Page 1 Extended setting for pulse-input operation Appendix Thank you for purchasing an Oriental Motor product. This Manual describes product handling procedures and safety precautions. • Please read it thoroughly to ensure safe operation. • Always keep the manual where it is readily available.
Page 2 Characteristics of the AZ Series ..........................10 Operations possible with the AZ Series ......................12 Types and overview of driver ..........................14 How to use OPERATING MANUALS for product ....................16 Expansion of supported contents ........................18 Before starting operation Steps of preparation for operation ........................20 Starting the MEXE02 ............................21 Copying the fixed value (parameter) of the ABZO sensor to driver .............22 Creation of recovery data file and method of recovery .................24...
Page 3 Return-to-home operation ..........................105 High-speed return-to-home operation .............................105 Return-to-home operation ................................107 Macro operation ..............................121 Types of macro operation ................................121 JOG operation.....................................122 High-speed JOG operation ................................124 Inching operation .....................................126 Combined JOG operation ................................128 Continuous operation ..................................130 Speed control operation .................................132 Speed control push-motion operation .............................134 Relationship between operation type and operation data and parameter ..........136 Position coordinate management ........................140 Overview of position coordinate management ........................140...
Page 4 Timing chart .................................219 Power removal function (ETO function: External Torque Off function) ............222 Block diagram .....................................222 Wiring example ....................................223 Detection for error of the ETO function ............................223 Reset of ETO-mode ...................................224 Related parameters ..................................224 Timing chart ......................................225 For safe use ......................................227 Parameters Parameter: Base setting .............................230 Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) ..........233...
Page 5 Setting of switches ..............................279 Protocol .........................................279 Address number (slave address) ..............................280 Transmission rate....................................280 Termination resistor ..................................281 Setting of RS-485 communication ........................282 Parameters reflected when turning on the power ........................282 Parameters reflected immediately after rewriting ........................283 Forcible return of parameters to initial values (default function) ..................283 Example of data setting in Modbus RTU mode .....................284 Remote I/O command ..................................284 Positioning operation ..................................286...
Page 6 Method of control via CC-Link communication .....................322 Guidance ......................................322 Operation example of command selection method ......................327 Operation example of command fixation method .......................334 Method of control via EtherCAT communication ..................340 Guidance ......................................340 Basic operating procedures ................................345 Group function..............................348 Group address ....................................349 Group action modes ..................................349 Simple direct data operation ..........................352 Types of simple direct data operation ............................352...
Page 7 Operation I/O event R/W commands .......................398 12-1 Setting method ....................................398 12-2 Direct reference ....................................398 12-3 Offset reference ....................................400 Extended operation data setting R/W commands ..................402 Parameter R/W commands ..........................403 14-1 Driver action simulation setting parameter ..........................403 14-2 Base setting parameters .................................403 14-3 Position coordinate parameters..............................404 14-4...
Page 8 Backup of data of MEXE02 in driver .......................441 Check of product information...........................442 Copying the setting value of the ABZO sensor to a driver ................444 Indicating the warning before writing data ....................445 Monitoring of load factor...........................447 Utilizing the waveform monitor ........................448 Alarm and information Alarms ..................................452 Alarm reset ......................................452...
Page 9 Monitor function ..............................495 I/O position output function .................................495 Pulse request function..................................497 Push-motion operation ............................499 Preparation for operation ................................499 Performing the push-motion operation ...........................502 Timing chart ......................................503 11 Appendix Change of function of HOME PRESET switch ....................506 Change of assignments of A-phase/B-phase outputs ..................507 LEDs on the driver ...............................509 Lighting state of LEDs ..................................509 Change of lighting condition of LED ............................510...
Page 10 Characteristics of the AZ Series Built-in ABZO sensor The ABZO sensor is a small-sized low-cost mechanical multi- rotation absolute sensor that does not require a battery. It can detect the absolute positions for 1800 revolutions of the motor shaft from the reference home position, so the position is never missed.
Page 11 „ No battery is required No battery is required because the position information is maintained by the ABZO sensor. z Reduction of maintenance frequency z Replacing a battery is not required z The position information is maintained for a long transportation period of equipment...
Page 12 Operations possible with the AZ Series „ Execute operation by setting the motor operating speed, position (travel amount) and other items as operation data Stored data (SD) operation p.55 Positioning operation is performed. Push-motion operation is performed. Continuous operation is performed. Speed Speed Speed...
Page 13 „ Return to the home position The motor returns to the home position at the speed same The motor returns to the home position by using external as normal positioning operation without using an external sensors or the stopper on the machine. sensor.
Page 14 Types and overview of driver There are 3 types of drivers in the AZ Series as shown below. I/O signals, setting items, and LEDs vary depending on the driver type. „ AC power input type Built-in controller type PWR/ALM LED C-DAT/C-ERR LED Operates via industrial network Address number...
Page 15 „ DC power input type Built-in controller type Function setting switch Protocol Address number (extended) POWER/ALARM LED Address number C-DAT/C-ERR LED Transmission rate Operates via industrial network Pin Nos.1, 2, 13, and 14 Monitors the motor information via a are for control input programmable controller or touchscreen Pin No.1 DIN0 [START]...
