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CKD ABSODEX AX9000XS-U2 Instruction Manual

Absodex ax series xs type cc-link specification
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Instruction Manual
ABSODEX
AX Series
XS Type
CC-Link specification
 Before using this product, be sure to
read this Instruction Manual.
 In particular, read the descriptions on
safety carefully.
 Store this Instruction Manual so that it
can be taken out and read quickly as
necessary.
SMF-2008-A

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Summary of Contents for CKD ABSODEX AX9000XS-U2

  • Page 1 SMF-2008-A Instruction Manual ABSODEX AX Series XS Type CC-Link specification  Before using this product, be sure to read this Instruction Manual.  In particular, read the descriptions on safety carefully.  Store this Instruction Manual so that it can be taken out and read quickly as necessary.

  • Page 2: Table Of Contents

    Contents ABSODEX AX series [XS type CC-Link specification] Instruction Manual No. SMF-2008-A Introduction ··························································································· 1 Specifications 1.1 Product Configuration ·································································· 1-1 1.2 General Specifications of Driver ····················································· 1-2 1.3 Performance Specifications of Driver ··············································· 1-3 Wiring 2.1 Panel Description ········································································ 2-1 2.2 Communication Connector ····························································...

  • Page 3: Introduction

    Introduction Introduction Thank you for choosing our ABSODEX. ABSODEX is a direct-drive index unit developed to drive intermittently operated turntables or the likes of general industrial assembling machines, inspection machines, etc. flexibly at a superior precision. This Instruction Manual is dedicated to the ABSODEX AX series XS type driver CC-Link specification. It is not applied to other types.

  • Page 4: Specifications

    1. Specifications 1. Specifications 1.1. Product Configuration Name Quantity Driver unit CN5 motor power connector: PC4/3-ST-7.62 (Phoenix Contact) CN4 power supply connector: Accessories PC4/5-ST-7.62 (Phoenix Contact) CN3 communication connector (CC-Link): BLZ5.08/FAU (Weidmüller) [SMF-2008-A] – 1-1 –...

  • Page 5: General Specifications Of Driver

    1. Specifications 1.2. General Specifications of Driver Item AX9000XS-U2 (CC-Link specification) Single-phase or three-phase: 200V AC ± 10% to 230V AC ± 10% (standard) Main 1-100V AC - 10% to 115V AC + 10% (J1:option) Power 1-200V AC - 10% to 230V AC + 10% (standard) Control 1-100V AC - 10% to 115V AC + 10% (J1:option) Frequency...

  • Page 6: Performance Specifications Of Driver

    1. Specifications 1.3. Performance Specifications of Driver Description Item Number of Controlled 1 axis, 4,194,304 pulses/rotation Axes Angle Setting Unit ° (degree), pulse, and number of indexes Angle Setting Minimum 0.001°, 1 pulse (= about 0.31 sec [0.000086 deg.]) Unit Speed Setting Unit sec, rpm Speed Setting Range...
  • Page 7 1. Specifications --- MEMO --- [SMF-2008-A] – 1-4 –...

  • Page 8: Wiring

    2. Wiring 2. Wiring 2.1. Panel Description A terminal strip and connectors, etc. are located on the front panel of the driver. Motion display 7-segment LED (2 digits) Control power Gain 1 adjustment DIP switch (convergence time) Main power Gain 2 adjustment DIP switch (load) Main CN1 RS-232C connector...

  • Page 9: Communication Connector

    2. Wiring 2.2. Communication Connector The pin layout of CC-Link communication connector CN3 is shown below. SLD (Bare) DG (Yellow) DB (White) DA (Blue) Fig. 2.2 Communication connector, Pin layout Table 2.1 Pin layout of CN3 Signal Function Description name Data A Connect the data A cable.

  • Page 10: Connecting The Communication Cable

    2. Wiring 2.3. Connecting the Communication Cable Follow the procedure below to connect the special CC-Link cable to the module. (1) Peel the sheath of the cable off without causing a broken wire (length of peeled cable sheath: 7mm). Do not solder the bare cable. Otherwise poor continuity may be caused. The solderless terminals specified below are recommended.
  • Page 11 2. Wiring CAUTION  Be sure to use special signal cables complying with the CC-Link specifications.  Before inserting the cable into the connector, loosen the cable fixing screw sufficiently to avoid the cable entering the back side of the connector instead of the connector tightening side.

  • Page 12: Io Interface

    2. Wiring 2.4. IO interface Connect "emergency stop input (TB3)" in the following way. 2.4.1. Wiring of emergency stop input (TB3) External power supply 24V DC (Prepared by customer) * The polarity of the external power supply can be inverse. Rated voltage 24V ±10%, rated current within 5mA Fig.
  • Page 13 2. Wiring --- MEMO --- [SMF-2008-A] – 2-6 –...

