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ARシリーズ AC電源入力パルス列入力タイプ

1. Controller Driver 2 7 kQ SS aon Sp A 10 kQ 2 7 kQ E 9 5 to 24 VDC A 3k FN A 3 D Y A Isk A oko aT 10 ka K T m AM Er As 9 T 3 kQ t ge 0 F 3ovoc K orlessA 10 mA or less 0 40 ac 11 0 29 43 XX aa Y d D 3 Da D iN dY T is AH 26C31 or equivalent CQ C9 69X9979 vOv e Use output signals at 30 VDC or less If the current exceeds 10 mA connect an external resistor Ro Connect a termination resistor of 100 or more between the driver and the input of the line receiver 26 e When pulse input is of 5 VDC type Controller Driver 5VDCA L X L X vOv When pulse input is of 24 VDC type Controller Driver 24 VDC A QE vOv 8 Connection 27 8 Connection Connecting to a current source output circuit e When pulse input is of line driver type Controller Driver 2 7kQ 2000 10 ka 2 7 kQ 200 Q Yy Y 3kQ
2. Metal plate Type Frame size Bolt size Tightening torque Effective depth of Installation mm in N m oz in bolt mm in method 42 1 65 M3 1 142 4 5 0 177 A Standard 60 2 36 M4 2 280 m B 85 3 35 M6 3 420 42 1 65 ices er M4 2 280 8 0 315 90 3 54 M8 4 560 15 0 591 PL geared 42 1 65 M4 2 280 8 0 315 A PN geared 60 2 36 M5 2 5 350 10 0 394 PS geared Harmonic geared 90 3 54 M8 4 560 15 0 591 Harmonic geared 2 90 3 54 M8 4 560 B 1 AR46 and AR66 type 2 AR98 type 17 7 Installation 7 3 Installing a load When connecting a load to the motor align the centers of the motor output shaft and load shaft Flexible couplings are available as accessories e When coupling the load to the motor pay attention to the centering of the shafts belt tension parallelism of the pulleys and so on Securely tighten the coupling and pulley set screws Be careful not to damage the output shaft or bearings when installing a coupling or pulley to the motor output shaft Do not modify or machine the motor output shaft Doing so may damage the bearings and destroy the motor Do not apply strong force using hammer or other tools when removing the parallel key Doing so may damage the motor output shaft and bearings ball bearings Using a coupling Align the centers of the motor output shaft and load shaft in a straight line Using a belt dr
3. Thermostat output Connect to CN1 AWG22 2 pcs JH THE Regeneration unit AWG18 2 pcs Connect CN2 P 23 pre _ e EL for motor O w Connect to CN4 P 33 This cable is used to connect the motor and driver exl NS P 65 rap o lt gt 0 0 D PE Connect to CN5 24 J Single phase 100 115 V Single phase 200 230 V Three phase 200 230 V Power supply Circuit breaker or Noise filter Use the power supply ground fault interrupt Use a noise filter to eliminate noise within the rated voltage circuit GFI It has the effect of reducing noise range Be sure to connect a circuit generated from the power supply and driver P 30 breaker or ground fault interrupt P 21 circuit to protect the wiring on the primary side P 10 3 System configuration Extended functions are made available through use of accessories sold separately Data setter OPX 2A m PC in which the data editing software MEXE02 Or has been installed The customer must provide a PC I I I I T T T I T ss I T 1 Easy setting using switches Orientalmotor ARD C Set the operating current P 45 CURRENT s
4. Speed filter setting switch 0 minimum Command speed Operating speed END output To change the basic setting for speed filter Refer to Speed filter on p 53 Speed filter setting switch F maximum HEA Command speed SONG Operating speed See END output 45 12 Extended functions 12 Extended functions Using the OPX 2A or MEXEO2 the driver parameters can be changed and also test operation and monitoring operations can be performed The key functions are listed OPX 2A OPERATIONAL UNIT OPX 2 2 below Parameter codes displayed the 2 screen are shown brackets Since these codes are also referenced in the main text herein use these codes as keywords TEE Parameters that can be set with the OPX 2A can also be set Orientalmotor ao a with MEXEO2 For the method to set parameters with the OPX 2A or MEXEO2 refer to the operating manual for each product E Application parameters Item Description Mi dad Reference Set each operating current rate assigned to the current setting APP 0 00 to Operating current switch APP 0 15 P 53 Set each filter time c
5. otor excitation OFF Position deviation Internal speed command A Position deviation occurs N due to external force Acceleration and deceleration rate of return to electrical home operation Operating speed of return to electrical home operation The output time of the END signal varies depending on the speed filter and operating speed e Ifthe C ON input is turned OFF while automatic return operation is still in progress the operation will be interrupted When the C ON input is turned ON again the return operation will resume e Automatic return operation can also be interrupted using the FREE input Operation is terminated with the CLR input ON C ON input ORE 500 ys or more CLR input OFF 5 ms or less ON READY output OFF 5 ms or less ON END output OFF 250 ms or less Motor excitation ON OFF 9 ms or less Position deviation p 5 ms or less Operating speed of return to Internal speed command electrical home operation Acceleration and deceleration rate of return to electrical home operation The output time of the END signal varies depending on the speed filter and operating speed e When the CLR input is turned ON the position deviation will be cleared Accordingly the return operation will end 76 ALM output WNG output Alarm 0 s or more 18 Refe
6. Warnin Handling the product without observing the instructions that accompany a Warning 9 symbol may result in serious injury or death Caution Handling the product without observing the instructions that accompany a Caution symbol may result in injury or property damage Note The items under this heading contain important handling instructions that the user should observe to ensure safe use of the product Warning General Do not use the product in explosive or corrosive environments in the presence of flammable gases locations subjected to splashing water or near combustibles Doing so may result in fire electric shock 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 electric shock injury or damage to equipment Do not transport install the product perform connections or inspections when the power is on Always turn the power off before carrying out these operations Failure to do so may result in electric shock e The terminals on the driver s front panel marked with A symbol indicate the presence of high voltage Do not touch these terminals while the power is on to avoid the risk of fire or electric shock Take measures to keep the moving parts in position for vertical operations such as elevator applications The motor loses holding torque when the power
7. Cause Action A sensor error occurred while the motor was operating A sensor error occurred when the power was turned on Turn off the power and check the connection between the motor cable and driver and then cycle the power The motor output shaft rotated at a speed of 15 r min or more while the initialization was still in progress following a power on Adjust the load and make sure the motor output shaft does not turn due to an external force when the power is turned on A motor not supported by the driver is connected Check the driver model and motor model and use the driver and motor in the correct combination Data stored in the driver was damaged Initialize the parameters using the OPX 2A or MEXEO2 61 15 Alarms and warnings 15 2 Warnings When a warning generates the WNG output will turn ON The motor will continue to operate Once the cause of the warning is removed the WNG output will turn OFF automatically Present warnings can be checked using the OPX 2A or MEXEO2 You can also check the records of up to ten most recent warnings starting from the latest one or clear the warning records ETSI You can also clear the warning records by turning off the driver power E Descriptions of warnings See p 84 for more information about the warning parameters Warning Warning type eds Cause Action e When the current was turned on the deviation b
8. Set whether or not to automatically return the motor when the SyS 1 03 P50 current is turned on to the position where it was stopped Rotation direction Select rotation direction of the motor SyS 1 04 P 50 When a system parameter has been changed the new parameter will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply 12 1 Setting B Resolution The resolution can be set using the applicable driver switches or CS input Using the switches Use the resolution switches D0 D1 and CS0 CS1 to set a desired resolution per revolution of the motor output shaft D1 DO CS1 cso T Resolution 1000 P R bo f f 1 1 cs1 i gt 50 Resolution 500 P R Resolution 10000 P R Resolution 5000 P R If a 24 VDC power supply is used also cycle the 24 VDC power supply E The new settings of the resolution switches will become effective after the power is cycled The values of resolution switches CS0 CS1 D0 D1 can be changed with the system parameters for electronic gear SyS 0 00 to SyS 0 04 as shown in the table below Note that the calculated value must fall within the setting range specified below Resolution setting range 100 to 10000 P R Factory setting 1000 P R Resolution switches CSO CS1 DO 1000 x Electronic gear B SyS 0 04
9. 12 6 3 Combinations of motors and drivers indicates A single shaft B double shaft or M with electromagnetic brake For the AR911 indicates A single shaft or B double shaft For geared type O indicates A single shaft or M with electromagnetic brake in the unit model represents a number indicating the gear ratio indicates the cable length 6 Preparation E Standard type E PN geared type Model Motor model Driver model Model Motor model Driver model AR460A O ARM4601C ARA6LIA NB O ARM460C N AR66LIA O ARM GLIC AR66LIA NB O ARM LIC NB ARD A AR69LIA O ARM 9LIC ARD A AR98LIA NB O ARM98LIC NB AR98LIA O ARM98LIC ARAG6LIC NB O ARMAGLIC NB ARI110A O ARM 911LIC AR66LIC NWH O ARM LIC NB ARD C AR460C O ARM4601C AR98LIC NB O ARM98LIC NB AR66LIC O ARM GLIC ARAGLIS NB O ARMAGLIC NB AR69LIC O ARM 9LIC ARD C AR66LIS NB O ARM 6LIC NB ARD S AR98LIC O ARM98LIC AR98LIS NE O ARM98LIC NB AR9T11LIC O ARM 911LIC AR460S O ARM4601C AR66LIS O ARM GLIC AR69LIS O ARM 9LIC ARD S AR98LIS O ARM98LIC AR9T1LIS O ARM911LIC E TH geared type PS geared type Model Motor model Driver model Model Motor model Driver model ARAGLIA TB O ARMAGLIC TI ARAGLIA PSB O ARMAGLIC PSm AR66LIA TB O ARM GLIC TI ARD A AR66LIA PSB O
10. Do not forcibly bend pull or pinch the cable Doing so may fire and electric shock Operation Turn off the driver power in the event of a power failure Or the motor may suddenly start when the power is restored and may cause injury or damage to equipment Do not turn the FREE input to ON while the motor is operating The motor will stop and lose its holding power Doing so may result in injury or damage to equipment Maintenance and inspection Do not touch the connection terminals on the driver while the power is supplied or for at least 10 minutes after turning off the power Before making wiring connections or carrying out checks also wait for the CHARGE LED to turn off and check the voltage with a tester etc Failure to do so may result in electric shock Repair disassembly and modification Do not disassemble or modify the motor and driver This may cause electric shock or injury Refer all such internal inspections and repairs to the branch or sales office from which you purchased the product 1 Safety precautions Caution General Do not use the motor and driver beyond its specifications Doing so may result in electric shock injury or damage to equipment e Keep your fingers and objects out of the openings in the motor and driver Failure to do so may result in fire electric shock or injury Do not touch the motor and driver during operation or immediately after stopping The surface is ho
11. Acceleration and deceleration rate of JOG operation APP 7 01 Starting speed of JOG operation APP 7 02 Note JOG operation is performed only while each applicable operation button is pressed on the OPX 2A or clicked in MEXEO2 External signals cannot be used to start stop the motor 51 a 12 Extended functions E Return to electrical home operation When the RETURN input is turned ON the motor will start a return to electrical home operation The electrical home position refers to the motor position effective when the driver power is turned on or the position when the P RESET input is turned ON Set the required conditions for return to electrical home operation using the following parameters Operating speed of return operation APP 6 00 Acceleration and deceleration rate of return operation APP 6 01 e Starting speed of return operation APP 6 02 Refer to p 74 for the timing chart e Pulses are not counted during return to electrical home operation If the CS input is turned ON when the application parameter for abnormal operation data warning APP 5 00 is set to Enable a return to electrical home operation will be disabled and an abnormal operation data warning will generate If a return to electrical home operation is to be performed after the CS input is turned ON turn the P RESET input ON to confirm the electrical home position and then turn the RETURN input ON e Turning the P RESET input
12. READY output OFF ON ALM output OFF Electromagnetic brake Release Motor excitation OFF OS Position deviation occurs due to external force 350 ms or less 300 ms or less _ 0 S or more Generation condition 10 ms or more 5 ms or more 2 5 ms or less 5 ms or less 5 ms or less RUPES am SEES i 60 ms or less 60 ms or less 250 ms or less The specific time varies depending on when an alarm record is saved 2 An alarm is reset at the OFF edge of the ALM RST input e This timing chart assumes generation of an alarm that turns off motor excitation 71 18 Reference E TLC output Normal mode ON CW input OFF CCW input NE ON CCM input OFF T MODE input ON OFF 5 ms or less 1 5 ms or less 5 ms or less 5 ms or less ON TLC output OFF 2 1 8 Position deviation 0 intemal speed commana aM n Input the T MODE signal while the motor is at standstill 2 When the position deviation exceeds 3 Current control mode CWi ON input OFF CCWi input OFF Push motion operation is in progress 1 8 the TLC signal will be output even during acceleration deceleration CCM i hd input OFF T MODEi Md input OFF TLC output ON OFF Motor current
13. e For motor e For electromagnetic brake Model Length m ft Model Length m ft CCO50VAF 5 16 4 CCOS50VAFB 5 16 4 CCO70VAF 7 23 CCO70VAFB 7 23 CC100VAF 10 32 8 CC100VAFB 10 32 8 CC150VAF 15 49 2 CC150VAFB 15 49 2 CC200VAF 20 65 6 CC200VAFB 20 65 6 CC300VAF 30 98 4 CC300VAFB 30 98 4 e Flexible connection cable set e For motor e For electromagnetic brake Model Length m ft Model Length m ft CCO10VAR 1 3 3 CCO10VARB 1 3 3 CC0O20VAR 2 6 6 CCO20VARB 2 6 6 CCO30VAR 3 9 8 CCO30VARB 3 9 8 CCO50VAR 5 16 4 CCOS50VARB 5 16 4 CC070VAR 7 23 CC070VARB 7 23 CC100VAR 10 32 8 CC100VARB 10 32 8 CC150VAR 15 49 2 CC150VARB 15 49 2 CC200VAR 20 65 6 CC200VARB 20 65 6 CC300VAR 30 98 4 CC300VARB 30 98 4 e Extension cable set e For motor e For electromagnetic brake Model Length m ft Model Length m ft CCO10VAFT 1 3 3 CCO10VAFBT 1 3 3 CCO20VAFT 2 6 6 CCO20VAFBT 2 6 6 CCO30VAFT 3 9 8 CCO30VAFBT 3 9 8 CCO50VAFT 5 16 4 CCO50VAFBT 5 16 4 CCO70VAFT 7 23 CCO070VAFBT 7 23 CC100VAFT 10 32 8 CC100VAFBT 10 32 8 CC150VAFT 15 49 2 CC150VAFBT 15 49 2 CC200VAFT 20 65 6 CC200VAFBT 20 65 6 e Flexible extension cable set e For motor e For electromagnetic brake Model Length m ft Model Length m ft CCO10VART 1 3 3 CCOT10VARBT 1 3 3
14. The load is pressurized continuously while the T MODE input is ON The output torque is limited at the current value selected for the parameter in step 2 If the output torque reaches the current value selected for the parameter in step 2 the TLC output will turn ON Refer to p 70 and p 72 for the timing charts Beo d 5 Stop the pulse input 6 Tum the T MODE input OFF Note e During push motion operation the automatic current cutback function does not operate even when the pulse input is stopped In other words the value of push current selected for the parameter is maintained e f the load is removed during push motion operation the motor will move at high speed the number accumulated pulses e Since pulses are input continuously during push motion operation a prolonged push condition may generate an excessive position deviation alarm If the push condition continues for a prolonged period stop the pulse input Whether or not the motor is pushing the load can be determined using the TLC output Test operation Test operation is performed using the data setter OPX 2A or the data setting software MEXEO2 Conduct test operation JOG operation to check the levels of vibration and noise or to check how operations are performed in a push motion operation and or a return to electrical home operation Set the required conditions for JOG operation using the following parameters Operating speed of JOG operation APP 7 00
15. To use the electromagnetic brake to hold the load in place do so after the motor has stopped Double shaft type motor Do not apply a load torque overhung load or thrust load to the output shaft on the opposite side of the motor output shaft Preventing leakage current Stray capacitance exists between the driver s current carrying line and other current carrying lines the earth and the motor respectively A high frequency current may leak out through such capacitance having a detrimental effect on the surrounding equipment The actual leakage current depends on the driver s switching frequency the length of wiring between the driver and motor and so on When providing a leakage current breaker use the following products for example which have high frequency signal protection Mitsubishi Electric Corporation NV series Fuji Electric FA Components amp Systems Co Ltd EG and SG series Preventing electrical noise See 7 7 Installing and wiring in compliance with EMC Directive on p 21 for measures with regard to noise Maximum torque of geared type motor Always operate the geared type motor under a load not exceeding the maximum torque If the load exceeds the maximum torque the gear will be damaged 5 Precautions for use About grease of geared motor On rare occasions a small amount of grease may ooze out from the geared motor If there is concern over possible environmental damage resulting from the leakage of grease c
