET OUT12 NET OUT11 NET OUT10 NET OUT9 NET OUT8 RYn8 Not used Not used MOVE TIM AREA3 AREA2 AREA1 S BSY e 12 axes connection mode __ Initial value Device No bit7 bit6 bit5 bit4 bit3 bit2 bit1 bito RYn7 to NET OUT7 NET OUT6 NET OUT5 NET OUT4 NET OUT3 NET OUT2 NET OUT1 NET OUTO RYn0 ALM WNG READY HOME P START
172. ten to register address 4 upper 00 Value written to register address 0608h Value written to register address 4 lower 07h Val i i Ath a written ip register address upper Value written to register address 0609h Value written to register address 5 lower 20h E heck I 1Dh fror check lower Calculation result of CRC 16 Error check upper A9h e Response Field name Data Description Slave address 04h Same as query Function code 10h Same as query Regi h egister address upper 06 Same as query Data Register address lower 04h Number of regi h umber o registers upper 00 Same as query Number of registers lower 06h E heck I th tror check OWE 9 Calculation result of CRC 16 Error check upper 17h 12 8 Setting of RS 485 communication Set parameters required RS 485 communication first e Parameters set with the OPX 2A or MEXE02 Set the following parameters using the OPX 2A or MEXEO2 since they cannot be set via RS 485 communication Parameter name Setting range Initial value Description Communication parity 0 None 1 Even number 2 Odd number Sets the parity for RS 485 communication Communication stop bit 0 1 bit 0 Sets the stop bit for RS 485 1 2 bits communication Transmission waiting 0 to 10000 x0 1 ms 100 Sets the transmission waiting time for time RS 485 communication e Parameters set with the OPX 2A MEXEO2 or via RS 485 communication Set the following paramet
173. tion Setting range Initial value Minimum ON time for MOVE output Sets the minimum ON time for MOVE output 0 to 255 ms 0 E AREA1 output to AREAS output The AREA output turns ON when the motor is inside the area set by the parameters It turns ON when the motor is inside the area even when the motor stops e When the AREA positive direction position parameter lt AREA negative direction position parameter To turn the AREA output ON Motor position lt AREA positive direction position or AREA negative direction position lt Motor position AREA output OFF AREA positive AREA negative direction position direction position 29 9 Explanation of I O signals 30 e When the AREA positive direction position parameter AREA negative direction position parameter To turn the AREA output ON AREA negative direction position lt Motor position lt AREA positive direction position AREA on output OFF AREA negative direction position AREA positive direction position e When the AREA positive direction position parameter AREA negative direction position parameter To turn the AREA output ON Motor position AREA negative direction position AREA positive direction position Note The motor position is the command position when turning the AREA1 to AREAS output ON Related parameters Parameter name Description Setting range Initial value AREA
174. tion time 1 0 00i ekdor 80000 643 0283h Common deceleration in positioning operation and 1 0 001 s lower continuous operation Sets the starting speed in 644 0284h Starting speed upper positioning operation and continuous operation The motor will operate at the starting speed 016 11090 000 piZ 100 645 0285h Starting speed lower if the operating speed is below the starting speed ae PARRI T i aad Sets the operating speed for 1 to 1 000 000 Hz 1000 647 0287h JOG operating speed JOG operation B lower Acceleration deceleration Sets the acceleration 4 288h 648 0288N rate of JOG upper deceleration rate or ND ee 30000 Acceleration deceleration acceleration deceleration time 1 0 MSCE OL 649 0289h C e 1 0 001 s rate of JOG lower for JOG operation 650 028Ah JOG starting speed upper Sets the starting speed for JOG 9 to 1 000 000 Hz MA 651 028Bh JOG starting speed lower Operation Acceleration deceleration Sets whether to use the 652 028Ch type upper common acceleration oC deceleration or the re eit 1 653 028Dh Acceleration deceleration acceleration deceleration Peparate type lower specified for the operation data Acceleration deceleration 654 028Eh unit upper Sets the acceleration 0 ms kHz i i deceleration unit i s 655 028Fh Acceleration deceleration unit lower Home seeking mode 704 02COh upper Set the mode for return to home 0 2 sensor mode i seeki ion 1