  • Page 14: Cc-Link Communication Function

    3. CC-Link Communication Function 3. CC-Link Communication Function 3.1. Communication Specifications Table 3.1. Communication specifications Item Specification Power supply Supply 5V DC from the servo amplifier. CC-Link version Ver.1.10 Number of stations 2 (remote device station) occupied (station type) Number of remote input points Number of remote output points...

  • Page 15: I/O Device

    3. CC-Link Communication Function 3.2. I/O Device 2 stations occupied (Ryn/RXn: 48 points each. RWrn/RWwn: 8 points each) Table 3.2. RYn/RXn device list PLC → AX (RYn) AX → PLC (RXn) Device No. Signal name Logic Judgment Device No. Signal name Logic RYn0 Program number selection input (bit 0)
  • Page 16 3. CC-Link Communication Function Table 3.3. RWrn/RWwn device list PLC → AX (RWwn) AX → PLC (RWrn) Address Address Signal name Signal name RWwn Monitor 1 RWrn Monitor 1 data, lower 16 bits RWwn+1 Monitor 2 RWrn+1 Monitor 1 data, upper 16 bits RWwn+2 Command code RWrn+2...
  • Page 17 3. CC-Link Communication Function Table 3.6. Load command code (RWwn+2) list Loaded data Loaded data Code Item/Function designation RWrn+3 RWrn+4 RWwn+5 Current alarm Lower 8 bits: Alarm loading 1 Lower 8 bits: Alarm loading 3 0010h loading Upper 8 bits: Alarm loading 2 Upper 8 bits: Alarm loading 4 Operation mode 0020h...
  • Page 18 3. CC-Link Communication Function Table 3.8. Writing command code (RWwn+2) list Written data Written data Code Item/Function designation RWwn+3 RWwn+4 RWwn+5 Operation mode Automatic operation 0021h 0 (fixed) switching number Lower 16 bits of parameter Upper 16 bits of parameter Parameter 0029h Parameter setting...
  • Page 19 3. CC-Link Communication Function Table 3.11. Parameter list Name Set range Initial value Unit number Cam curve Acceleration/Deceleration time of MC2 curve 1~5,000 x 100 [sec] Home position offset amount -2,097,152~2,097,151 [Pulse] Home positioning direction Home positioning speed 100~2,000 x 100 [rpm] Acceleration/Deceleration time of home 10~200 x 100 [sec]...

  • Page 20: Data Communication Timing Chart

    3. CC-Link Communication Function 3.3. Data Communication Timing Chart 3.3.1. Monitor code Monitor 1 (RWwn) Monitor 2 (RWwn+1) Monitor output execution request (RY(n+2)0) Monitoring (RX(n+2)0) Monitor 1 data, lower 16 bits (RWrn) Monitor 1 data, upper 16 bits (RWrn+1) Monitor 2 data, lower 16 bits (RWrn+5) Monitor 2 data, upper 16 bits (RWrn+6)

  • Page 21: Command Code

    3. CC-Link Communication Function 3.3.2. Command code i) Load command code (0000h to 0010h) Command code (RWwn+2) Command code execution request (RY(n+2)1) Command code execution complete (RX(n+2)1) Loaded data, lower 16 bits (RWrn+3) Loaded data, upper 16 bits (RWrn+4) Response code (RWrn+2) Data loading period Fig.

  • Page 22: Response Code

    3. CC-Link Communication Function ii) Writing command code Command code (RWwn+2) Written data, lower 16 bits (RWwn+3) Written data, upper 16 bits (RWwn+4) Parameter number (RWwn+5) Command code execution request (RY(n+2)1) Writing is being executed Command code processing Command code execution completion (RX(n+2)1) Response code (RWrn+2)

  • Page 23: Defining The Cc-Link Register

    3. CC-Link Communication Function 3.4. Defining the CC-Link Register Enter the station number and baud rate using AX Tools Ver 2.10 or later. The default station number is 1 and the default baud rate is 4 (10 Mbps). CC-Link setting screen Select "Setting"...
  • Page 24 3. CC-Link Communication Function iii) End of setting After the settings are normally entered, a completion screen is displayed. Shutdown and restart the power after finishing configuration. Settings for station No. and baud rate will take effect after the power has been restarted. Fig.

  • Page 25: Connection With Cc-Link Unit

    3. CC-Link Communication Function 3.5. Connection with CC-Link Unit The connection method in the PLC setting software manufactured by the Mitsubishi Electric Corporation is explained. The ABSODEX driver is based on the premise that the station number is 1. i) Display of network parameter CC-Link After a new project is created, a project tree on the navigation window is displayed.
  • Page 26 3. CC-Link Communication Function iii) Setting of CC-Link station information ABSODEX: Remote device station, 2 stations occupied. At this time, if the station number is not 1, the corresponding station number should be the similar setting. Fig. 3.11. Setting of remote device station iv) Check of device If the remote input (RX) is set as “X1000”, ABSODEX is station number 1, so RXn0: M code output (bit 0) corresponds to X1000.
  • Page 27 3. CC-Link Communication Function v) Check of network connection Whether the communication is normal can be checked using the following method. If there is no error in “Diagnosis” - “CC-Link/CC-Link/LT diagnosis” in the menu, “Diagnosis result | System is normal” is displayed. Fig.