16. Use the accessory regeneration unit RGB100 sold separately if gravitational operation or other operation involving up down movement or sudden starting stopping of a large inertia load will be repeated frequently Regeneration unit RGB100 To TH1 and TH2 terminals on CN1 I The two thin lead wires AWG22 0 3 mm of the regeneration unit are the thermostat outputs Connect them to the TH1 and TH2 terminals using the CN1 connector e Regenerative current flows through the two thick lead wires AWGIS8 0 75 mm of the regeneration unit Connect them to the RG1 and RG2 terminals using the CN3 connector Before connecting the regeneration unit be sure to remove the jumper wire from the CN1 connector e If the current consumption of the regeneration unit exceeds the allowable level the thermostat will be triggered and a regeneration unit overheat alarm will generate If a regeneration unit overheat alarm generates turn off the power and check the content of the error Regeneration unit specifications Model RGB100 Continuous regenerative power 50 W Instantaneous regenerative power 600 W Resistance 1500 Operation Opens at 150 7 C 302445 F Reset Closes at 145412 C 293454 F normally closed Electrical rating of thermostat 120 VAC 4A 30 VDC 4A minimum current 5 mA Install the regeneration unit in a location where he
17. 2 locations at the back 15 6 Preparation 6 5 16 Input output power ratings O indicates A single shaft B double shaft or M with electromagnetic brake For the AR911 L1 indicates A single shaft or B double shaft For geared type O indicates A single shaft or M with electromagnetic brake For geared type 6 represents the type of gear and number indicating the gear ratio indicates the cable length Model Motor model Driver model BPO Output current Voltage Frequency Current ARA6HAe O ARM4601Ce 29A 0 49 A AR 6HAe O ARM 6HCe 44A 074A 69 690 ARD 61A 0 92A AR9BLAe O ARM98LICe 55A 113A AR9110A O ARM9110C 6 5A 127A ARA6LICe O ARM460Ce 19 0 49 AR 6LICe O 66 27 074A AR 9LIC O 690 ARD C Smalephase soje Hz 38 0 92A AR98LICe O ARM980Ce 34A 113A AR9110C O ARM9110C 41A 127A ARA6LISe O ARM4601Ce 1 0A 0 49A AR660Se 0 ARMS660Ce Sco 14A 0 74 A AR69LIS O ARM 9LIC ARD S net 2 0A 0 92A AR98LSe O ARM98LICe 1 8A 113A AR911HS O ARM9110C 22A 127 A 7 Installation 7 Installation This chapter explains the installation location and installation methods of the motor and driver The installation and wiring methods in compliance with the EMC Directive are also explained 7 1 Location for
18. Overspeed The speed of the motor output shaft exceeded 4500 r min excluding geared motors Command pulse error The command pulse frequency exceeded the specified value Regeneration unit overheat e The regeneration unit is not connected correctly e The regeneration unit is overheating Overvoltage protection e 200 230 VAC was applied to a product specified for 100 115 VAC e A large inertial load was stopped abruptly or up down operation was performed without connecting a regeneration unit Main power supply error The motor was started when the main power was cut off Undervoltage The main power was cut off momentarily or the voltage became low Overflow rotation during current on e When the current was turned on the deviation between the command position and actual position exceeded the value set in the parameter for overflow rotation during current on APP 5 01 e The load is large or acceleration deceleration rate is low Overflow rotation during current off The C ON input was turned ON while an excessive position deviation warning at current OFF was present Overcurrent protection The motor cable or driver output circuit was shorted Drive circuit error The motor cable was disconnected Abnormal operation data Return to electrical home operation was performed while an abnormal operation data warning was present Electronic gear setting error The
19. PASC 3kQ PASC 3kQ PASC PASC PASC PASC TOMA gn less Ro Y Y Deg ko D Y e Use output signals at 30 VDC or less If the current exceeds 10 mA connect an external resistor RO Connect a termination resistor of 100 or more between the driver and the input of the line receiver 28 8 Connection e When pulse input is of 5 VDC type Controller Driver 5 VDC A 4 A 10ko Y Y When pulse input is of 24 VDC type 4 Controller Driver 24 VDC A n OVV 29 8 Connection 8 3 Connecting the power supply Use the CN3 connector 5 pins to connect the power supply cable AWG16 to 14 1 25 to 2 0 mm to the main power supply connector CN3 on the driver E Power supply current capacity e Single phase 100 115 V e Single phase 200 230 V e Three phase 200 230 V Model current cabaciy Medel i Model surent capacity AR46 2 9 A or more AR46 1 9Aor more AR46 1 0 Aor more AR66 4 4 or more AR66 2 7 Aor more AR66 1 4Aor more AR69 6 1 Aor more AR69 3 8 A or more AR69 2 0 A or more AR98 5 5 Aor more AR98 3 4 A or more AR98 1 8 A or more AR911 6 5 A or more AR
20. Standard Extended Moge Item Overview ii dad Current specification function Normal itel contro input signal mode Set whether or not to perform push motion operation selection Output a corresponding alarm code using the READY ALO Alarm code output TLC AL1 output and TIM2 AL2 output when an Not available alarm generates END signal range Set the output band for END output END signal offset Set the offset for END output Pulse input operation Perform operation based on input of CW CCW pulses Available Set the current for push motion operation Not available Push motion operation Available Available Available Set the input signal mode Select the current for push motion operation using the MO to M2 inputs Output the TLC signal during push motion operation The output condition varies depending on the control mode Normal mode The TLC output will turn ON when misstepping 1 8 or more is detected Current control mode The output will turn ON when the specified torque is reached Set the operating speed of return to electrical home operation ow do s Set the acceleration and deceleration rate of return to electrical home Not available electrical home operation operation Set the starting speed of return to electrical home operation ASG BSG output Check the motor output Available TIM output The TIM outputs TIM1 TIM2 will turn ON every time the motor output sh
21. etc protective functions as well as warnings that are output before the corresponding alarms generate warning functions 15 1 Alarms When an alarm generates the ALM output will turn OFF and the motor will stop The motor will continue to operate after generating the abnormal operation data alarm because abnormal operation data alarm does not cut off the motor current When the application parameter for ALO 2 signal output APP 2 01 is set to Enable the READY output TLC output and TIM2 output will automatically switch to the ALO output AL1 output and AL2 output respectively When an alarm generates the ALARM LED will blink The present alarm can be checked by counting the number of times the ALARM LED blinks or using the OPX 2A or MEXEO2 Example Overvoltage alarm number of blinks 3 Approx 0 2 s i Approx 0 2 s Interval Approx 1 4 E Alarm reset Perform one of the reset operations specified below Before resetting an alarm always remove the cause of the alarm and ensure safety Refer to p 71 for the timing chart Turn the ALM RST input to ON and then OFF The alarm will be reset at the OFF edge of the input Perform an alarm reset using the OPX 2A or MEXEO2 Cycle the power Some alarms cannot be reset with the ALM RST input OPX 2A or MEXEO2 Check the following table to identify which alarms meet this condition To reset these alarms you must cyc
22. 0 and Speed filter setting switch V FIL F correspond to the minimum and maximum speed filter settings P 45 respectively Factory setting 1 These two switches are used to set the resolution per revolution of the motor Resolution switches 00 01 CSO CS1 output shaft P 44 1 The factory settings are DO and CSO 1000 P R This switch toggles the driver between the normal mode and current control mode NORM Normal mode Keep the switch in this position in normal conditions of Control mode select switch use P52 Current control mode Set the switch to this position if you want to NORM CCM CCM C t control mode Set th itch to thi ition if tt suppress noise or vibration Factory setting NORM This switch is used to toggle between the 1 pulse input mode and 2 pulse input mode according to the pulse output mode of the controller Pulse input mode select switch 1P 1 pulse input mode active low PAA 2P 1P 2P 2 pulse input mode active low The factory setting of the pulse input mode depends on the destination country Data edit connector CN4 Connect a PC in which the MEXEO2 has been installed or the OPX 2A P 33 I O signal connector CN5 Connect the I O signals of the controller P 24 2 Protective Earth Terminals Used for grounding via a grounding cable of AWG16 to 14 1 25 to 2 0 mm P31 or more Connect 24 VDC Once a 24 VDC power supply is connected you can check 24 VDC power supply input the contents of alarms t
23. 10 Explanation of I O signals Electrical characteristics of ASG output and BSG output 250 ns or 290 ns or more J 500 ns or more ON 90 ASG output 10 250nsormore 250 ns or more ns or more on 90 BSG output OFF 10 3 j x The electrical characteristics vary depending on the IC specification of the line driver E WNG output When a warning generates the WNG output turns ON The warning can be generated before a corresponding alarm generates To use the WNG output the applicable parameter must be changed using the OPX 2A or MEXEO2 The initial value is to use the same conditions applicable to alarms For details on warning refer to p 62 ALM output When an alarm generates the ALM output will turn OFF At the same time the ALARM LED of the driver will blink and the motor current will be cut off and stop In the case of an electromagnetic brake motor the electromagnetic brake will switch to the holding mode Set the programmable controller so that it will stop motor operation commands upon detection of an OFF status of the ALM output The cause of the alarm can be checked by counting the number of times the ALARM LED blinks For details refer to p 57 Abnormal operation data alarm is not supported by this function because the current will not be cut off even after these errors occur Blink ALARM LED ALM eh o
24. 15 ms or less 15 ms or less 15 ms or less 15 ms or less Current limit 2 1 8 Position deviation 0 Internal speed command Input the T MODE signal while the motor is at standstill 5 Push motion operation is in progress 2 When the motor current reaches the operating current the TLC signal will be output even during acceleration deceleration 72 18 Reference END output ON CW CCW input OFF 5 ms or less 5 ms or less 5 ms or less END output bi OMPUL off 1 8 Position deviation 0 q Internal speed command Internal speed command under active speed filter Internal speed command External force is applied The output time of the END signal varies depending on the speed filter and operating speed e The END output will turn ON when the position deviation becomes 1 8 and internal speed command is 0 E TIM1 output TIM2 output ON x CWICCW input opp ARR EH 150 us or less 150 us or less e 50 us or more 150 us or less TIM1 output Me OFF 5 ms or less Smsorless 800 us or more 9 ms or less TIM2 t En outpu OFF When pulses corresponding to 1 50th the resolution are input assuming that the resolution is a multiple of 50 e This timing chart assumes that an operati
25. 5 7 2 480 108 540 121 600 135 680 153 790 177 10 AR98 25 850 191 940 210 1050 230 1190 260 1380 310 300 67 36 930 200 1030 230 1150 250 1310 290 1520 340 50 1050 230 1160 260 1300 290 1480 330 1710 380 AR46 100 22 120 27 150 33 190 42 5 200 54 220 49 250 56 280 63 320 72 72 i 250 56 270 60 300 67 340 76 390 87 100 22 AR66 25 36 330 74 360 81 400 90 450 101 520 117 PN geared 50 5 480 108 520 117 550 123 580 130 620 139 te 480 108 540 121 600 135 680 153 790 177 ARIS 25 850 191 940 210 1050 230 1110 240 1190 260 20087 36 930 200 1030 230 1150 250 1220 270 1300 290 50 1050 230 1160 260 1300 290 1380 310 1490 330 i AR46 180 40 220 49 270 60 360 81 510 114 220 49 Semi AR66 320 72 370 83 440 99 550 123 720 162 450 101 AR98 1090 240 1150 250 1230 270 1310 290 1410 310 1300 290 19 7 Installation E Permissible moment load of the Harmonic geared type When installing an arm or table on the flange surface Model Permissible C calculate the moment load using the formula below if the load N m oz in flange surface receives any eccentric load The moment AR46 5 6 790 load should not exceed the permissible value specified in AR66 11
26. 6 1640 the table Moment load M N m 0z in F x L 7 5 Installing the driver The driver is designed so that heat is dissipated via air convection and 35 1 38 0 0 79 or more conduction through the enclosure Install the driver on a flat metal plate material aluminium 200 200 2 mm 7 87 7 87 0 08 in equivalent having excellent heat conductivity When two or more drivers are to be installed side by side provide 20 mm 0 79 in and 25 mm 0 98 in clearances in the horizontal and vertical directions respectively When installing the driver in an enclosure use two screws M4 not supplied to affix the driver through the mounting holes 6 S 091 L e Install the driver in an enclosure whose pollution degree is 2 or better environment or whose degree of protection is IP54 minimum Do not install any equipment that generates a large amount of heat or noise near the driver Do not install the driver underneath the controller or other equipment vulnerable to heat Check ventilation if the ambient temperature of the driver exceeds 50 C 122 F Be sure to install the driver vertically vertical position 40 860 SZ Unit mm in 7 6 Installing the regeneration unit Install the accessory regeneration unit RGB100 sold separately in a location where heat dissipation capacity equivalent to a level achieved with a
27. ARM GLIC PSm ARD A AR98LIA TB O ARM98LIC TI AR98LIA PSE O ARM98LIC PSm ARAGLIC TR O ARMAGLIC TI ARAGLIC PSB O ARMAGLIC PSI AR66LIC TB O ARM GLIC TI ARD C AR66LIC PSB O ARM GLIC PSm ARD C AR98LIC TB O ARM98LIC TI AR98LIC PSB O ARM98LIC PSm ARAGLIS TB O ARMAGLIC TI ARAGLIS PSW O ARMAGLIC PSm AR66LIS TB O ARM GLIC TI ARD S AR66LIS PSW O ARM GLIC PSm ARD S AR98LIS TBN O ARM98LIC TI AR98LIS PSW O ARM98LIC PSm E PL geared type E Harmonic geared type Model Motor model Driver model Model Motor model Driver model ARAGLIA PB O ARMAGLIC PI ARA6LIA HW O ARM460C HE AR66LIA PB O ARM GLIC PI ARD A AR66LIA HWB O ARM GLIC HN ARD A AR98LIA PB O ARM98LIC PN AR98LIA HWH O ARM98LIC HM ARAGLIC PH O 46 ARAGLIC HB O ARMA GLIC HB AR66LIC PH O ARM LIC PM ARD C AR66LIC HB O ARM G6LIC HB ARD C AR98LIC PH O ARM98LIC PM AR98LIC HB O ARM98LIC HM ARAGLIS PB O ARMAGLIC PI ARAGLIS HW O ARMA LIC HB AR66LIS PB O ARM GLIC PI ARD S AR66LIS HB O ARM G6LIC HB ARD S AR98LIS PB O ARM98LIC PN AR98LIS HN O ARM98LIC HM 13 6 Preparation 6 4 Names and functions of parts E Motor Example ARM66MC Motor Protective Earth Terminal M4 Mounting holes 4 locations Output shaft Electromagnetic brake Motor cable Electromagnetic brake cable Connector cover E Driver Example 200 230 V input type Orientalmotor Mounting hole at the back CN1 POWER LED ALARM LED 24 VDC pow
28. FRANCE SARL Tel 01 47 86 97 50 Fax 01 47 82 45 16 ORIENTAL MOTOR ITALIA s r l Tel 02 93906346 Fax 02 93906348 SHANGHAI ORIENTAL MOTOR CO LTD Tel 400 820 6516 Fax 021 6278 0269 TAIWAN ORIENTAL MOTOR 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 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
29. NORM CCM If noise is heard during high speed operation or there is notable vibration it may be effective to switch to the current control mode Note however that a slight delay may occur in the current control mode compared to the normal mode depending on the condition of the load Keep the driver in the normal mode during normal conditions of use NORM Normal mode CCM Current control mode NORM The new setting of the control mode select switch will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply e In the normal mode the CCM input becomes effective 12 Extended functions E Operating current Set a desired operating current using the current setting switch CURRENT The operating current to be set is the maximum output current multiplied by the operating current rate 6 set to each dial setting of the current setting switch where F corresponds to 10096 One of 16 operating current levels from 0 to F can be set If the load is small and there is an ample allowance for torque you can suppress rise in motor temperature by setting a lower operating current If the operating current is too low starting of the motor and its position hold function may be affected Do not lower the operating current more than necessary You can change the value assigned to each dial setting of
30. Position loop gain 4 00 e Speed loop gain 4 01 Speed loop integral time constant APP 4 02 E Anti vibration control This item is effective in the current control mode Adjusts the compliance with respect to position deviation When this value is increased the deviation between the command position and actual position will decrease However an excessively high value may increase the motor overshoot or cause hunting Adjusts the compliance with respect to speed deviation When this value is increased the deviation between the command speed and actual speed will decrease However an excessively high value may increase the motor overshoot or cause hunting Decreases the deviation that cannot be adjusted with the speed loop gain An excessively high value will slow the motor movement An excessively low value on the other hand may cause hunting Even when the motor is assembled into a machine of low rigidity residual vibration can be suppressed during positioning in order to shorten the positioning time The optimal value varies depending on the equipment and operating conditions Set the required conditions using the following application parameters e Anti vibration control 4 03 e Frequency of anti vibration control APP 4 04 Sets whether or not to enable anti vibration control Set the frequency of anti vibr
31. increase Anti vibration control Change the setting to enable disable anti vibration control APP 4 03 54 rani Set the frequency of anti vibration control APP 4 04 Operating speed of retum Set the operating speed of return to electrical home operation APP 6 00 operation Acceleration deceleration Set the acceleration and deceleration rate of return to electrical APP 6 01 P52 rate of return operation home operation Starting sped of return Set the starting speed of return to electrical home operation APP 6 02 operation Operating speed of JOG Set the operating speed of JOG operation APP 7 00 operation Acceleration deceleration Set the acceleration and deceleration rate of JOG operation APP 7 01 P 51 rate of JOG operation Starting speed of JOG Set the starting speed of JOG operation APP 7 02 operation 46 E System parameters 12 Extended functions Item Description 2 Screen Reference display SyS 0 00 to Electronic gear A1 to A4 Set the denominator of the electric gear SyS 0 03 P47 Electronic gear B Set the numerator of the electric gear SyS 0 04 Pulse input mode Select the pulse input mode SyS 1 00 P 48 Smooth drive Change the setting to enable disable the smooth drive SyS 1 01 P 53 Excite position at first Select the position at which the motor is excited after the power SyS 1 02 P50 current on has been turned on Auto