175. to 00h to FEh Communication error code 10 that have occurred in the past 184 OOB8h record 6 upper 185 00B9h Communication error code record 6 lower 186 OOBAh Communication error code record 7 upper 187 OOBBh Communication error code record 7 lower 188 OOBCh Communication error code record 8 upper 189 OOBDh Communication error code record 8 lower 190 OOBEh Communication error code record 9 upper 191 OOBFh Communication error code record 9 lower 192 00Coh Communication error code record 10 upper 193 00Cth Communication error code record 10 lower Present selected data No ae peas upper Monitors the operation data No currently w s selected 195 00C3h Present selected data No lower Monitors the operation data No corresponding Present operation data No to the data used in the current positioning 196 00C4h upper operation This address is used in linked motion operation and sequential 1 to 63 operation While the motor is stopped the last 197 00C5h Present operation data No used operation data number is indicated lower 1 is indicated until the positioning operation is performed after turning the power ON 198 00C6h Command position upper i is 2 147 483 648 to Monitors the command position Yea e 199 00C7h Command position lower 2 147 483 647 step 200 00C8h Command speed upper aie r min Monitors the current command speed r min _ Reverse 201 00C9h Command speed lower 0
176. to MS5 input selection lower 4108 100Ch HOME P function selection ou 0 Home output upper Sets the timing to output the 7 HOME P output 1 Return to home 0 A 4109 100Dh HOME P function selection put complete output lower 4128 1020h Filter selection upper ing 0 Speed filter upper Set aaa filter or moving 1 Moving average 0 c 4129 1021h Filter selection lower average Tiler filter 4168 1048h JOG travel amount upper Sets the travel amount for JOG 4o 8 388 607 step 1 4169 1049h JOG travel amount lower Operation Backward steps in 2sensor 4192 1060h mode home seeking ne eae eter B upper pulling out of the limit sensorin 4 to 32767 step 200 Backward steps in 2sensor 2 sensor mode return to home ackw operation FIIS ALOSIN mode home seeking lower j 4352 1100h INO input function selection upper 60 4353 1101h INO input function selection lower 4354 1102h IN1 input function selection upper 61 IN1 input function selection ge cea lower Sets the function of input Sge thi g5 c IN2 input function selection terminals INO to IN3 Oe ere 4356 1104h x upper 62 4357 1105h IN2 input function selection lower 4358 1106h IN3 input function selection upper 18 4359 1107h IN3 input function selection lower Indicates the timing for the data to become effective A Effective immediately B Effective after stopping the operation C Effective after executing
177. to the RAM All operation data and parameters previously saved 401 0191h Batch NV memory read lower in the RAM are overwritten 402 0192h Batch NV memory write upper Writes the parameters saved in the RAM to the NV memory The NV memory can be rewritten approx 403 0193h Batch NV memory write lower 100 000 times Communication parity communication stop bit and transmission waiting time are not initialized Initialize them using the OPX 2A or MEXEO2 e Configuration 018Ch 018Dh Configuration will be executed when all of the following conditions are satisfied e An alarm is not present e The motor is not operated Shows the motor status before and after executing the configuration Item Configuration is ready to Configuration is executing Configuration is completed execute PWR LED Lit Lit Lit ALM LED OFF OFF Based on the motor Motor excitation Excitation no excitation Excitation no excitation condition Output signals Allowed Indeterminable Allowed Input signals Allowed Not allowed Allowed The motor excitation status while executing the configuration keeps the status that the configuration has started The correct monitor value may not return even when the monitor is executed via RS 485 communication while executing the configuration 7 7 12 Method of control via Modbus protocol E Monitor command Monitor the command position command speed alarm and warning
178. tput RY n 1 F to RY n 1 8 Address number 3 remote I O RX n 1 F to RX n 1 8 Address number 3 remote I O input output RY n 2 7 to RY n 2 0 Address number 4 remote I O RX n 2 7 to RX n 2 0 Address number 4 remote I O input output RY n 2 F to RY n 2 8 Address number 5 remote I O RX n 2 F to RX n 2 8 Address number 5 remote I O input output RY n 3 7 to RY n 3 0 Address number 6 remote I O RX n 3 7 to RX n 3 0 Address number 6 remote O input output RY n 3 F to RY n 3 8 Address number 7 remote I O RX n 3 F to RX n 3 8 Address number 7 remote I O input output RY n 4 7 to RY n 4 0 Address number 8 remote I O RX n 4 7 to RX n 4 0 Address number 8 remote I O input output RY n 4 F to RY n 4 8 Address number 9 remote I O RX n 4 F to RX n 4 8 Address number 9 remote I O input output Address number 10 remote Address number 10 remote RY n 5 7 to RY n 5 0 I O input RX n 5 7 to RX n 5 0 I O output Address number 11 remote Address number 11 remote RY n 5 F to RY n 5 8 1O input RX n 5 F to RX n 5 8 110 output FY 0 6 710 RY 06 Control input of NETC01 CC PIX 6 ee Status output of NETC01 CC RY n 6 F to RY n 6 8 RX n 6 F to RX n 6 8 RY n 7 7 to RY n 7 0 RX n 7 7 to RX n 7 0 RY n 7 n 7 8 n 7 F to RY n 7 Control input of system area RX n 7 F to RX n 7 8 Status output of sys