  • Page 28: Monitoring The Cc-Link Communication State

    3. CC-Link Communication Function 3.6. Monitoring the CC-Link Communication State The communication state can be monitored using AX Tools Ver 2.10 or later. i) I/O view Select “Monitor” - “I/O signal state indication” from the menu of the AX Tools to display the screen for “I/O indication”.

  • Page 29: Led Indication

    3. CC-Link Communication Function 3.7. LED Indication The state of the module and that of the network can be displayed. See the description in the following table for the LED indication. L RUN L ERR Fig. 3.18. Name of LED Table 3.12.

  • Page 30: 7-Segment Led Indication

    3. CC-Link Communication Function 3.8. 7-segment LED Indication A station number is indicated on the 7-segment LED. The flow after the power is turned on is as shown in the following. 　AXドライバの制御電源ON The control power of the AX driver is turned on. r.
  • Page 31 3. CC-Link Communication Function --- MEMO --- [SMF-2008-A] – 3-18 –...

  • Page 32: Network Operation Mode

    4. Network Operation Mode 4. Network Operation Mode The network operation mode is an operation mode which can be used for wiring saving specification-U2 (CC-Link). 4.1. Point Table Operation The point table operation use point table data in the ABSODEX driver to operate. As for point table data, point table data can be referred to and set from the PLC.

  • Page 33: Point Table Data

    4. Network Operation Mode 4.1.2. Point table data In the point tables, there are data of shared tables and tables 0 to 63. Respective data can load and write values with communication codes and command codes from the PLC as with parameters. Table 4.1.
  • Page 34 4. Network Operation Mode Table 4.1. Point table data list (2/2) Correspon Table ding PRM Description Set range Initial value number number -4,194,304~ A code/P code 4,194,304 Set the set values (values equivalent to A code and P code of NC program) such as the angle depending on the descriptions of the instruction and movement unit within the following range.
  • Page 35 4. Network Operation Mode One table consists of five items, “Instruction”, “Movement unit”, “Movement speed unit”, “A code/P code” and “F code”. Required items vary depending on the description of the instruction. Table 4.2. Network operation mode instruction combination list A code Movement Movement...

  • Page 36: Point Table Setting Example

    4. Network Operation Mode 4.1.3 Point table setting example  Turning operation using shared table Table 4.3. NC program, Operation instruction equivalent to G90G105G11A90F3 Table Description Operation value Instruction Absolute dimension Movement unit Angle unit Shared table Movement Time speed unit Instruction Movement unit Movement...
  • Page 37 4. Network Operation Mode  Home positioning Table 4.5. NC program, Operation instruction equivalent to G28 Table Description Operation value Instruction Home positioning Movement unit Movement speed unit Set values are ignored. A code Hereinafter written as “-“. /P code F code ...
  • Page 38 4. Network Operation Mode  Brake activation Table 4.8. NC program, Operation instruction equivalent to M68 Table Description Operation value Instruction Brake activation Movement unit Movement speed unit A code /P code F code  Brake release Table 4.9. NC program, Operation instruction equivalent to M69 Table Description Operation...

  • Page 39: Data Input Operation

    4. Network Operation Mode 4.2. Data Input Operation In a data input operation, ABSODEX is operated using reception data from the PLC. Consequently, the operation description of ABSODEX can be changed only by changing the communication data from the PLC. 4.2.1.

  • Page 40: Input Data

    4. Network Operation Mode 4.2.2. Input data Table 4.10. Instruction list Set value Description RYn3 RYn2 RYn1 RYn0 Absolute dimension (G90) Full rotation absolute dimension (G90.1) CW direction rotation absolute dimension (G90.2) CCW direction rotation absolute dimension (G90.3) Incremental dimension (G91) Full rotation incremental dimension (G91.1) Home positioning (G28) Designation of number of segments (G101)
  • Page 41 4. Network Operation Mode Table 4.14. F code list Set value Description RWwn+5 In case of rotation speed 11~24,000 x 100 [rpm] 16bit In case of time 10~30,000 x 1,000 [sec] In input data used for a data input operation, there are five items, “Instruction”, “Movement unit”, “Movement speed unit”, “A code/P code”...

  • Page 42: Input Data Setting Examples

    4. Network Operation Mode 4.2.3. Input data setting examples  Moves 90 degrees from the current position in the CW direction in 1 sec. Table 4.15. NC program, Operation instruction equivalent to G91.1G105G11A90F1 Device No. Set value Description /Address No. RYn0 RYn1 Full rotation incremental dimension (G91.1)
  • Page 43 4. Network Operation Mode --- MEMO --- [SMF-2008-A] – 4-12 –...

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