32. is shut off allowing the moving parts to fall and possibly cause injury or damage to equipment The brake mechanism of an electromagnetic brake motor is used to keep the moving part and motor in position Do not use it as a deceleration safety brake Doing so may result in injury or damage to the equipment When the driver generates an alarm any of the driver s protective functions is triggered the motor will stop and lose its holding torque Accordingly provide measures to hold the moving part in place in the event of an alarm Failure to do so may result in injury or equipment damage When the driver generates an alarm any of the driver s protective functions is triggered first remove the cause and then clear the protection function Continuing the operation without removing the cause of the problem may cause malfunction of the motor and driver leading to injury or damage to equipment Installation The motor and driver are Class I equipment When installing the motor and driver do not touch the driver without grounding the driver first Failure to do so may result in electric shock e Install the motor and driver in the enclosure in order to prevent electric shock or injury Connection Keep the driver s input power voltage within the specified range Failure to do so may result in fire or electric shock Connect the cables securely according to the wiring diagram Failure to do so may result in fire or electric shock
33. standstill If the CS input is turned ON OFF when one or both of these conditions are unsatisfied the TIM output will not turn ON even after the motor output shaft rotates by 7 2 B 2 2 output Refer to output for the TIM2 output If an alarm generates an alarm code indicating the cause of the alarm can be output and checked via the combination of ALO ALI and AL2 outputs To use alarm codes the applicable parameter must be changed using the OPX 2A or MEXEO2 For details on alarm refer to p 57 ASG output BSG output The ASG output is used to output pulses according to motor operation The motor position can be monitored by counting the ASG output pulses The number of output pulses per motor revolution varies depending on the resolution effective when turning the power on The BSG output has a 90 phase difference with respect to the ASG output The motor rotation direction can be determined by detecting the BSG output level at the rise of the ASG output CW rotation CCW rotation ASG output ON OFF 90 BSG 2 output OFF Note The ASG output and BSG output are subject to a maximum delay of 0 1 ms with respect to motor operation Use these outputs to check the position at which the motor is stopped Connect a termination resistor of 100 or more between the driver and the input of the line receiver
34. surface for the grounding point See p 31 for grounding the motor and driver E Wiring the power supply cable and signal cable Use a shielded cable for the power supply cable and signal cable and keep it as short as possible An accessory driver cable is available sold separately Refer to p 67 To ground a shielded cable use a metal cable clamp or similar device that will maintain contact with the entire circumference of the cable Attach a cable clamp as close to the end of the cable as possible and connect it as shown in the figure Cable clamp E Notes about installation and wiring Connect the motor driver and other peripheral control equipment directly to the grounding point so as to prevent a potential difference from developing between grounds e When relays or electromagnetic switches are used together with the system use noise filters and CR circuits to suppress surges generated by them Keep cables as short as possible without coiling and bundling extra lengths e Place the power cables such as the motor and power supply cables as far apart 200 mm 7 87 in as possible from the signal cables If the power cables and signal cables have to cross cross them at a right angle Place the AC input cable and output cable of a noise filter separately from each other e When extending the distance between the motor and driver it is recommended that an accessory motor connection cable sold separately should be used T
35. the current setting switch by using a corresponding application parameter for operating current at CURRENT one of APP 0 00 to APP 0 15 E Standstill current When the motor stops the current cutback function will be actuated to lower the motor current to the standstill current The standstill current is calculated by multiplying the operating current 100 by the ratio of standstill current Even when the operating current changes the standstill current will be calculated as a percentage of the operating current deemed to be 100 Set a desired standstill current using the application parameter for standstill current APP 3 00 The initial value is 50 E Speed filter You can use the speed filter setting switch V FIL to adjust how the motor responds to input pulses One of 16 speed filter levels from 0 to F can be set When the speed filter level is raised vibration can be suppressed during low speed operation and starting stopping of the motor will become smooth Note however that an excessively high filter level will result in lower synchronicity with commands Set an appropriate value according to the specific load and purpose You can change the value assigned to each dial setting of the speed filter setting switch by using a corresponding application parameter for speed filter at V FIL one of APP 1 00 to APP 1 15 E Smooth drive When the smooth drive function
36. to 1 25 mm to the connector while checking the pin numbers in below Display Description 24V 24V 24 VDC power supply input Be sure to connect these pins when an electromagnetic brake is used TH1 TH2 Regeneration resistor thermal input If these pins are not used short it using a jumper wire MB1 Electromagnetic brake Connect the black lead wire of the electromagnetic brake MB2 Electromagnetic brake Connect the white lead wire of the electromagnetic brake E Connecting method 7mm 028in 11035 oz in Lead wire Flat tip screwdriver connector screw size M2 Tightening torque 0 22 to 0 25 Nem Flat tip screwdriver CN1 connector screw size M2 5 Tightening torque 0 4 N m 56 oz in CN1 connector Bl 31 8 Connection 32 E Connecting the 24 VDC power supply input Connect a power supply of 24 5 VDC 0 75 A or more Once a 24 VDC power supply is connected you can check the contents of alarms that have generated even when the main power is cut off If a motor with electromagnetic brake is used be sure to connect a 24 VDC power supply as the electromagnetic brake power The 24 VDC power supply will not be used to drive the motor Connect a 24 VDC power supply as necessary If the distance between the motor and driver is extended to 20 m 65 6 ft or longer use a power supply of 24 4 VDC E Connecting the regeneration resistor
37. using the OPX 2A or MEXEO2 The new setting of the pulse input mode select switch will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply The factory setting of the pulse input mode depends on the destination country Using the parameter Set a desired mode using the system parameter for pulse input mode SyS 1 00 Pulse input mode Input pattern Timing chart 0 8 us or more 0 8 us or more ON PLS input o IRR Active high DIR i Rotation direction Forward rotation Reverse rotation 1 pulse input mode 0 8 us or more 0 8 us or more ON PLS input OFF T T 1 Active low DIR i a input OFF Rotation direction Forward rotation Reverse rotation 12 Extended functions Pulse input mode Input pattern Timing chart 0 8 us or more ON m CW input Active high CCW input mes Rotation direction Forward rotation Reverse rotation 2 pulse input mode 8 us or more ON CW input OFF 1 1 li Active low CCWi input OFF Rotation direction Forward rotation Reverse rotation 0 4 us or more CW input OFF x1 ON CCW input FL TT Rotation direction Forward rotation Reverse rotation 0 4 u
38. 0 and 30 as well as all ratios of the Harmonic geared type motors rotate in the opposite direction of the motor shaft 2 pulse input mode When the CW input is turned ON the motor will rotate E y by one step in CW direction CW input ON When the CCW input is turned ON the motor will PU OFF rotate by one step in CCW direction ON CCW input The minimum interval time needed for switching the PUY OFF direction of rotation will vary depending on the operating speed and size of the load Do not shorten the interval i cw Motor operation time more than necessary 1 pulse input mode CCW While one pulse is input the other pulse should always be turned OFF If both pulses are turned ON simultaneously no pulse will be input When the PLS input is turned ON while the DIR input kK is ON the motor will rotate by one step in CW PLS input ON direction OFF When the PLS input is turned ON while the DIR input ON is OFF the motor will rotate by one step in CCW DIR input OFF direction The minimum interval time needed for switching the direction of rotation will vary depending on the operating Motor operation speed and size of the load Do not shorten the interval time more than necessary 10 Explanation of I O signals e Pulse signal Input a pulse with sharp rising and falling edges as shown in the 2 us or more figure The f
39. 911 4 1 A or more AR911 2 2A or more Single phase Single phase Three phase 100 115 V 200 230 V 200 230 V CN3 connector L RG1 Single phase Three phase 100 115 V 200 230 V 200 230 V 50 60 Hz Note e Pay attention to the polarity of the power supply Reverse polarity connection may cause damage to the driver Do not wire the power supply cable of the driver in the same cable duct with other power lines or motor cables Doing so may cause malfunction due to noise e When cycling the power or plugging unplugging the connector turn off the power and wait for the CHARGE LED to turn off The residual voltage may cause electric shock E Connecting method of the power supply cable 2 Push the connector wiring lever in the direction of the arrow Strip gauge gt e lt a Insert the cable 1 Strip off the cable sheath i based on the strip gauge Cable size capacity AWG16 to 14 1 25 to 2 0 mm Sheath length to be removed 8 to 9 mm 0 31 to 0 35 in You can also connect the power supply cable using a flat tip screwdriver Insert a flat tip screwdriver with a tip of 3 0 to 3 5 mm 0 12 to 0 14 in in width into the i
40. CCO20VART 2 6 6 CCO20VARBT 2 6 6 CCO30VART 3 9 8 CCO30VARBT 3 9 8 CCO50VART 5 16 4 CCO50VARBT 5 16 4 CC070VART 7 23 CCO70VARBT 7 23 CC100VART 10 32 8 CC100VARBT 10 32 8 CC150VART 15 49 2 CC150VARBT 15 49 2 CC200VART 20 65 6 CC200VARBT 20 65 6 17 Accessories sold separately Connector pin assignments e Pin assignment of cable for motor e Motor side Pin No Color Lead size 1 MS AWG26 0 14 mm 2 Purple 3 Red 4 Blue AWG22 0 3 mm Model 5559 10P 210 Molex 5 Green Driver side P AWG26 0 14 mm 7 Brown 8 Gray 2 062 8109 09 9 AWG22 0 3 mm 10 Drain wire AWG26 0 14 mm Model 5557 10R 210 Molex e Pin assignment of cable for electromagnetic brake Pin No Color Lead size 1 White 2 Black AWG21 0 5 mm for flexible cable AWG20 0 5 mm Model 5559 02P 210 Molex E Data setter The data setter lets you set parameters for your AR Series with ease and also functions as a monitor Model OPX 2A E Data setting software The data setting software lets you set parameters for your AR Series and monitor its operating condition using a PC The software comes with a PC interface cable 5 m 16 4 ft The cable is connected to the USB port on the PC Model MEXEO2 E Regeneration unit Connect the regeneration unit if gravitational operation or other operations involving up do
41. Electronic gear A1 SyS 0 00 1000 x Electronic gear B SyS 0 04 Electronic gear A2 SyS 0 01 D1 1000 x Electronic gear B SyS 0 04 Electronic gear A3 SyS 0 02 1000 x Electronic gear B SyS 0 04 Electronic gear A4 SyS 0 03 e When a system parameter has been changed the new parameter will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply e f the calculated resolution exceeds the setting range an electronic gear setting error warning will generate Refer to p 62 e f the power is cycled while an electronic gear setting error warning is present an electronic gear setting error alarm will generate Refer to p 57 47 12 Extended functions 48 Using the CS input When the resolution switch CSO CS1 is set to CSO the resolution setting can be changed according to the CS input Resolution Switch CSO and DO CSO and D1 CS input OFF The CS0 setting is selected The CSO setting is selected Factory setting 1000 P R Factory setting 500 P R ON The CS1 setting is selected The CS1 setting is selected Factory setting 10000 Factory setting 5000 P R e When the resolution switch CS0 CS1 is set to CS1 the CS input is disabled The CS1 setting is maintained e When the CS input is turned ON while the application parameter for abnormal operation data warning APP 5 00 is set to En
42. FF P RESET input 5 ms or less Cumulative position commands M2 input Combine this input with the MO and M1 inputs to select a desired current setting for push motion operation Refer to p 51 for details B CLR ALM RST input This input is used to clear the position deviation counter If an alarm generates the CLR ALM RST input will function as an input signal to reset the alarm e CLR input 500 us or more CLRi OFF 5 ms or less 5 ms or less READY Mii output OFF 9 m or less _ 9 ms or less END di output OFF 5 ms or less 1 8 Ze DS Position deviation occurs due to external force Note e When performing a return to mechanical home operation using a stopper etc do not use the CLR input If the CLR input is used the home position may become offset Pulse input is disabled while the CLR input is ON e When the CLR input is turned ON the automatic return operation and return to electrical home operation will stop Position deviation 0 ALM RST input When an alarm generates the ALM output will turn OFF When the 5 ms or more ALM RST input is turned from ON to OFF the ALM output will turn ON and the alarm will be reset The alarm will be reset at the OFF ALM RST input occ edge of the ALM RST input Before resetting an alarm always remove 9msorless the cause of the alarm and ensure safety ON For det
43. OFF ON M2 i input OFF ON READY output OFF 5 ms or less 5 ms or less 5 ms or less 9 ms or less 100 3 3 3 Motor current 50 45 to 65 ms 5 ms or less 20 to 45 ms 0 1 When the T MODE is ON the motor current rises to the push current at a rate of approx 0 9 per millisecond 2 When the T MODE is OFF the motor current drops to the push current at a rate of approx 1 8 per millisecond 3 When the value of push current is changed using the MO to M2 inputs the change is reflected immediately 70 18 Reference When the T MODE input is turned ON the value of push current set by the MO to M2 inputs will become effective and the overload protection alarm will become invalid Input the T MODE signal while the motor is at standstill The combinations of MO to M2 inputs and corresponding initial values of push current percentage are shown below M2 M1 MO Initial value 96 OFF OFF OFF 30 0 OFF OFF ON 40 0 OFF ON OFF 50 0 OFF ON ON 60 0 ON OFF OFF 70 0 ON OFF ON 80 0 ON ON OFF 90 0 ON ON ON 100 0 B CLR input 500 us or more ON CLR input OFF 5 ms or less 5 ms or less ON READY output OFF 9 ms or less _ 9 ms or less ON END output OFF 5 ms or less 1 8 SII Position deviation 0 ALM RST input Alarm ALM RST i i input OFF
44. ON while a return to electrical home operation is still in progress will set the applicable position as the electrical home and the motor will stop 12 3 Adjustment You can adjust the operating current motor operation at start stop and compliance with the command 52 The items that can be adjusted vary between the normal mode and the current control mode Item Description Normal mode Current control mode Operating current Adjust the current during operation Standstill current Adjust the current at standstill Speed filter Apply a filter to input pulses to make the pulses smooth Smooth drive Insert interpolation pulses between input pulses Speed error gain Suppress vibration while the motor is accelerating decelerating Can be adjusted Can be adjusted Can not be adjusted Can be adjusted Can not be adjusted Position loop gain Speed loop gain Speed integral time constant Vibration that generates while the motor is accelerating decelerating or at standstill can be adjusted to an optimal level Anti vibration control Enclosure vibration that occurs with an equipment of low rigidity can be adjusted to an optimal level Can not be adjusted Can be adjusted Control mode The driver operates in one of two control modes the normal mode and the current control mode The desired mode can be set using the control mode select switch
45. Orientalmotor otepping motor and driver package Oster High efficiency AR Series AC power input Pulse input type USER MANUAL A Thank you for purchasing an Oriental Motor product This Operating Manual describes product handling procedures and safety precautions e Please read it thoroughly to ensure safe operation e Always keep the manual where it is readily available Table of contents 1 Safety precautions 3 2 Overview of the AR Series 5 3 System configuration 6 4 Introduction seeesesssssss 8 5 Precautions for 10 6 Pr parallon er ttis 12 6 1 Checking the product 12 6 2 How to identify the product model 12 6 3 Combinations of motors and drivers 13 6 4 Names and functions of parts 14 6 5 Input output power ratings 16 7 1 17 7 1 Location for installation 17 7 2 Installing the 17 7 3 Installing load 18 7 4 Permissible overhung load and permissible thrust load 19 7 5 Installing the driver 20 7 6 Installing the regeneration unit 20 7 7 Installing and
46. able a return to electrical home operation will be disabled and an abnormal operation data warning will generate When performing a return to electrical home operation after the CS input is turned ON turn the P RESET input ON to confirm the electrical home position and then turn the RETURN input ON E Pulse input mode Set the desired pulse input mode of the driver according to the pulse output mode of the controller pulse generator used with the driver The pulse input mode is set using the applicable driver switch or parameter e pulse input mode A pulse signal is input via the PLS input and the rotation direction is selected using the DIR input e 2 pulse input mode When a pulse signal is input via the CW input the motor will rotate in forward direction If a pulse signal is input via the CCW input the motor will rotate in reverse direction Phase difference input mode set by a parameter The motor will rotate in forward direction when the CCW input phase is delayed by 90 relative to the CW input The motor will rotate in reverse direction when the CCW input phase is advanced by 90 relative to the CW input Using the switch Set a desired mode using the pulse input mode select switch 2P 1P 1P 1 pulse input mode active low 2P 2 pulse input mode active low Each mode can only be set with the low active using the pulse input mode select switch To select the high active set the applicable parameter