179. tput the status of the general signal R4 irig R5 Output the status of the general signal R5 iaai R6 Output the status of the general signal R6 A bea ats The FREE input is a function that is used for an electromagnetic brake type motor Do not use the FREE input since there is no electromagnetic brake type in the PKA Series 106 13 Method of control via Network converter Signal name Function Setting range R7 Output the status of the general signal R7 iaai R8 Output the status of the general signal R8 H iat R9 Output the status of the general signal R9 ve oa R10 Output the status of the general signal R10 n Eee R11 Output the status of the general signal R11 n n R12 Output the status of the general signal R12 inate R13 Output the status of the general signal R13 coe R14 Output the status of the general signal R14 7 on R15 Output the status of the general signal R15 ri a MO_R to M5_R Output in response to the MO to M5 H i LS_R Output in response to the LS fess LS_R Output in response to the LS a HOMES_R Output in response to the HOMES r A SLIT_R Output in response to the SLIT n AAN ALM Output the alarm status normally open H eS DoR WNG Output the warning status i ene ae er READY Output when the motor is ready a aa MOVE Output when the motor operates a ae HOME P Output when the motor is in home position haeta T
180. ts that are sensitive to electrostatic charge Before touching the motor turn off the power to prevent electrostatic charge from generating If an electrostatic charge is impressed on the motor the motor may be damaged 12 8 Connection 8 Connection This chapter explains how to connect the power supply I O signals and others e Ensure that the connector plugged in securely Insecure connection may cause malfunction or damage to the motor 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 PWR LED to turn off before doing so 8 1 Connection of power supply and I O signals grounding motor Connect the power supply and I O signals to the motor using the supplied CN1 leadwire connector assembly 12 pins 24 V DC power supply GND 24 VDC 10 Programmable controller FG E CN1 connector pin assignments Lead wire color Pin No Signal name Description e Pin assignment Yellow 1 FG Frame Ground 12 2 Black White 2 GND Power supply GND Orange 3 IN COM Input common Red White 4 24 VDC 24 VDC power supply input Green 5 INO Control input 0 initial value LS Blue 6 IN1 Control input 1 initial value LS Purple 7 IN2 Control input 2 initial value HOMES 11 Gray 8 IN3 Control
181. ue to fatigue may occur when the motor bearings and output shaft are subject to repeated loading by an overhung or thrust load that is in excess of the permissible limit Permissible overhung load N Ib a Distance from the tip of motor s output shaft ovale Model istance from the tip of motor s output sha thrust load 0 mm 5mm 10 mm 15mm 20 mm N Ib 0 in 0 2 in 0 39 in 0 59 in 0 79 in PKA544KD 20 4 5 25 5 6 34 7 6 52 11 7 0 3 0 66 PKA566KD 63 14 1 75 16 8 95 21 130 29 190 42 0 8 1 76 7 5 installing and wiring in compliance with EMC Directive Effective measures must be taken against the EMI that the motor may give to adjacent control system equipment as well as the EMS of the motor 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 to be compliant with the EMC directive Refer to CE Marking on p 7 for the applicable standards Oriental Motor conducts EMC measurements on its motors in accordance with Example of installation and wiring on p 12 The user is responsible for ensuring the machine s compliance with the EMC Directive based on the installation and wiring explained below E Power supply This motor is a product of DC power supply input Use a DC power supply switching power supply etc that conforms to the EMC Directive
182. umber 3 remote I O RX n 3 7 to RX n 3 0 Address number 3 remote I O RY n 3 F to RY n 3 8 input RX n 3 F to RX n 3 8 output RY n 4 7 to RY n 4 0 Address number 4 remote I O RX n 4 7 to RX n 4 0 Address number 4 remote I O RY n 4 F to RY n 4 8 input RX n 4 F to RX n 4 8 output RY n 5 7 to RY n 5 0 Address number 5 remote I O RX n 5 7 to RX n 5 0 Address number 5 remote I O RY n 5 F to RY n 5 8 input RX n 5 F to RX n 5 8 output EAM Sea Control input of NETCO1 CC RA TF6 A tO AX N6 0 Status output of NETC01 CC RY n 6 F to RY n 6 8 RX n 6 F to RX n 6 8 RY n 7 7 to RY n 7 0 RX n 7 7 to RX n 7 0 RY n 7 n 7 8 n 7 F to RY n 7 Control input of system area Status output of system area RX n 7 F to RX n 7 8 See the network converter NETCO1 CC OPERATING MANUAL for details 97 13 Method of control via Network converter e 12 axes connection mode Command RY Master to NETCO1 CC Response RX NETCO1 CC to master Device No Description Device No Description RYn7 to RYn0 Address number 0 remote I O RXn7 to RXn0 Address number 0 remote I O input output RYnF to RYn8 Address number 1 remote I O RXnF to RXn8 Address number 1 remote I O input output RY n 1 7 to RY n 1 0 Address number 2 remote I O RX n 1 7 to RX n 1 0 Address number 2 remote I O input ou