47. aft rotates by 7 2 80 18 Reference Parameter operation data OPX 2A screen display Name Setting range Initial value E 0 positioning APP 2 00 I O input mode p positioning operation normal operation 1 push motion operation normal 0 Disable TN APP 2 01 ALO 2 signal output 1 Enable 0 Disable APP 2 03 END signal range 0 0 to 18 0 1 8 APP 2 04 END signal offset 1 8 to 1 8 0 0 APP 2 05 Push motion current 0 30 0 APP 2 06 Push motion current 1 40 0 APP 2 07 Push motion current 2 50 0 APP 2 08 Push motin current 3 0 0 to 100 0 60 0 APP 2 09 Push motion current 4 70 0 APP 2 10 Push motion current 5 80 0 APP 2 11 Push motion current 6 90 0 APP 2 12 Push motion current 7 100 0 0 positioning APP 2 00 I O input mode 0 positioning operation normal operation 1 push motion operation normal APP 6 00 Operating speed of return operation 1 to 4000 r min 30 Apu Acceleration and deceleration rate ofreturn 0 01 to 1000 00 ms 1000 r min 100 00 operation APP 6 02 Starting speed of return operation 0 to 4000 r min 30 81 18 Reference Mode Item Overview Standard Extended specification function Normal Current control Apply a filter to the operation commands using the speed filter setting switch Adjust the filter according to
48. ails refer to ALM output on p 41 and 15 1 Alarms on p 57 ALM output occ Alarms that cannot be reset with the ALM RST input need to be reset by cycling the power If a normal condition cannot be restored after cycling the power contact your nearest Oriental Motor sales office 38 10 Explanation of I O signals CCM input When the CCM input is turned ON the control mode will change from the normal mode to the current control mode In the current control mode noise and vibration can be reduced although the motor synchronicity drops Be sure to turn the CCM input ON OFF after confirming that the motor has stopped Keep the control mode switch in the NORM normal mode If the switch is in the CCM current control mode the CCM input will be disabled B MO input When push motion operation is set with the OPX 2A or MEXEO2 the MO input will become effective Combine this input with the M1 and M2 inputs to select a desired current setting for push motion operation Refer to p 51 for details 10 2 Output signals The driver outputs signals in the photocoupler open collector output mode or line driver output mode The signal state represents the ON Carrying current or OFF Not carrying current state of the internal photocoupler rather than the voltage level of the signal ALM WNG END READY ALO TLC AL1 TIM2 AL2 ASG BSG TIM1 Driver internal circuit Driver internal circuit 9 11 13 10
49. allation CW CCW pulse connection P 17 P 24 Pulse generator or programmable controller Check gt Power supply connection P 30 STEP2 Operate the motor To suppress vibration and shock V FIL ETT Response Starting stopping becomes quicker becomes smoother 3 Confirm that the motor rotates without problem To change the resolution CS0 CS1 00 01 L E Do T D RU 51 cso l cso 0 Resolution 1000 P R Resolution 500 P R Do O a fe cst LI 1 Resolution 10000 P R Resolution 5000 P R 1 Turn the C ON input ON to excite the motor 2 Input pulses 34 9 Quick operations STEP 3 Were you able to operate the motor properly How did it go Were you able to operate the motor properly If the motor does not function check the following points e Is the C ON input ON e Are the thermal terminals for regeneration resistor TH1 and TH2 on the CN1 shorted e Is any alarm present Are the power supply and motor connected securely For more detailed settings and functions refer to 12 Extended functions on p 46 35 10 Explanation of I O signals 10 Explanation of I O signals Check the timing charts on p 68 10 1 Input signals 36 The following input signals of the driver are photocoupler inputs The signal state represents t
50. at dissipation capacity equivalent to a level achieved with a heat sink made of aluminum 350x350x3 mm 13 78 13 78 0 12 in is ensured Allowable current consumption Operating temperature of thermostat E Connecting the electromagnetic brake Refer to p 23 8 Connection 8 6 Connecting the data setter Connect OPX 2A cable or supplied cable with the MEXEO2 to Cable for OPX 2A or the data edit connector CN4 on the driver Hy cable supplied with the MEXE02 Oe ek Mi ren p The data edit connector CN4 and I O signal connector CN5 of the driver are not A Caution electrically insulated When grounding the positive terminal of the power supply do not connect any equipment PC etc whose negative terminal is grounded Doing so may cause the driver and these equipment to short damaging both 33 9 Quick operations 9 Quick operations If you are new to the AR Series driver read this chapter and you will be able to perform basic motor operations quickly ETSI Before operating the motor check the condition of the surrounding area to ensure safety STEP 1 Check the installation and connection Check connector connection P 31 Check Motor connection P 23 Check Check C ON input and Motor and driver inst
51. ates the ALARM LED on the front face of the driver Alarm eneck LED indicator will blink The number of times the LED blinks varies depending on the function content of the alarm ALM output ALM output This signal will be output when an alarm generates Alarm code output Alarm code output ALO to AL2 outputs These outputs are used by the host controller to detect the content of each alarm that has generated Alarm code output enable disable setting Enable alarm code output if you want alarm codes to be output Alarm reset Power cycle reconnection Cycle the power to reset alarms ALM RST input Input the ALM RST signal to reset alarms Alarm detection condition setting Excessive position deviation alarm Set the condition under which an excessive position deviation alarm generates when the current is turned on Overload alarm Set the condition under which an overload detection alarm generates when the current is turned off The overload condition varies depending on the control mode Normal mode A position deviation of 1 8 or more has occurred Current control mode The operating current has reached the limit Descriptions of alarms Overheat protection The internal temperature of the driver exceeded 85 C 185 F Overload The cumulative value of applied loads exceeding the maximum torque reached or exceeded the value set in the overload parameter APP 5 03
52. ation control 13 Inspection 13 Inspection It is recommended that periodic inspections be conducted for the items listed below after each operation of the motor If an abnormal condition is noted discontinue any use and contact your nearest Oriental Motor sales office E During inspection Are any of the motor mounting screws loose Check for any unusual noises in the motor bearings ball bearings or other moving parts Are the motor output shaft and load shaft out of alignment Are there any scratches signs of stress or loose driver connections in the motor lead wires Check for a blocked opening of the driver case Are any of the driver mounting screws or power connection terminal screws loose Are there any strange smells or appearances within the driver The driver uses semiconductor elements Handle the driver with care since static electricity may damage semiconductor elements 55 14 General specifications 14 General specifications Motor Driver Degree of protection IP54 IP20 for the double shaft type IP20 Ambient 10 to 50 C 14 to 122 F non freezing Harmonic geared type 0 to 40 C 0 to 50 C 32 to 122 F non freezing P 32 to 104 F non freezing er Humidity 85 or less non condensing Altitude Up to 1000 m 3300 ft above sea level Surrounding No corrosive gas dust water or oil atmosphere Ambie
53. ation rate of return to electrical home operation The output time of the END signal varies depending on the speed filter and operating speed e When the P RESET input is turned ON the cumulative value of position commands will be reset to 0 and the current position will be set as the electrical home position Accordingly the return to electrical home operation will end Automatic return operation Position deviation occurs due to cutoff of the main power supply Main power ain power supply OFF ON 24 VDC power supply OFF A ON C ON input OFF 60 ms or less READY output NE OFF 5 ms or less ON END output PA OEE 60 ms or less 500 ms or less Motor excitation EN OFF Position deviation Operating speed of return to Internal speed command electrical home operation variable _J Hae mz Position deviation occurs due to external force Acceleration and deceleration rate of return to electrical home operation variable The output time of the END signal varies depending on the speed filter and operating speed 75 18 Reference Position deviation occurs due to turning OFF of the C ON input C ONi ON input occ _____ HEN 15 ms or less TT READY ia output opp 250 ms or less EN END bh output opp 200 ms or less dl 250 ms or less 250 ms or less 250 ms or less
54. aveled distance from the electrical Abnormal operation 70 home exceeded the control range data 2 147 483 648 pulses Turn the P RESET input ON and set the This alarm generates when the application electrical home again parameter for abnormal operation data warning APP 5 00 is set to Enable Electronic gear 71 The resolution set by the electronic gear is Set the electronic gear correctly setting error outside the specified range 63 16 Troubleshooting and remedial actions 16 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 office Phenomenon Possible cause Remedial action e The motor is not excited e The motor can be moved by hand The C ON input is turned OFF e Turn the C ON input ON and confirm that the motor will be excited e Check the setting of the application parameter for C ON input logic APP 2 02 The FREE input is turned ON Turn the FREE input OFF The motor does not operate The CLR input is turned ON Turn the CLR input OFF The CW input or CCW input is not connected properly e Check the connection between the controller and driver e Check the pulse signal specifica
55. ays rotates in the direction opposite to the motor Motor operation is unstable Pulse signals are not connected properly e Check the connection between the controller and driver e Check the pulse signal specifications voltage width Notable vibration occurs The load is small Lower the current using the current setting switch If the motor output torque is too large relative to the load vibration will increase The electromagnetic brake does not hold the load The power is input to the electromagnetic brake Check the connection between the electromagnetic brake and driver The FREE input is turned ON Turn the FREE input OFF The electromagnetic brake is not released The power is not supplied to the electromagnetic brake Check the connection between the electromagnetic brake and driver The TIM output does not turn ON The CS input was turned OFF while the motor was operating The TIM output may not turn ON if the CS input is switched from ON to OFF I O signals can be monitored using the OPX 2A or MEXEO2 Use these options to check the wiring conditions of I O signals 64 17 Accessories sold separately 17 Accessories sold separately E Motor connection cable The cable supplied with the AR Series is all you need to connect the motor and driver Take note however that if you wish to connect the motor and driver over a distance of 3 m 9 8 ft
56. ct the ground terminal of the mains filter to the grounding point using as thick and short a wire as possible Do not place the AC input cable AWGI8 0 75 mm or more parallel with the mains filter output cable AWGI8 0 75 mm or more Parallel placement will reduce mains filter effectiveness if the enclosure s internal noise is directly coupled to the power supply cable by means of stray capacitance E Connecting surge arrester Use a surge arrester or equivalent as below table Single phase 100 115 V Manufacturer Single phase 200 230 V Three phase 200 230 V OKAYA ELECTRIC INDUSTRIES CO LTD 781 2 4 R AV 781BXZ 4 When measuring dielectric strength of the equipment be sure to remove the surge arrester or the surge arrester may be damaged E Connecting the AC power line reactor When inputting single phase 230 V insert a reactor 5 A 5 mH in the AC power line to ensure compliance with EN 61000 3 2 E Connecting the 24 VDC power supply Use a 24 VDC power supply conforming to the EMC Directive Use a shielded cable for wiring and wire ground the power supply cable over the shortest possible distance Refer to Wiring the power supply cable and signal cable for how to ground the shielded cable E How to ground The cable used to ground the motor driver and noise filter must be as thick and short as possible so that no potential difference is generated Choose a large thick and uniformly conductive
57. ct the motor and driver Always use the supplied cable to connect the motor and driver Ifa flexible cable or cable of 3 m 9 8 ft or longer is to be used an appropriate cable must be purchased separately Refer to p 65 for details Perform the insulation resistance test or dielectric strength test separately on the motor and the driver Performing the insulation resistance test or dielectric strength test with the motor and driver connected may result in damage to the product Do not apply an overhung load and thrust load in excess of the specified permissible limit Operating the motor under an excessive overhung load or thrust load may damage the motor bearings ball bearings Be sure to operate the motor within the specified permissible limit of overhung load and thrust load See p 19 for details Use the motor in conditions where its surface temperature will not exceed 100 C 212 F The driver has an overheat protection function but the motor has no such feature The motor surface temperature may exceed 100 C 212 F under certain conditions ambient temperature operating speed duty cycle etc To prevent the motor bearings ball bearings from reaching its usable life quickly use the motor in conditions where the surface temperature will not exceed 100 C 212 F Use the geared type motor in a condition where the gear case temperature does not exceed 70 C 158 F in order to prevent deterioration of grease and part
58. d connection of the motor and driver as well as operating method Data setter OPX 2A OPERATING MANUAL packaged together with the data setter This manual explains how to set data using the accessory data setter OPX 2A sold separately Data setting software MEXE02 OPERATING MANUAL packaged together with the data setting software This manual explains how to set data using the accessory data setting software 2 sold separately After reading the above manuals keep them in a convenient place so that you can reference them at any time B Standards and CE Marking This product is recognized by UL and certified by CSA A certification by T V Rheinland has been obtained to confirm compliance with the EN Standards Applicable Standards Applicable Standards Certification Body Standards File No UL 1004 UL 2111 CSA C22 2 No 100 oe peat Motor CSA C22 2 No 77 EN 60034 1 TUV R 50124201 EN 60034 5 EN 60664 1 Conforming to the respective standards UL 508C CSA 22 2 No 14 E 11462 niver EN 50178 Conforming to the respective standards EN 61800 5 1 T V R 50124204 e For UL standard UL 508C the product is recognized for the condition of Maximum Surrounding Air Temperature 50 C 122 F Connect a Class 2 power supply UL certified to the 24 VDC power supply Installation conditions EN Standard Motor Driver Motor is to be used as a component within o
59. d filter at V FIL 4 5 APP 1 05 Speed filter at V FIL 5 7 APP 1 06 Speed filter at V FIL 6 10 APP 1 07 Speed filter at V FIL 7 0 to 200 ms 20 APP 1 08 Speed filter at V FIL 8 30 APP 1 09 Speed filter at V FIL 9 50 APP 1 10 Speed filter at V FIL A 70 APP 1 11 Speed filter at V FIL B 100 APP 1 12 Speed filter at V FIL C 120 APP 1 13 Speed filter at V FIL D 150 APP 1 14 Speed filter at V FIL E 170 APP 1 15 Speed filter at V FIL F 200 APP 3 01 Speed error gain 1 45 0 to 500 APP 3 02 Speed error gain 2 45 APP 4 00 Position loop gain 1 to 50 10 APP 4 01 Speed loop gain 10 to 200 180 APP 4 02 Speed loop integral time constant 10 0 to 200 0 ms 100 0 APP 4 04 Frequency of anti vibration control 3 00 to 100 00 Hz 7 00 APP 4 03 Anti vibration control 0 Disable 0 Disable SyS 1 01 Smooth drive 1 Enable 1 Enable APP 7 00 Operating speed of JOG operation 1 to 4000 r min 30 aporta eee and deceleration rate of JOG 0 01 to 1000 00 ms 1000 r min 100 00 operation APP 7 02 Starting speed of JOG operation 0 to 4000 r min 30 SyS 1 02 Excite position at first current on 0 positon o 1 Electrical angle 0 position APP 8 00 Displayed speed on OPX 2A E 0 Signed APP 8 01 Deceleration rate of speed monitor 1 0 to 100 0 1 0 83 18 Reference 18 3 Warning alarm lists E Alarms protective functions Item Overview condition When an alarm gener
60. ditions specified in Example of motor and driver installation and wiring on p 22 Since the compliance of the final machinery with the EMC Directive will depend on such factors as the configuration wiring layout and risk involved in the control system equipment and electrical parts it therefore must be verified through EMC measures by the customer of the machinery Applicable Standards Emission Tests EN 61000 6 4 EN 61800 3 C3 Radiated Emission Test EN 55011 group 1 class A EMI Conducted Emission Test EN 55011 group 1 class Harmonics Current Test EN 61000 3 2 Voltage Fluctuations Test EN 61000 3 3 Immunity Tests EN 61000 6 2 EN 61800 3 C3 Radiation Field Immunity Test IEC 61000 4 3 Electrostatic Discharge Immunity Test IEC 61000 4 2 EMS Fast Transient Burst Immunity Test IEC 61000 4 4 Conductive Noise Immunity Test IEC 61000 4 6 Surge Immunity Test IEC 61000 4 5 Voltage Dip Immunity Test IEC 61000 4 11 Voltage Interruption Immunity Test IEC 61000 4 11 E WARNING FOR UL MARKING ON DRIVER These drivers have not been evaluated for motor overload protection The motor overload protection alarm of the driver should be considered in the end use product il Hazardous substances RoHS Directive 2002 95 27 2003 compliant 5 Precautions for use 5 Precautions for use 10 This section covers limitations and requirements the user should consider when using the product Use the supplied cable to conne
61. e electromagnetic brake all you need is to connect a 24 VDC power supply and the electromagnetic brake will operate This saves time to adjust the timings of control signal inputs and design a ladder program e Alarm and warning functions The driver provides alarms that are designed to protect the driver from overheating poor connection error in operation etc protective functions as well as warnings that are output before the corresponding alarms generate warning functions E Various operation modes Positioning operation and return to electrical home operation can be performed When the AR Series is used with an accessory OPX 2A or MEXEO2 both are sold separately push motion operation can also be performed E Extended functions When used with the OPX 2A or MEXEO2 the desired parameters operation mode resolution and other items can be set according to your equipment For details refer to p 46 3 System configuration 3 System configuration All you need is to turn the C ON input ON and input pulses 24 VDC power supply Be sure to connect a 24 VDC power Regeneration unit supply if the motor is equipped An optional regeneration unit RGB100 with an electromagnetic brake sold separately P 31 24 VDC Connect this unit if gravitational operation Driver or other operations involving up down movement or sudden starting stopping of a large inertial load will be repeated frequently P 31
62. e for electromagnetic brake Connect to CN2 i The lead wires of the cable for electromagnetic brake have polarities so connect them in the correct polarities If the lead wires are connected with their polarities reversed the electromagnetic brake will not operate properly e f the distance between the motor and driver is extended to 20 m 65 6 ft or longer use a power supply of 24 VDC 4 Have the connector plugged in securely Insecure connector connection may cause malfunction or damage to the motor or driver e When unplugging the connector do so while pressing the latches on the connector When plugging unplugging the connector turn off the power and wait for the CHARGE LED to turn off before doing so The residual voltage may cause electric shock When installing the motor to a moving part use an accessory flexible cable offering excellent flexibility Refer to p 65 for details 23 8 Connection 8 2 Connecting the I O signals Solder the I O signal cable AWG28 to 24 0 08 to 0 2 mm to the CN5 18 16 14 12 10 8 6 4 2 connector 36 pins while checking the pin numbers in the Connector 17 15 13 11 9 7 5 3 1 function table provided below Use a shielded cable for 1 signals We provide an accessory driver cable allowing simple and easy connection with a driver as well as conn
63. ector terminal block conversion unit Refer to p 67 for details 35 33 31 29 27 25 23 21 19 E Connector function table Pin Operating mode Name TT um Ref No Positioning Push mouon Positioning operation Push motion operation operation operation 1 2 GND Ground connection 3 ASG A phase differential output Line driver P 40 4 ASG 5 BSG B phase differential output Line driver P 40 6 BSG 7 TIM1 Timing differential output Line driver P 40 8 TIM1 T 3 AM Alarm output P 41 10 ALM 11 WNG Warning output P 41 12 WNG 13 END Positioning complete output P 40 14 END 15 READY AL0 Operation ready complete output Alarm code output 0 P 39 16 READY ALO 17 TLC AL1 Torque limit output Alarm code output 1 P 39 18 TLC AL1 19 TIM2 AL2 x Timing output open collector Alarm code output 2 P 40 20 TIM2 AL2 21 GND Ground connection 22 IN COM Input common 23 C ON Current on input P 36 24 CLR ALM RST Deviation clear input Alarm reset input P 38 25 CCM Current control mode ON input P 39 26 CS T MODE Resolution selection input Push motion operation ON P 37 27 E P 39 28 RETURN M1 Return to electrical home Push current setting P37 operation selection input 29 P RESET M2 Position reset input P 38 30 FREE Excitation OFF Release
64. er supply input terminals CN1 1 Regeneration resistor thermal input terminals CN1 Current setting switch Electromagnetic brake terminals CN1 T h peed filter setting switc Resolution switches com Control mode select switch Pulse input mode select switch Motor connector CN2 Data edit connector CN4 CHARGE LED Regeneration resistor terminals CN3 3 I O signal connector CN5 Main power supply input terminals CN3 Mounting hole at the back Protective Earth Terminals 14 6 Preparation Name Description Ref POWER LED Green This LED is lit while the main power or 24 VDC power is input This LED will blink when an alarm generates It is possible to check the ALARM LED Red generated alarm by counting the number of times the LED blinks Hof This switch adjusts the operating current It is used to limit the torque and S Current setting switch CURRENT temperature rise A desired current can be set as a percentage 96 of the P45 rated output current Factory setting F This switch adjusts the motor response Use this switch if you want to suppress motor vibration or cause the motor to start stop smoothly
65. eration is a type of operation where pulses are input to pressurize the load continuously When selecting a push motion operation with the application parameter for I O input mode APP 2 00 turning the T MODE input ON and inputting pulses push motion operation will start Pulses will be continuously input and accumulate even when the load is balanced with the torque Do not perform push motion operation with geared type motors Doing so may cause damage to the motor or gearhead Setting the current for push motion operation Set a desired current for push motion operation using any of the application parameters for push motion current 0 to 7 any one of APP 2 05 to APP 2 12 The current value set in the parameter will be used to limit the output torque You can select a desired current setting by a combination of ON OFF statuses of MO to M2 inputs Setting range 0 to 100 Push motion current parameter Initial value 96 M2 M1 MO 0 APP 2 05 30 0 OFF OFF OFF 1 APP 2 06 40 0 OFF OFF ON 2 APP 2 07 50 0 OFF ON OFF 3 APP 2 08 60 0 OFF ON ON 4 APP 2 09 70 0 ON OFF OFF 5 APP 2 10 80 0 ON OFF ON 6 APP 2 11 90 0 ON ON OFF 7 APP 2 12 100 0 ON ON ON e Performing the push motion operation 1 Set the application parameter for I O input mode APP 2 00 to Push motion operation Select a current value using the MO to M2 inputs Turn the T MODE input ON Input CW or CCW pulses
66. eration unit RGB100 sold separately if gravitational operation or other operation involving up down movement or sudden starting stopping of a large inertial load will be repeated frequently The overvoltage alarm will generate depending on the operating condition If an overvoltage protection alarm is detected adjust the driving condition or use the accessory regeneration unit RGB100 sold separately Note on connecting a power supply whose positive terminal is grounded The communication connector CN4 and I O signal connector CN5 are not insulated When grounding the positive terminal of the power supply do not connect any equipment PC etc whose negative terminal is grounded Doing so may cause the driver and these equipment to short damaging both Use the data setter OPX 2A to set data etc 11 6 Preparation 6 Preparation This chapter explains the items you should check as well as the name and function of each part 6 1 Checking the product Verify that the items listed below are included Report any missing or damaged items to the branch or sales office from which you purchased the product Verify the model number of the purchased unit against the number shown on the package label Check the model number of the motor and driver against the number shown on the nameplate The unit models and corresponding motor driver combinations are listed on p 13 s IDEIVeE nieto hada mem n e connector 6 p
67. erenced in this manual e Characteristics specifications and dimensions are subject to change without notice While we make every effort to offer accurate information the manual we welcome your input Should you find unclear descriptions errors or omissions please contact the nearest office Orientalmotor and Qsrep are registered trademark or trademark of Oriental Motor Co Ltd in Japan and other countries Other product names and company names mentioned in this manual may be registered trademarks or trademarks of their respective companies and are hereby acknowledged The third party products mentioned in this manual are recommended products and references to their names shall not be construed as any form of performance guarantee Oriental Motor is not liable whatsoever for the performance of these third party products Copyright ORIENTAL MOTOR CO LTD 2011 Please contact your nearest Oriental Motor office for further information ORIENTAL MOTOR U S A CORP Technical Support Tel 800 468 3982 8 30 AM to 5 00 P M P S T 7 30 AM to 5 00 P M C S T 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 00 089 3181225 25 Hamburg Office Tel 040 76910443 Fax 040 76910445 ORIENTAL MOTOR UK LTD Tel 01256 347090 Fax 01256 347099 ORIENTAL MOTOR
68. ess Motor excitation OFF Cumulative position commands Internal speed command Operating speed of return to electrical home operation Acceleration and deceleration rate Acceleration and deceleration rate of return to electrical home operation of return to electrical home operation The output time of the END signal varies depending on the speed filter and operating speed e Ifthe C ON input is turned OFF while a return to electrical home operation is still in progress the operation will be interrupted When the C ON input is turned ON again and then the RETURN input is turned ON the operation will resume from the position where it was interrupted Return to electrical home operation can also be interrupted with the FREE input CLR input Note however that when a return to electrical home operation is interrupted using the CLR input motor excitation will not turn off 74 18 Reference Operation is terminated with the P RESET input ON C ON input 5 ms or more RETURN input PUY OFF 5 ms or more ON P RESET input OFF READY output ON E 5msorless x END output Motor excitation OFF 9 ms or less Cumulative position commands 5 ms or less Operating speed of return Internal speed command P to electrical home operation m Acceleration and deceler
69. etween the command position and actual position at the motor output e Reduce the load or increase the Overflow rotation 10 shaft exceeded the value set in the acceleration deceleration rate during current on parameter for overflow rotation during e If a torque limit is set using an extended current on APP 5 04 function increase the setting The load is large or acceleration deceleration rate is too short When the current was turned off the deviation between the command position e Reduce the amount of rotation at current and actual position to motor output shaft off to the specified setting or less Overflow rotation 12 exceeded the value set in the parameter Or change the setting during current off for overflow rotation during current off Turn the CLR input ON to clear th APP 5 02 This warning is output when a e ded 09 e carine the parameter for auto return SyS 1 03 is position deviation set to Enable The internal temperature of the driver F AT en E Overheat 21 exceeded the value set in the overheat ventilation cong warning parameter APP 5 07 j e The voltage of the main power supply e Check the input voltage of the main exceeded the value set in the power supply warning parameter e If this warning generates during Overvoltage 22 Al don d operation reduce the load or increase T SUAM pU IUe the acceleration deceleration rate performed without connecting a unit regene
70. g the positioning completion END signal offset sse 50 12 2 51 Push motion 51 W Test operation 51 W Return to electrical home operation 52 12 3 Adj stment nets W Control mode see W Operating current W Standstill current BW Speed filter crearet Smooth drive sse W Speed error gain sss W Position loop gain speed loop gain speed loop integral time constant 54 Anti vibration control 54 13 Inspection ter 55 14 General specifications 56 15 Alarms and warnings 57 151 Alarm s c eee erect 57 15 2 Warnings sse 62 16 Troubleshooting and remedial actions 64 17 Accessories sold separately 65 18 Reference 68 18 1 Timing 68 18 2 Function parameter list 78 18 3 Warning alarm lists 84 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
71. hat have generated even when the main power is cut P31 terminals CN1 24V off If a motor with an electromagnetic brake is used be sure to connect a 24 VDC power supply as the electromagnetic brake power Connect the accessory regeneration unit RGB100 sold separately If no Resererati n tesistorih mialimbut regeneration unit is connected plug in the CN1 connector to short the TH1 t 9 and TH2 terminals The driver is shipped with a jumper wire preassembled P 31 erminals CN1 TH1 TH2 the CN1 connector so you can short the terminals by simply plugging the connector Elacttamaaneno brake Connect the lead wires from the electromagnetic brake 24 VDC CN1 MBI MB2 MB1 Electromagnetic brake black P 31 MB2 Electromagnetic brake white Motor connector CN2 Connect the motor P 23 This LED is lit while the main power is input After the main power has been CHARGE LED Red turned off the LED will turn off once the residual voltage in the driver drops to a safe level Regeneration resistor terminals CN3 RG1 RG2 Connect the accessory regeneration unit RGB100 sold separately P 32 e Single phase 100 115 V single phase 200 230 V L N Connect a single phase 100 115 VAC or 200 230 VAC Main power supply input terminals e Three phase 200 230 V P 30 CN L1 L2 L3 Connect a three phase 200 230 VAC e NC Not used Mountingiholes These mounting holes are used to affix the driver with screws P 20
72. he ON Carrying current or OFF Not carrying current state of the internal photocoupler rather than the voltage level of the signal IN COM C ON CLR ALM RST CCM CW CCW CS RETURN P RESET FREE Driver internal circuit 3 kQ Driver internal circuit 2 7 KQ 22 24 VDC 33 34 200 ol 23 to 30 5 VDC 31 35 32 36 C ON input This signal is used to excite the motor initial value normally open When an electromagnetic brake motor is used release the electromagnetic brake after the motor is excited With the OPX 2A or MEXEO2 it is possible to set the C ON input logic and the excitation position at the C ON input ON Refer to p 50 for details The factory setting of the C ON input is normally open Be sure to turn the C ON input ON when operating the motor Set the C ON input to normally closed when the C ON input is not used CW PLS input CCW DIR input These input serve as the CW and CCW inputs in the 2 pulse input mode or PLS and DIR inputs in the 1 pulse input mode They are common to all pulse input types including 5 VDC input 24 VDC input and line driver input e When no pulse is input be sure to keep the photocoupler in the OFF state e The CW and CCW indicate the rotation direction of the motor as seen from the output shaft The output shaft of the TH geared typed motors with ratios of 2
73. he EMC measures are conducted using the Oriental Motor extension cable 21 7 Installation E Example of motor and driver installation and wiring Motor OPX 2A PE Motor cable Shielded cable Shielded cable Noise 24 VDC Driver filler power supply E Shielded cable Controller Surge Noise arrester filter AC A Cable clamp E Precautions about static electricity Static electricity may cause the driver to malfunction or suffer damage While the driver is receiving power handle the driver with care and do not come near or touch the driver Always use an insulated screwdriver to adjust the driver s switches The driver uses parts that are sensitive to electrostatic charge Before touching the driver turn off the power to prevent electrostatic charge from generating If an electrostatic charge is impressed on the driver the driver may be damaged 22 8 Connection 8 Connection This chapter explains how to connect the motor I O signals and power supply to the driver as well as grounding method 8 1 Connecting the motor Connection example electromagnetic brake motor Refer to p 31 for the connection method of 24 VDC power supply 24 VDC power supply GNI connector 24 VDCs5 CN1 connector 0 75 A or Connector cover f Cabl
74. heat sink made of aluminum 350x350x3 mm 13 78x13 78x0 12 in is ensured Affix the RGB100 on a smooth metal plate offering high heat conductivity using two screws M4 not supplied e Plate cutout for mounting unit mm in Screw M4 X not supplied 099 991 Regeneration unit RGB100 E u x m Mi 2 0 94 2 0 1 654022 20 7 Installation 7 7 Installing and wiring in compliance with EMC Directive Effective measures must be taken against the EMI that the motor and driver may give to adjacent control system equipment as well as the EMS of the motor and driver itself in order to prevent a serious functional impediment in the machinery The use of the following installation and wiring methods will enable the motor and driver to be compliant with the EMC directive Refer to Standards and CE Marking on p 8 for the applicable standards E Connecting noise filter for power supply line Connect a mains filter in the AC input line to prevent the noise generated in the driver from propagating externally through the power supply line Use a mains filter or equivalent as below table Single phase 100 115 V Manufacturer Single phase 200 230 V Three phase 200 230 V TDK Lambda Corporation MC1210 MC1310 e Install the mains filter as close to the driver as possible Use cable clamps and other means to secure the input and output cables firmly to the surface of the enclosure Conne
75. heck for grease stains during regular inspections Alternatively install an oil pan or other device to prevent leakage from causing further damage Oil leakage may lead to problems in the customer s equipment or products e Rotating direction of the gear output shaft The relationship between the rotating direction of the motor shaft and that of the gear output shaft changes as follows depending on the gear type and gear ratio Type of gear Gear ratio Rotating degen g relative to the motor rotating direction 3 6 7 2 Same direction TH geared 10 20 NM 30 Opposite direction PL geared PS geared All gear ratios Same direction PN geared Harmonic geared All gear ratios Opposite direction Do not perform the push motion operation with geared types Doing so may cause damage to the motor or gearhead e Saving data to the NV memory Do not turn off the main power supply or 24 VDC power supply while data is being written to the NV memory and 5 seconds after the completion of a data write Doing so may abort writing the data and cause a EEPROM error alarm to generate The NV memory can be rewritten approx 100 000 times Motor excitation at power ON Simply turning on the power will not excite the motor To excite the motor always turn the C ON input ON If the applicable driver parameter is changed using the OPX 2A or MEXEO2 the motor can be excited automatically after the power ON Use the accessory regen
76. hen a system parameter has been changed the new parameter will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply e The CW and CCW indicate the rotation direction of the motor as seen from the output shaft The output shaft of the TH geared typed motors with ratios of 20 and 30 as well as all ratios of the Harmonic geared type motors rotate in the opposite direction of the motor shaft Setting of rotation direction parameter SyS 1 04 CW pulse is input CCW pulse is input e The command position e The command position increases decreases e The motor rotates in CW e The motor rotates in CCW direction direction When CW is set e The command position e The command position increases decreases e The motor rotates in CCW e The motor rotates in CW direction direction When CCW is set E Setting the positioning completion END signal offset The motor stops at the theoretical stopping position as a center point or thereabout If the motor stops at a position deviated from the theoretical stopping position due to the load friction etc and the deviation band exceeds the specified END signal range the END output will not turn ON In this case use the application parameter for END signal offset APP 2 04 to compensate the deviation band 50 12 Extended functions 12 2 Operation E Push motion operation Push motion op