183. unction code e Error check In the Modbus RTU mode error checks are based on the CRC 16 method The slave calculates a CRC 16 of each received message and compares the result against the error check value included in the message If the calculated CRC 16 value matches the error check value the slave determines that the message is normal CRC 16 calculation method Calculate an exclusive OR XOR value of the default value of FFFFh and slave address 8 bits Shift the result of step 1 to the right by 1 bit Repeat this shift until the overflow bit becomes 1 Upon obtaining 1 as the overflow bit calculate an XOR of the result of step 2 and AOOth Repeat steps 2 and 3 until a shift is performed eight times aU pee De Calculate an XOR of the result of step 4 and function code 8 bits Repeat steps 2 to 4 for all bytes The final result gives the result of CRC 16 calculation 70 12 Method of control via Modbus protocol E Response Slave returned responses are classified into three types normal response no response and exception response The response message structure is the same as the command message structure Slave address Function code Data Error check 8 bits 8 bits Nx8 bits 16 bits e Normal response Upon receiving a query from the master the slave executes the requested process and returns a response e No response The slave may not return a response to a query sent by the master This cond
184. uring normal operation and it turns OFF when an alarm generates E P PRESET input 4msormore P PRESET i me input OFF 6 ms or less Command position 6 ms or less HOME P ON P output off E Single motion operation positioning operation 5 mi OFF 7 O START input 4 ms or more 4 ms or more i ON MO to M5 input OFF No 0 No 1 6 ms or less MOVE pi output OFF _ 6 ms or less READY RA output OFF Motor operation 47 10 Operation E Linked motion operation positioning operation 4 ms or more START i a al input OFF 4 ms or more MO to M5 i ON No 0 X No 1 to input OFF o o 6 ms or less MOVE a output OFF 6 ms or less ON READY output OFF Motor operation E Linked motion operation 2 positioning operation 4 ms or more START i N input OFF 4 ms or more i ON MO to M5 input OFF No 0 No 1 6 ms or less MOVE output 6 ms or less READY ot output opp ON Ottis OFF Lo No 1 4 Motor operation This is the value of the dwell time to be set in operation data No 1 Direct positioning operation 4 ms or more MSO to MS5 i oN to input OFF 6 ms or less MOVE N output OFF 6 ms or less READY sedi output OFF Motor operation JON 48 E Sequential operation 4 ms or more RTi 9N SSTART input
185. value of soft limit in negative 70 389 000 to R988 00F Negative software limit preety g step 8 388 608 direction Preset position Sets the preset position 0 Wrap settin Sets enable disable for the wrap 0 Disable 0 P g function 1 Enable Wrap setting range Sets the wrap setting range 1 to 8 388 607 step 500 Indicates the timing for the data to become effective A Effective immediately C Effective after executing the configuration 56 10 Operation e Resolution When the electronic gear A and electronic gear B parameters are set the resolution per one rotation of the motor output shaft can be set Note that the calculated value must fall within the setting range specified below Resolution setting range 500 to 125 000 P R Electronic gear B Resolution 500 x t _ Electronic gear A e If the value outside of the setting range is set the electronic gear setting error warning will generate If the power is cycled or the configuration is executed while the electronic gear setting error warning is present an electronic gear setting error alarm will generate e When the TIM output is used set the resolution to be an integral multiple of 50 Calculation of electronic gear A and B Calculation of electronic gear A and B is explained with examples of a ball screw and rotary table Example Ball screw Ball screw lead 10 mm 0 394 in Minimum travel amount 0 01 mm 0 000394 in
186. ve C Effective after executing the configuration 87 12 Method of control via Modbus protocol Register address Initial Name Description Setting range Effective Dec Hex P g rang value 4496 1190h NET OUT8 output function selection upper 80 4497 1191h NET OUT8 output function selection lower 4498 1192h NET OUT9 output function selection upper 73 4499 1193h NET OUT9 output function selection lower 4500 1194h NET OUT10 output function selection upper 74 4501 1195h NET OUT10 output function selection lower 4502 1196h NET OUT11 output function selection upper 75 NET OUT11 output function 4503 1197h selection lower Sets the function of NET OUT8 sge table on p 89 c NET OUT12 output function to NET OUT15 or 4504 1198h i selection upper 72 4505 1199h NET OUT12 output function selection lower 4506 119Ah NET OUT13 output function selection upper 68 4507 449Bh NET OUT13 output function selection lower 4508 419Ch NET OUT14 output function selection upper R 4509 119Dh NET OUT14 output function selection lower 4510 119Eh NET OUT15 output function selection upper 0 4511 119Fh NET OUT15 output function selection lower Communication timeout 4608 1200h ition i i upper Sets the condition in which a oe Notm nitorsd communication timeout occurs 0 to 10000 ms 0 4609 1201h COMmunication timeout in RS 48

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