77. igure shows the voltage levels of pulse signals ON 90 o OFF 10 0 8 us or more 0 8 us or more 2 us or less 2 us or less FREE input When the FREE input is turned ON current supplied to the motor will be cut off thereby allowing the motor output shaft to be turned by external force If the motor is equipped with an electromagnetic brake the electromagnetic brake will also be released When the FREE input is turned OFF current will be supplied to excite the motor and the holding torque will be restored The automatic return operation after turning the FREE input OFF can be set using the OPX 2A or MEXEO2 Refer to p 50 ETSI When operating the motor be sure to turn the FREE input OFF CS T MODE input The CS input is effective when positioning operation is performed When push motion operation is selected with the OPX 2A or MEXEO2 the T MODE input will become effective e CS input When the resolution switch CSO CS1 is set to CSO the resolution setting can be changed according to the CS input Resolution switch CSO and DO CSO and D1 CS input OFF The CSO setting is selected The CSO setting is selected Factory setting 1000 P R Factory setting 500 P R ON The CS1 setting is selected The CS1 setting is selected Factory setting 10000 P R Factory setting 5000 P R While the resolution switch CS0 CS1 is set to CS1 the CS input is disabled The CS1 setting is
78. ins e CN3 connector 5 pins e CN5 connector 36 pins e Connector wiring lever for CN3 sse 1 pc AR Series Motor OPERATING 1 copy AR Series AC power input Driver OPERATING MANUAL 1 copy AR Series USER MANUAL CD ROM eee 1 pc Cable for motrices eres e bite cbe reb de 1 pc Included in a motor and driver package product e Cable for electromagnetic brake see 1 pc Supplied with electromagnetic brake motor package Parallel Key eee eee ttt trade redet eer owe 1 pc Supplied with geared types except for the ARA6TH AR46PL and AR66TH 6 2 How to identify the product model AR 6 6 A A H 50 0 E Length of supplied cable 1 1 m 3 3 ft 2 2m 6 6 ft Gear ratio 3 3 m 9 8 ft T TH geared type P PL geared type PS PS geared type N PN geared type H Harmonic geared type Blank Standard type Power supply voltage A Single phase 100 115 V C Single phase 200 230 V S Three phase 200 230 V Motor type Single shaft B Double shaft M Electromagnetic brake type Motor length Motor size 4 42 mm 1 65 6 60 mm 2 36 in 9 85 mm 3 35 in 90 mm 3 54 in for geared types Series name AR series The model name is 7 for the gear ratio 7 2 1 of the PS geared type
79. installation The motor and driver has been designed and manufactured to be installed within another device Install them in a well ventilated location that provides easy access for inspection The location must also satisfy the following conditions Inside an enclosure that is installed indoors provide vent holes Operating ambient temperature Motor 10 to 50 C 14 to 122 F non freezing Harmonic geared type 0 to 40 C 32 to 104 F non freezing Driver 0 to 50 C 32 to 122 F non freezing Operating ambient humidity 85 or less non condensing e Area that is free of explosive atmosphere or toxic gas such as sulfuric gas or liquid e Area not exposed to direct sun e Area free of excessive amount of dust iron particles or the like e Area not subject to splashing water rain water droplets oil oil droplets or other liquids e Area free of excessive salt e Area not subject to continuous vibration or excessive shocks e Area free of excessive electromagnetic noise from welders power machinery etc e Area free of radioactive materials magnetic fields or vacuum 1000 m 3300 ft or lower above sea level 7 2 Installing the motor The motor can be installed in any direction To allow for heat dissipation and prevent vibration install the motor on a metal surface of sufficient strength Installation method A Installation method B Through hole for pilot Metal plate
80. ion commands will be reset to 0 and the current position will be set as the electrical home e If an alarm generates the P RESET input will become invalid Input the P RESET signal while the motor is at standstill 69 18 Reference B CS input 5 ms or more C ONi aa OFF 5 ms or more CSi El input OFF 5 ms or more RETURNi bi input OFF 300 ms or less 60 ms or less READY output OFF 5 ms or less Qi e MER eae WNG output OFF K 60 ms or less ALM Ws 2 output OFF 200 ms or less Mot itati 2 n otor excitatio OFF Ifthe CS input is changed while the C ON input is ON an operation data error warning will generate 2 Ifa return to electrical home operation is performed while an operation data error warning is present an operation data error alarm will generate Note that the motor will remain excited e This timing chart assumes that the application parameter for abnormal operation data warning APP 5 00 is set to Enable If this parameter is set to Disable no warning will be output and an alarm will generate right away Change the CS input when the current is turned off B T MODE input MO to M2 input The motor current waveform in the above chart assumes that the standstill current is set to 50 while the push current is set to 100 ON T MODE input OFF ON MO input OFF N M1 input Q
81. is used the driver automatically implements microstep control over input pulses This helps suppress motor vibration If the smooth drive function is not used vibration may increase in the low speed range although starting characteristics will improve Set whether or not to use the smooth drive using the system parameter for smooth drive SyS 1 01 When a system parameter has been changed the new parameter will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply E Speed error gain The speed error gain is used to suppress vibration while the motor is operating or accelerating decelerating Set the required conditions using the following application parameters e Speed error gain 1 3 01 Adjusts vibration during operation e Speed error gain 2 3 02 Adjusts vibration during acceleration deceleration The initial values reflect results of adjustment Do not change the initial values in normal conditions of use 53 12 Extended functions 54 E Position loop gain speed loop gain speed loop integral time constant These items are effective in the current control mode Vibration that occurs while the motor is accelerating decelerating or at standstill can be adjusted to an optimal value The optimal value varies depending on the equipment and operating conditions Set the required conditions using the following application parameters e
82. ive 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 Using a gear drive Align the motor output shaft and gear shaft in parallel with each other and let the gears mesh at the center of the tooth widths e Using a coupling e Using a belt drive e Using a gear drive i ES primm oH Jl 4 id e Using a parallel key geared motor When connecting the load and gear output shaft with a key slot secure the load using the key supplied with the gear output shaft after machining the key slot on the load Installing on the flange surface Harmonic geared type With a Harmonic geared type excluding AR98 a load can be installed directly to the gear using the load mounting holes provided on the flange surface Load Load mounting holes Flange Bolts PE I sd m Metal plate Bolt size Number of bolts Tightening torque Effective depth of N m oz in bolt mm in AR46 M3 6 1 4 198 5 0 197 AR66 M4 6 2 5 350 6 0 236 Note When installing a load on the flange surface the load cannot be mounted using the key slot in the output shaft e Design an appr
83. large inertial load was stopped abruptly or up down operation was performed without connecting a regeneration unit e Check the input voltage of the main power supply e f this alarm generates during operation reduce the load or increase the acceleration deceleration rate e Connect the accessory regeneration unit RGB100 sold separately The motor was started when the main power was cut off Check if the main power is input properly The main power was cut off momentarily or the voltage became low Check the input voltage of the main power supply e When the current was turned on the deviation between the command position and actual position at the motor output shaft exceeded the value set in the parameter for overflow rotation during current on APP 5 01 The load is large or acceleration deceleration rate is too short e Reduce the load or increase the acceleration deceleration rate e If the driver is in the current control mode increase the current limit value The C ON input was turned ON while an overflow rotation during current off warning was present e Do not turn the C ON input ON while an overflow rotation during current off warning is present e Set the auto return parameter SyS 1 03 to Disable The motor cable or driver output circuit was shorted Turn off the power and check the motor cable and driver output circuit for shorting and then cycle the power The mo
84. larm generates when the application parameter for abnormal operation data warning APP 5 00 is set to Enable Electronic gear setting error The resolution set by the electronic gear is outside the specified range 86 18 Reference Mode Parameter operation data Standard Extended C E BB specification function Normal Setting range Initial value control display APP 5 00 Abnormal operation data Disable 0 Disable warning 1 Enable APP 5 04 Overflow warming rotation 0 01 to 300 00 rev 3 00 during current on 5 02 Overflow rotation during 0 01 to 300 00 rev 100 00 current off APP 5 05 Overvoltage warning 320 to 450 V 435 APP 5 06 Undervoltage warning 120 to 280 V 120 APP 5 07 Overheat warning 40 to 85 C 85 APP 5 08 Overload warning 0 1 to 30 0 s 5 0 APP 5 09 Overspeed warning 1 to 5000 r min 4500 Not available Available Available Available 87 Unauthorized reproduction or copying of all or part of this Operating 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 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 ref
85. ld Electromagnetic brake Release 200 ms or less 250 ms or less Motor excitation OFF Motor operation The specific time varies depending on the timing at which the C ON input is turned ON 43 11 Setting 11 Setting This chapter explains how to change and set the driver functions using the switches on the front face of the driver Before operating any switch turn off the driver power and wait for the CHARGE LED to turn off Failure to do so may cause electric shock Orientalmotor ARD C POWER r CURRENT o Current setting switch Factory setting F V FIL Speed filter setting switch Factory setting 1 1 Resolution switch Factory setting DO CSO Keep this switch in the NORM position Pulse input mode select switch The factory setting depends on the destination country 11 1 Resolution Use the resolution switches D0 D1 and CS0 CS1 to set a desired resolution per revolution of the motor output shaft po 01 po T LI 1 cso 1 cs cso i0 Resolution 1000 P R Resolution 500 P R eo EH cs1 51 Resolution 10000 P R Resolution 5000 P R NO Note The new settings of the resolution switches will become effective after the power is cycled If a 24 VDC power s
86. le the power If a 24 VDC power supply is connected also cycle the 24 VDC power supply 57 15 Alarms and warnings E Descriptions of alarms See p 84 for more information about the alarm parameters Number of times Alarm code output Motor beratior Reset using the Alarm type the ALARM LED Alarm code i re ALM RST input blinks ALZ P OPX 2A MEXEO2 Overheat protection 21 Overload 30 Possible Overspeed 2 OFF ON OFF 31 Command pulse error 34 Regeneration unit overheat 51 x Not possible Overvoltage protection 22 3 OFF ON ON Main power supply error 23 Undervoltage 25 Overflow rotation during 10 Possible current on 4 ON OFF OFF Overflow rotation during 12 current off Overcurrent protection 20 5 ON OFF ON Not possible Drive circuit error 2D Abnormal operation data 70 Possible 7 ON ON ON Electronic gear setting error 71 x Not possible The symbols in the Motor operation upon alarm field are explained below x When an alarm generates the motor current will be cut off and the motor will lose its holding torque In the case of an electromagnetic brake motor the motor will become unexcited and the electromagnetic brake will hold the load automatically O Even when an alarm generates the motor current will not be cut off and the motor position will be held 58 15 Alarms and warning
87. mAor less gt 3 5 7 15 17 19 RM Q 26031 4 6 8 i 10 12 14 p Y or equivalent 16 18 20 Note The ASG output BSG output and TIM1 output are line driver outputs When connecting a line driver output receive the output signal using a line receiver Also be sure to connect pins 2 and 21 of the driver to the GND on the line receiver and connect a termination resistor of 100 O or more between the driver and the input of the line receiver Controller Driver x DM DM Os 26C31 or equivalent AAA WMH Termination resistor of 100 Q or more E READY ALO output When the driver becomes ready the READY output turns ON Input pulse signals to driver after the READY output has turned ON If an alarm generates an alarm code indicating the cause of the alarm can be output and checked via the combination of ALO AL1 and AL2 outputs To use alarm codes the applicable parameter must be changed using the OPX 2A or MEXEO2 For details on alarm refer to p 57 B TLC AL1 output This signal will be output when the torque characteristic exceeds the specified range If a push current is set using an extended function this signal is output while pushing If an alarm generates an alarm code indicating the cause of the alarm can be output and checked via the combination of ALO AL1 and AL2 outputs To use alarm codes the applicable parameter m
88. maintained e T MODE input When the T MODE input is turned ON the push motion operation will be started E RETURN M1 input The RETURN input is effective when positioning operation is performed When push motion operation is selected with the OPX 2A or MEXEO2 the M1 input will become effective e RETURN input When the RETURN input is turned ON the motor will start a return to electrical home operation Return to electrical home operation is a type of operation that moves the motor to its electrical home position where the cumulative value of command positions becomes 0 The electrical home position is initially at the motor position when the power is turned on and it can be changed to a desired position using the P RESET input M1 input Combine this input with the MO and M2 inputs to select a desired current setting for push motion operation Refer to p 51 for details 37 10 Explanation of I O signals P RESET M2 input The P RESET input is effective when positioning operation is performed When push motion operation is selected with the OPX 2A or MEXEO2 the M2 input will become effective e P RESET input When the P RESET input is turned ON the cumulative value of command positions will become 0 and the electrical home position will be set Input this signal while the motor is at standstill CW CCW input 9 IL EI E OFF 5 ms or more ON OFF ON END output O
89. n the current was turned off the deviation between the command position and actual position exceeded the value set in the parameter for overflow rotation during current off APP 5 02 This warning is output when the parameter for auto return SyS 1 03 is set to Enable The internal temperature of the driver exceeded the value set in the overheat overheat warning parameter APP 5 07 e The voltage of the main power supply exceeded the value set in the overvoltage warning parameter APP 5 05 Overvoltage A large inertial load was stopped abruptly or up down operation was performed without connecting a regeneration unit Main power supply error The C ON input was turned ON when the main power was cut off Undervoltage e The DC voltage of the main power supply became lower than the value set in the undervoltage warning parameter APP 5 06 The main power was cut off momentarily or the voltage became low load exceeding the maximum torque was applied for the time set in the Overload overload warning parameter APP 5 08 or longer The load is large or acceleration deceleration rate is too short The detected motor speed exceeded the value set in the overspeed warning Overspeed parameter APP 5 09 Operation data error e The CS input was changed when the current was on e The traveled distance from the electrical home exceeded the control range 2 147 483 648 pulses This a
90. ning operation B Main features Introducing closed loop control The AR Series can continue its operation even upon encountering quick acceleration or an abrupt change in load Monitoring the speed and amount of rotation while the motor is running the AR Series performs closed loop control under overload and similar conditions to continue its operation at the maximum torque Energy saving Motor and driver losses have been substantially reduced to achieve low heat generation and save energy Since the motor and driver generate much less heat they can now be operated for longer hours at high speed which was not possible with conventional stepping motors drivers e Easy adjustment using a speed filter Even after the motor has been installed in the equipment the motor response can be adjusted to suppress vibration using a digital switch with ease e Separate main power supply and control power supply A separate 24 VDC power supply is connected to supply control power independently of the main power supply This way the motor position can be detected and contents of alarms can be checked while the 24 VDC power is supplied even when the main power is cut off e Supporting sink output and source output The driver supports both the current sink output circuit and the current source output circuit Line driver output is not supported e Automatically controlled electromagnetic brake Since the driver automatically controls th
91. nning motor attach a warning label as shown below in a conspicuous position Failure to do so may result in skin burn s Warning label Before moving the motor directly with the hands confirm that the FREE input turns ON Failure to do so may result in injury e Use a 24 VDC power supply that has been given reinforced insulation between the primary side and secondary side Failure to do so may cause electric shock Immediately when trouble has occurred stop running and turn off the driver power Failure to do so may result in fire electric shock or injury To prevent electric shock use only an insulated screwdriver to adjust the driver s switches Maintenance and inspection To prevent the risk of electric shock do not touch the terminals while performing the insulation resistance test or dielectric strength test Disposal To dispose of the motor and driver disassemble it into parts and components as much as possible and dispose of individual parts components as industrial waste 2 Overview of the AR Series 2 Overview of the AR Series The AR Series high efficiency stepping motor and driver package is a product consisting of a stepping motor equipped with a rotor position detection sensor and a high performance microstep driver When the AR Series is used with an accessory data setter OPX 2A or data setting software MEXEO2 both are sold separately push motion operation can be performed in addition to accurate positio
92. nsertion port and push In this condition insert the cable Insert the cable while pushing down the screwdriver Screwdriver insertion port 30 8 Connection 8 4 Grounding the motor and driver E Grounding the motor Be sure to ground the Protective Earth Terminal of the motor Tightening torque 1 2 N m 170 oz in Use a grounding wire of AWG18 0 75 mm or more Use a round terminal in combination with an inner clip washer and bolt it in place to secure the grounding connection Ground wires and crimp terminals are not supplied E Grounding the driver Be sure to ground the protective earth terminal screw size M4 of the driver Tightening torque 1 2 N m 170 oz in You can ground either of the two protective earth terminals The terminal not grounded should be connected to the protective earth lead of the motor cable Use a grounding wire AWGI6 to 14 1 25 to 2 0 mm and do not share the protective earth terminal with a welder or any other power equipment When grounding the protective earth terminal use a round terminal and affix the grounding point near the driver Protective Earth Terminal Ground one of these terminals 8 5 Connecting the 24 VDC power supply input regeneration resistor unit and electromagnetic brake Use the CN1 connector 6 pins to connect the 24 VDC power supply input regeneration resistor thermal input and electromagnetic brake Connect the lead wire AWG24 to 16 0 2
93. nt 20 to 60 C 4 to 140 F non freezing temperature Storage Humidity 85 or less non condensing environment Altitude Up to 3000 m 10000 ft above sea level Surrounding No corrosive gas dust water or oil atmosphere pulse 20 to 60 C 4 to 140 F non freezing emperature Shipping Humidity 85 or less non condensing environment Altitude Up to 3000 m 10000 ft above sea level Surrounding No corrosive gas dust water or oil atmosphere Insulation resistance 100 MQ or more when 500 VDC megger is applied between the following places Case Motor and sensor windings Case Electromagnetic brake windings 100 MQ or more when 500 VDC megger is applied between the following places Protective Earth Terminal Power supply terminals Signal I O terminals Power supply terminals Dielectric strength Sufficient to withstand 1 5 kVAC at 50 60 Hz applied between the following places for 1 minute Case Motor and sensor windings Case Electromagnetic brake windings Sufficient to withstand the following for 1 minute Protective Earth Terminal Power supply terminals 1 5 kVAC 50 60 Hz Signal I O terminals Power supply terminals 1 8 kVAC 50 60 Hz 56 Excluding the mounting surface and connectors 15 Alarms and warnings 15 Alarms and warnings The driver provides alarms that are designed to protect the driver from overheating poor connection error in operation
94. on starts from the position where the TIM output turns ON The TIMI output is a line driver output while the TIM2 output is an open collector output E Operation by pulse input Positioning operation 0 s or more CW COW i 9 OFF ON OFF 1 READY output 73 18 Reference e When an error occurs Main power supply OFF 2 ON 24 VDC power supply OFF CW CCW i ON input OFF 250 ms or more C ONi ON ON input oc 300 ms or less Ms 60 ms or less READY bd 2 OFF i 60 ms or less sg Ok AU d ALM ON 2 60 ms or less Sco qeu Met ML WNG v output OFF Cumulative position commands 1 When the READY output is OFF input pulses are ignored 2 Ifa pulse is input while the main power is cut off a main power supply error alarm will generate E Return to electrical home operation When operation is interrupted C ONi eh input OFF 5 ms or more 5 ms or more RETURNi 5 ms or less 300 ms or less 5msorless x TO READY output OFF 5 ms or less 9 ms or less 5msorless END output OFF 250 ms or less 200 ms or l
95. onstant assigned to the speed filter setting APP 1 00 to Speed filter switch APP 1 15 53 I O input mode Select the input signal mode APP 2 00 ALO 2 signal output Change the setting to enable disable alarm code output APP 2 01 P 57 C ON input logic Change the C ON input logic APP 2 02 P 50 END signal range Set the output condition for END output APP 2 03 P 40 If the position at which the motor stops deviates from the theoretical position due to the effect of the load friction etc set ENDisignal offset an offset for the output position corresponding to the END APP 2 04 output P sh motionc rre t Set the operating current rate applicable to push motion APP 2 05 to P51 operation APP 2 12 Standstill current Set the standstill current as a percentage of the operating APP 3 00 P53 current Speed error gain 1 Set the speed error gain When this value is increased motor APP 3 01 vibration will decrease P53 Set the speed error gain When this value is increased motor Speed errorgain 2 vibration at the time of speed change will decrease APP 3 02 Position loop gain Set the position loop gain When this value is increased the APP 4 00 response will increase Speed loop gain Set the speed loop gain When this value is increased the APP 4 01 P54 response will increase Speed loop integral time Set the integral time constant for speed loop When this value is APP 4 02 constant decreased the response will
96. opriate installation layout so that the load will not contact the metal plate or bolts used for installing the motor 18 7 4 Permissible overhung load and permissible thrust load 7 Installation With a double shaft type do not apply load torque overhung load or thrust load to the output shaft on the opposite side of the motor output shaft B Permissible overhung load N Ib Permissible Type Model in Distance from the tip of motor output shaft mm in thrust load 0 0 5 0 2 10 0 39 15 0 59 20 0 79 Ib AR46 35 7 8 44 9 9 58 13 85 19 1 4 6 1 03 AR46M 6 1 1 37 AR66 8 8 1 98 90 20 100 22 130 29 180 40 270 60 1909 _ AR69 z 13 7 3 AR69M 16 7 3 7 AR98 18 4 AR98M 260 58 290 65 340 76 390 87 480 108 24 5 4 AR911 29 6 5 AR46 10 2 2 14 3 1 20 45 30 67 15 3 3 TH geared AR66 70 15 7 80 18 100 22 120 27 150 33 40 9 AR98 220 49 250 56 300 67 350 78 400 90 100 22 5 7 2 73 16 4 84 18 9 100 22 123 27 10 AR46 50 11 2 11 2 36 109 24 127 28 150 33 184 41 50 5 200 54 220 49 250 56 280 63 320 72 fe 250 56 270 60 300 67 340 76 390 87 PS geared AR66 100 22 PL geared 25 36 330 74 360 81 400 90 450 101 520 117 50
97. or more the supplied cable is not long enough and you must use a connection cable set or extension cable set A cable set for the electromagnetic brake motor consists of a motor cable and an electromagnetic brake cable When installing the motor on a moving part use a flexible cable offering excellent flexibility e Extending the wiring length using a connection cable set Do not use the supplied cable Connection cable set For electromagnetic brake m For motor Aaaa OA ASAE Only when the motor is of electromagnetic brake type Extending the wiring length using an extension cable set Connect an extension cable to the supplied cable Extension cable set p 7 Fo Cable for electromagnetic brake o m For electromagnetic brake For motor supplied E Cable for motor supplied L il Only when the motor is of electromagnetic brake type Note When extending the wiring length by connecting an extension cable to the supplied cable keep the total cable length to 30 m 98 4 ft or less 65 17 Accessories sold separately 66 e Connection cable set See p 67 for connector pin assignments of the cable
98. power was turned on when the resolution set by the electronic gear was outside the specified range Sensor error during operation A sensor error occurred while the motor was operating Initial sensor error A sensor error occurred when the power was turned on Initial rotor rotation error The motor output shaft rotated at a speed of 15 r min or more while the initialization was still in progress following a power on Motor combination error A motor not supported by the driver is connected EEPROM error Data stored in the driver was damaged 84 18 Reference Mode Parameter operation data Standard Extended C t specification function Normal 2 bh Name Setting range Initial value control display Available 7 7 E Not available 0 Disable EE APP 2 01 ALO 2 signal output 1 Enable 0 Disable Available Appio Overflow rotation during 0 01 to 300 00 rev 3 00 current on Not available APP 5 03 Overload 0 1 to 30 0 s 5 0 Available Available Available D 5 Available 85 18 Reference E Warnings warning functions Item Overview condition Warning check function WNG output When a warning generates the WNG output will turn ON Return to electrical home operation warning output enable disable setting When the CS input is tu
99. purpose of the setting varies depending on the control mode Normal mode An operating current is set Current control mode A current limit value used for limiting the torque and temperature rise is set Available Change the value assigned to each dial setting of the current setting switch Standstill current percentage setting Set the standstill current as a percentage of the operating current Not available Pulse input mode selection Set the pulse input mode using the select switch Available Set the pulse input mode using the applicable parameter Rotation direction Set the rotation direction of the motor Not available C ON input Excite the motor Available Set the logic of the C ON input Enable disable return operation to excitation position at current ON Set whether or not to return the motor to its excitation position where the deviation becomes 0 when the current is turned on Not available Available Available Available Not available Available 78 18 Reference Parameter operation data DECOR ME Name Setting range Initial value display SyS 0 00 Electronic gear A1 10 SyS 0 01 Electronic gear A2 1 SyS 0 02 Electronic gear A3 1 to 1000 20 SyS 0 03 Electronic gear A4 2 SyS 0 04 Electronic gear B 10 APP 0 00 Operating cur
100. ration unit sold separately Do not turn the C ON input ON while the Main power supply 23 The C ON input was turned ON when the main els is cut off MRG we error main power was cut off Check the C ON input logit e The DC voltage of the main power supply became lower than the value set in the undervoltage warning parameter Check the input voltage of the main power Undervoltage 25 APP 5 06 supply 9 main power was cut off momentarily or the voltage became low e Aload exceeding the maximum torque e Reduce the load or increase the was applied for the time set in the acceleration deceleration rate riga overload warning parameter APP 5 08 If the driver is in the current control or longer mode increase the current limit value The load is large or acceleration Check if the electromagnetic brake is deceleration rate is too short released during operation Check the electronic gear setting and reduce the speed of the motor output The detected motor speed exceeded the shaft to the value set in the parameter or Overspeed 31 value set in the overspeed warning less parameter APP 5 09 e If the motor is overshooting at the time of acceleration increase the acceleration deceleration rate 62 15 Alarms and warnings Warning Warning type boda Cause Action The CS input was changed when the Do not change the CS input when the current was on current is on The tr
101. rence Generation condition Generation condition Warning ON READY output OFF ALM s ON output OFF 5 ms or less 5ms or less whichever 1 ms or more S longer WNG output OFF Hold Release Electromagnetic brake 9 ms or less Generation condition 9 ms or less 9 ms or less 60 ms or less ON 60 ms or less Motor excitation OFF An alarm code is also output at the same timing e This timing chart assumes generation of an alarm that turns off motor excitation e Some alarms do not turn off motor excitation Some alarms not preceded by a warning Tf 18 Reference 18 2 Function parameter list Item Overview Standard specification Extended function Mode Normal Current control Control mode Set the control mode Resolution Set the resolution using the resolution switches Available Change the electronic gear value assigned to each resolution switch The calculated value should fall within the setting range specified below the value of electronic gear B is common Resolution setting range 100 to 10000 P R Resolution 1000 x Electronic gear B Electronic gear A1 to A4 Four resolutions can be set using different combinations of resolution switches Not available Operating current Set the operating current using the current setting switch The
102. rent at CURRENT 0 6 3 APP 0 01 Operating current at CURRENT 1 12 5 APP 0 02 Operating current at CURRENT 2 18 8 APP 0 03 Operating current at CURRENT 3 25 0 APP 0 04 Operating current at CURRENT 4 31 3 APP 0 05 Operating current at CURRENT 5 37 5 APP 0 06 Operating current at CURRENT 6 43 8 APP 0 07 Operating current at CURRENT 7 0 0 to 100 0 50 0 APP 0 08 Operating current at CURRENT 8 56 3 APP 0 09 Operating current at CURRENT 9 62 5 APP 0 10 Operating current at CURRENT A 68 8 APP 0 11 Operating current at CURRENT B 75 0 APP 0 12 Operating current at CURRENT C 81 3 APP 0 13 Operating current at CURRENT D 87 5 APP 0 14 Operating current at CURRENT E 93 8 APP 0 15 Operating current at CURRENT F 100 0 APP 3 00 Standstill current 0 0 to 50 96 50 0 2P 0 Setting by the pulse input mode select switch 1 2 pulse input mode active low 2 2 pules input mode active high SyS 1 00 Pulse input mode 3 1 pulse input mode active low 0 4 1 pules input mode active high 5 Phase difference mode x1 6 Phase difference mode x2 T Phase difference mode x4 0 CCW nre SyS 1 04 Rotation direction 1 1 CW ee 4 0 Contact A normally open 0 Contact A Dep CON JOBHEIDOIS 1 Contact B normally closed normally open 0 Disable PE SyS 1 03 Auto return 1 Enable 0 Disable 79 18 Reference
103. rned ON a return to electrical home operation will be disabled and an operation data error warning will generate Warning detection condition setting Excessive position deviation warning Set the condition under which an excessive position deviation warning generates when the current is turned on Set the condition under which an excessive position deviation warning generates when the current is turned off Overvoltage warning Set the condition under which an overvoltage warning generates Undervoltage warning Set the condition under which an undervoltage warning generates Overheat warning Set the condition under which a driver overheat warning generates Overload warning Set the condition under which an overload detection warning generates The overload condition varies depending on the control mode Normal mode A position deviation of 1 8 or more has occurred Current control mode The operating current has reached the limit Overspeed warning Set the condition under which a motor overspeed warning generates Descriptions of warnings Overflow rotation during current on e When the current was turned on the deviation between the command position and actual position exceeded the value set in the parameter for overflow warning rotation during current on APP 5 04 The load is large or acceleration deceleration rate is too short Overflow rotation during current off Whe
104. s Cause Action The internal temperature of the driver exceeded 85 C 185 F Review the ventilation condition in the enclosure The cumulative value of applied loads exceeding the maximum torque reached or exceeded the value set in the overload parameter APP 5 03 e Reduce the load or increase the acceleration deceleration rate e If the driver is in the current control mode increase the current limit value e Check if the electromagnetic brake is released during operation The speed of the motor output shaft exceeded 4500 r min excluding geared motors e Check the electronic gear setting and reduce the speed of the motor output shaft to 4500 r min or less e f the motor is overshooting at the time of acceleration increase the acceleration deceleration rate The command pulse frequency exceeded the specified value e Set the command pulse to 500 kHz or less Check the electronic gear setting and reduce the speed of the motor output shaft to 4500 r min or less The regeneration unit is not connected correctly The regeneration unit is overheating e If no regeneration unit is used short the TH1 and TH2 terminals of CN1 Connect the regeneration unit correctly e The regenerative power of the regeneration unit exceeds the allowable level Review the load condition and operating conditions 200 230 VAC was applied to a product specified for 100 115 VAC e A
105. s in the gear case If the motor is to be operated continuously install the motor in a location where heat dissipation capacity equivalent to a level achieved with a heat sink made of aluminum 250x250x6 mm 9 84x9 84x0 24 in is ensured Maximum static torque at excitation The maximum static torque at excitation is the maximum power the stepping motor has when power rated current is being supplied but the motor is not rotating When the motor is combined with a dedicated driver the automatic current cutback function of the driver reduces the maximum static torque at excitation by approximately 5095 at motor standstill The maximum power of the motor can be used at acceleration and operation when starting the motor but the holding power is reduced to approximately 5096 after stopping the motor When selecting a motor for your application consider the fact that the holding power will be reduced to approximately 5096 at motor standstill Do not use the electromagnetic brake to reduce speed or as a safety brake Do not use the electromagnetic brake as a means to decelerate and stop the motor The brake hub of the electromagnetic brake will wear significantly and the braking force will drop Since the power off activated type electromagnetic brake is equipped it helps maintain the position of the load when the power is cut off but this brake cannot securely hold the load in place Accordingly do not use the electromagnetic brake as a safety brake
106. s or more ON CW input E f Phase difference x2 OFF mode CCW input Rotation direction Forward rotation Reverse rotation 0 4 us or more ON p V TT gt CCW input ee LPL Rotation direction Forward rotation Reverse rotation Whether to cause the motor to rotate in CW direction or CCW direction when a forward direction pulse is input can be set using the system parameter for rotation direction SyS 1 04 Refer to p 50 When a system parameter has been changed the new parameter will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply e Pulse signal Input a pulse with sharp rising and falling edges as shown in the figures The figure shows the voltage levels of pulse signals 1 pulse input mode 2 pulse input mode ON 2 a omer or more 90 o OFF 10 0 8 us or more c 0 8 us or more 2 us or less 2 us or less e Phase difference mode 2 us or more 2 us or less 2 us or less 90 10 0 4 us or more 0 4 us or more 2 us or less 2 us or less 10 0 4 us or more 0 4 us or more 49 12 Extended functions E Motor excitation at power ON When the power is turned on and the C ON input switched ON the motor will be excited at the current position If the system parame
107. t and may cause a skin burn s Transportation Do not carry the motor by holding the motor output shaft or motor cable Doing so may cause injury Installation e Provide a cover over the rotating parts output shaft of the motor Failure to do so may result in injury Do not leave anything around the motor and driver that would obstruct ventilation Doing so may result in damage to equipment Connection e The communication connector and I O signal connector CN5 are not insulated When grounding the positive terminal of the power supply do not connect any equipment PC etc whose negative terminal is grounded Doing so may cause the driver and these equipment to short damaging both Operation Use a motor and driver only in the specified combination An incorrect combination may cause a fire e Provide an emergency stop device or emergency stop circuit external to the equipment so that the entire equipment will operate safely in the event of a system failure or malfunction Failure to do so may result in injury Before supplying power to the driver turn all input signals to the driver OFF Otherwise the motor may start suddenly at power ON and cause injury or damage to equipment Do not touch the rotating part output shaft during operation Doing so may cause injury The motor surface temperature may exceed 70 C 158 F even under normal operating conditions If the operator is allowed to approach the ru
108. ter for excite position at first current on SyS 1 02 is set to Electrical angle 0 the motor will be excited at the position corresponding to electrical angle 0 where the TIM output turns ON If the C ON input is set to normally closed however the motor will be excited automatically at the electrical angle 0 position after the power has been turned on The C ON input logic can be set using the application parameter for C ON input logic APP 2 02 If the parameter for excite position at first current on SyS 1 02 is set to Electrical angle 0 the motor output shaft may move by a maximum of 3 6 when the C ON input is turned ON e When a system parameter has been changed the new parameter will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply Automatic return operation This is a return operation when the motor is in a state of current ON If the system parameter for auto return SyS 1 03 is set to Enable the motor can automatically return when the C ON input is turned ON or FREE input is turned OFF to the position where it was stopped When a system parameter has been changed the new parameter will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply E Setting the motor rotation direction Set a desired motor rotation direction using the system parameter for rotation direction SyS 1 04 E e W
109. the C ON input ON or the main power is cut off ON Main power supply oFF ON 24 VDC power supply OFF C ONi input OFF 15 orles whichever 2 s or less S longer READY da output OFF WNG ok output occ 60 ms or less 60 ms or less 5 ms or less 1 s or lesS Whichever 2 s or less S longer Electromagnetic brake Hold FE Release 1 s or lesS Whichever 2 s or less IS longer Morrexctaton D sd otor excitation OFF 60 ms or less 60 ms or less e Ifthe main power is cut off electromagnetic brake operation and motor excitation will turn off simultaneously FREE input FREEi OFF C ONi id a input OFF 5 ms or less 250 ms or less 5 ms or less READY p output OFF 60 ms or less 60 ms or less 60 ms or less Electromagnetic Hold brake Release 250 ms or less 200 ms or less 250 ms or less M 2s ON otor excitation OFF P RESET input Generation condition Alarm ON CW COW input OFF 5 ms or more O s or more ON P RESET input OFF 9 ms orless ON READY output OFF Cumulative position commands _ 9 ms or less When the P RESET input is turned ON the cumulative value of posit
110. the electromagnetic brake input P 37 31 CW PLS CW pulse input Pulse input 5 V or line driver 32 CW PLS 33 CW 24 V PLS 24 V CW pulse input Pulse input 24 V P36 34 CCW 24 V DIR 24 V CCW pulse input Direction input 24 V 35 CCW DIR CCW pulse input Direction input 5 V or line driver 36 CCW DIR The signal will become effective if the applicable setting has been changed using the OPX 2A or MEXEO2 The factory setting of the C ON input is normally open Be sure to turn the C ON input ON when operating the motor Set the C ON input to normally closed when the C ON input is not used Refer to p 36 for details 24 8 Connection E Assembling the connector Cable clamp Screw M2 5 Tightening torque signal cable 0 5 to 0 55 N m 71 to 78 oz in Screw M2 Connector Place the spring washer outside the case Screw M2 5 Align the washer in the depression in the case Connecting the connector Insert the CN5 connector into the I O signal connector CN5 on the driver and tighten the screw Tightening torque 0 3 to 0 35 N m 42 to 49 oz in Be certain the I O signal cable is as short as possible The maximum input frequency will decrease as the cable length increases 25 8 Connection Bi Connecting to a current sink output circuit e When pulse input is of line driver type
111. the load Available condition Speed filter V FIL setting Available Change the value assigned to each dial setting of the speed filter setting switch Available Available Adjustment in normal Suppress Vibration Bun rotation Not available Not mode Suppress vibration during operation and available acceleration deceleration Adjust the position loop gain Adjust the speed loop gain Gain adjustment in Adjust the speed loop integral time constant Not current control mode Ju p available Set the frequency of anti vibration control Set anti vibration control to be enabled Smooth drive Set the smooth drive Set the operating speed of JOG operation JOG operation Set the acceleration and deceleration rate of JOG Available operation Set the starting speed of JOG operation Motor excitation Select the position at which the motor is excited after the Available position at power on power has been turned on Show the speed on the data setter with a sign or as an absolute value Data setter Set the gear ratio for geared motor used for speed monitor 82 18 Reference Parameter operation data OPX 2A screen display Name Setting range Initial value APP 1 00 Speed filter at V FIL 0 0 APP 1 01 Speed filter at V FIL 1 1 APP 1 02 Speed filter at V FIL 2 2 APP 1 03 Speed filter at V FIL 3 3 APP 1 04 Spee
112. ther Driver is to be used as a component within equipment other equipment Overvoltage category II Overvoltage category II Pollution degree 3 2 for the double shaft type Pollution degree 2 Protection against electric shock Class I Protection against electric shock Class I 4 Introduction Low Voltage Directives This product is designed and manufactured to be installed within another device This product cannot be used with cables normally used for IT equipment Install the product within the enclosure in order to avoid contact with hands Be sure to maintain a protective ground in case hands should make contact with the product Securely ground the protective earth terminals of the motor and driver To protect against electric shock using an earth leakage breaker RCD connect a type B earth leakage breaker to the primary side of the driver When using a circuit breaker MCCB use a unit conforming to the EN or IEC standard Isolate the motor cable power supply cable and other drive cables from the signal cables CN1 CN4 CN5 by means of double insulation The temperature of the driver s heat sink may exceed 90 C 194 F depending on the driving conditions Accordingly take heed of the following items Do not touch the driver Do not use the driver near flammable objects Always conduct a trial operation to check the driver temperature e EMC Directive This product has received EMC compliance under the con
113. tions voltage width The CW input and CCW input are turned ON simultaneously in the 2 pulse input mode Each pulse signal input should specify either the CW input or CCW input but not both Make sure the terminal not receiving the signal input remains OFF The pulse signal is connected to DIR input in the 1 pulse input mode Connect the pulse signal to the PLS input An electromagnetic brake motor is used and the electromagnetic brake is not released Check the connection between the electromagnetic brake and driver The motor rotates in the direction opposite to the specified direction The CW input and CCW input are connected in reverse in the 2 pulse input mode Connect CW pulse signals via the CW input and connect CCW pulse signals via the CCW input The DIR input is set in reverse in the 1 pulse input mode Turn the DIR input ON to cause the motor to rotate in CW direction and turn the input OFF to cause the motor to rotate in CCW direction The system parameter for rotation direction SyS 1 04 is set wrong Check the setting of the rotation direction parameter SyS 1 04 The gear output shaft rotates in the direction opposite to the motor A gear that rotates in the direction opposite to the motor shaft is used e With TH geared motors the gear rotates in the direction opposite to the motor when the gear ratio is 20 or 30 e With Harmonic geared motors the gear alw
114. tor cable was disconnected Turn off the power and check the connection between the motor cable and driver and then cycle the power Return to electrical home operation was performed while an abnormal operation data warning was present Do not perform return to electrical home operation while an abnormal operation data warning is present The power was turned on when the resolution set by the electronic gear was outside the specified range Set the electronic gear correctly and then turn the power back on 59 15 Alarms and warnings Alarm type Number of times the ALARM LED Alarm code output Alarm code Motor operation Reset using the ALM RST input blinks AL2 AL1 ALO upon alarm OPX 2A MEXE02 Sensor error during 28 operation Initial sensor error 42 8 OFF OFF OFF i Initial rotor rotation error 43 x Not possible Motor combination error 45 EEPROM error 9 OFF OFF ON 41 The symbols in the Motor operation upon alarm field are explained below x When an alarm generates the motor current will be cut off and the motor will lose its holding torque In the case of an electromagnetic brake motor the motor will become unexcited and the electromagnetic brake will hold the load automatically O Even when an alarm generates the motor current will not be cut off and the motor position will be held 60 15 Alarms and warnings
115. upply is used also cycle the 24 VDC power supply e When changing the resolution using the CS input use the switches in CSO DO or CS0 D1 combination If the CS input is turned ON when CS1 is selected the resolution will not be changed To change the basic resolution setting Refer to Resolution on p 47 11 2 Pulse input mode Set a desired pulse input mode of the driver according to the pulse output mode of the controller pulse generator used with the driver Set a desired mode using the pulse input mode select switch 2P 1P 1P 1 pulse input mode when the PLS input and DIR input are used 2P 2 pulse input mode when the CW input and CCW input are used The new setting of the pulse input mode select switch will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply To change the basic setting for pulse input mode Refer to Pulse input mode on p 48 44 11 3 Operating current Set a desired operating current using the current setting switch CURRENT The operating current to be set is the maximum output current multiplied by the operating current rate 6 set to each dial setting of the current setting switch where F corresponds to 10096 One of 16 operating current levels from 0 to F can be set If the load is small and there is an ample allowance for torque motor temperat
116. ure rise can be suppressed by setting a lower operating current The dial settings and corresponding operating current rates are listed below 11 Setting Dial setting Operating current rate 96 Dial setting Operating current rate 96 0 6 3 8 56 3 1 12 5 9 62 5 2 18 8 A 68 8 3 25 0 B 75 0 4 31 3 81 3 5 37 5 D 87 5 6 43 8 E 93 8 7 50 0 F 100 factory setting Excessively low operating current may cause a problem in starting the motor or holding the load in position Do not lower the operating current more than necessary To change the basic setting for operating current Refer to Operating current on p 53 11 4 Speed filter The motor response to input pulses can be adjusted with the speed filter setting switch V FIL One of 16 speed filter levels from 0 to F can be set When setting a higher value for the speed filter lower vibration at low speed operation or smoother operation at starting stopping of the motor can be achieved However if this setting is too high synchronization performance is decreased Set a suitable value based on the load or application Dial setting Speed filter time constant ms Dial setting Speed filter time constant ms 0 0 8 30 1 1 factory setting 9 50 2 2 A 70 3 3 B 100 4 5 C 120 5 7 D 150 6 10 E 170 7 20 F 200
117. ust be changed using the OPX 2A or MEXEO2 For details on alarm refer to p 57 39 10 Explanation of I O signals 40 END output When the motor has completed its movement the END output will turn ON Specifically the END output will turn ON when the rotor position falls within 41 8 of the command position while no pulse signal is input A desired output condition for the END signal can be set using the OPX 2A or MEXEO2 Refer to 18 2 Function parameter list on p 78 Motor operation END PA output OFF The output time of the END signal varies depending on the position command filter and operating speed E TIM1 output The TIM output will turn ON every time the motor output shaft rotates by 7 2 Two types of TIM outputs are available the line driver output TIM1 output and the open collector output TIM2 output Change the TIM output according to the pulse input mode of the programmable controller ON UEST ETETEA 2000 _ 40 When setting to 1000 P R Pulse input aa _ JUL o ON Motor output shaft TIM output rotates by 7 2 OFF Motor operation The TIM1 output will turn ON when the pulse speed is 10 kHz or less and the TIM2 output will turn ON when the pulse speed is 500 Hz or less e When changing the resolution using the CS input do so while the TIM output is ON and the motor is at
118. utput OFF Motor operation The motor stops due to inertial force When the driver is When a protective operating normally function is triggered 41 10 Explanation of I O signals 10 3 Timing chart E When no 24 VDC power supply is connected to CN1 When turning the main power supply on and turning the C ON input ON the motor will be excited The READY output will turn ON and pulse input will be enabled 10 s or more ON Main power supply OFF CW CCW input ON OFF Effective at 2 s or less C ONi input OFF 300 ms or less 5 ms or less READY on output OFF 600 ms or less ALM output ON OFF WNG on output OFF 600 ms or less 5 msorless ON e END output OFF 200 ms or less 250 ms or less M m ON otor excitation OFF Motor operation 42 10 Explanation of I O signals E When a 24 VDC power supply is connected to CN1 10 s or more ON ON 24 VDC power supply orr 1 CW CCW i RA input oe U M 1 s or more C ONi ON input OFF 700 ms or less Whichever 300 ms or less is longer 5 ms or less READY ON output OFF 600 ms or less ALM kn output OFF WNG ON output OFF 600 ms or less 5msorless END 250 ms or less _ 80 ms or less Ho
119. wiring in compliance with EMC Directive 21 5 23 8 1 Connecting the 23 8 2 Connecting the I O signals 24 8 3 Connecting the power supply 30 8 4 Grounding the motor and driver 31 8 5 Connecting the 24 VDC power supply input regeneration resistor unit and electromagnetic brake 31 8 6 Connecting the data 33 9 Quick operations 34 10 Explanation of I O signals 36 10 1 Input signals 36 10 2 Output signals 39 10 3 Timing 42 Setting 44 11 1 Resolution 44 11 2 Pulse input 44 11 3 Operating 45 11 4 Speed 45 12 Extended functions 46 12 1 Settlng teet 47 E ette diete tentes 47 W Pulse input mode sse 48 W Motor excitation at power 50 W Automatic return operation 50 W Setting the motor rotation direction 50 W Settin
120. witch Restrict the torque temperature rise e General cable e Connector terminal block conversion unit Both are accessories sold separately Set the speed filter P 45 V FIL switch Suppress motor vibration or cause the motor to start stop smoothly Controller Connect a controller that has a pulse generating function p Set the resolution P 44 00 01 and CSO CS1 switches Change the resolution per revolution of the motor output shaft 4 Introduction 4 Introduction B Before use Only qualified personnel should work with the product Use the product correctly after thoroughly reading the section 1 Safety precautions on p 3 The product described in this manual has been designed and manufactured for use in general industrial equipment Do not use for any other purpose Oriental Motor Co Ltd is not responsible for any damage caused through failure to observe this warning E Operating Manuals for the AR Series Operating manuals for the AR Series are listed below AR Series Motor OPERATING MANUAL This manual explains the motor functions and how to install the motor among others AR Series AC power input Pulse input type Driver OPERATING MANUAL This manual explains the driver functions and how to install the driver among others AR Series AC power input Pulse input type USER MANUAL this document This manual explains the function installation an
121. wn movement or sudden starting stopping of a large inertial load will be repeated frequently Always connect the regeneration unit if an overvoltage protection warning or alarm generates Model RGB100 Bi Driver cable A shielded cable for driver I O signals 36 pins offering excellent noise resistance Model Length m ft CC36D1 1 1 3 3 CC36D2 1 2 6 6 E Connector terminal block conversion unit Use this cable to connect the driver to a host controller via the terminal block Cable length 1 m 3 3 ft Model CC36T1 67 18 Reference 18 Reference 18 1 Timing charts E Power input ON Main power supply opp 2 sor less 7 s or less Output signals Confirmation of output E C ON input e The C ON input is turned ON after turning on the power Mai ain power supply opp 24 VDC ida power supply ofp 15 or more whichever 2sormore S longer C ON i input OFF 300 ms or less _ 9 ms or less READY N output OFF 250 ms or less _ 00 ms or less Electromagnetic Hold brake Release 200 ms or less 250 ms or less M d ON otor excitation OFF If24 VDC power is not input the electromagnetic brake does not operate When the C ON input is OFF motor excitation will turn off after the electromagnetic brake is actuated 68 18 Reference e The power is turned on after turning

ARシリーズ AC電源入力パルス列入力タイプ

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ARシリーズ AC電源入力 パルス列入力タイプ

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ARシリーズ AC電源入力パルス列入力タイプ