Page 16 How to use OPERATING MANUALS for product OPERATING MANUALS for the AZ Series are listed below. The OPERATING MANUAL Function Edition (this manual) does not come with the product. Always keep the manual where it is readily available. Type and description of OPERATING MANUAL Read these manuals rst AZ Series AC Power Input/DC Power Input These manuals explain items from preparation to basic...
Page 17 Type and description of OPERATING MANUAL The Actuator Edition explains setting methods and Motorized actuator maintenance for actuators. • Actuator Edition (supplied with the actuator) The Function Setting Edition explains settings of • Function Setting Edition parameters required for when an actuator is combined with a driver.
Page 18 Download the latest MEXE02 from Oriental Motor Website Download Page. • Stop the motor before starting the update of firmware. • Check on the Oriental Motor Website for the latest firmware version. 1. Click on [AZ driver firmware update] from the [Support] menu.
Page 19: Table Of Contents
Before starting operation This chapter explains contents to be performed before starting operation. Steps of preparation for operation ................. 20 Starting the MEXE02 ....................21 Copying the fixed value (parameter) of the ABZO sensor to driver ... 22 Creation of recovery data file and method of recovery ........24 Setting of display unit and resolution ..............
Page 20: Steps Of Preparation For Operation
Steps of preparation for operation Steps of preparation for operation To prepare for operation, use the MEXE02. Since the procedure is different in motors and motorized actuators, perform the preparation for operation according to the product used. Starting the MEXE02 p.21 ...
Page 21: Starting The Mexe02
3) Turn on the power to the driver. 2. Set the communication port. 1) Click [Setting of the communication] from the [Communication] menu. 2) Select the "ORIENTAL MOTOR/Common virtual COM port", and click [OK]. 3. Select the product. 1) Click the [New] icon in the toolbar.
Page 22: Copying The Fixed Value (Parameter) Of The Abzo Sensor To Driver
Copying the fixed value (parameter) of the ABZO sensor to driver Copying the fixed value (parameter) of the ABZO sensor to driver For parameters of the AZ Series, the different values are stored in the ABZO sensor and driver. The values based on the product specifications such as recommended macro operation and position coordinate information are stored in the ABZO sensor.
Page 23 Copying the fixed value (parameter) of the ABZO sensor to driver z Unit information monitor window z Description of each item Item Description Active Parameter value presently used is shown. Driver parameter Parameter value set in the driver using the MEXE02 or communication is shown. The values of parameters stored in the ABZO sensor are shown.
Page 24: Creation Of Recovery Data File And Method Of Recovery
Creation of recovery data file and method of recovery Creation of recovery data file and method of recovery Creating the recovery data file The recovery data file is a file that information of the factory setting is stored. At the beginning, create the recovery data file for when the product is replaced with maintenance or the product is malfunctioned.
Page 25 Creation of recovery data file and method of recovery 3. Read the ABZO information stored in the driver. 1) Click the [Data reading (Product → PC)] from the [Communication] menu or click the [Data reading (Product → PC)] icon in the toolbar.
Page 26 Creation of recovery data file and method of recovery Method of recovery The recovery can be performed under the precondition of having created the recovery data file according to the "4-1 Creating the recovery data file" on p.24. When the motor or driver was replaced, be sure to perform the recovery and the home position resetting.
Page 27 Creation of recovery data file and method of recovery 4. Read the information of the factory setting written to the driver. When the motor is replaced, set the home position again after reading the driver information. The communication function of the MEXE02 cannot be used without reading the driver information. 1) Click the [Data reading (product →...
Page 28 Creation of recovery data file and method of recovery 2) Select the [All], and click [OK]. 3) Click [Yes]. Writing data is started. 4) Click [OK]. 5) Cycle the driver power. The details of the written parameters can be checked with the "unit information monitor." „...
Page 29: Setting Of Display Unit And Resolution
Setting of display unit and resolution Setting of display unit and resolution The display unit and resolution can be set using the "User unit setting support wizard" of the MEXE02. The travel amount, speed and others can be displayed or input by a desired unit. Setting example for when an index table is used 1.
Page 30 Setting of display unit and resolution 5) Set the speed reduction ratio of the gears. This is an example for when the geared motor of the gear ratio 10 is used. Set as shown in the figure, and click [Next]. When gears or pulleys are not used externally, select "Use the factory default settings of selected product,"...
Page 31 Setting of display unit and resolution 8) Set the acceleration/deceleration unit. Select "s" here, and click [Finish]. If "s" is selected in the acceleration/deceleration unit, the initial value of the "Starting/changing rate" and "Stopping deceleration" is "1000 s." After the setting was complete, change the value according to the operating condition.
Page 32 Setting of display unit and resolution 4) Click [OK]. 4. Cycle the driver power. Parameters are applied. Setting example for when a linear mechanism is assembled 1. The display unit and resolution can be set using the "User unit setting support wizard." 1) Click [System of units customize wizard].
Page 33 Setting of display unit and resolution 5) Set the speed reduction ratio of the gears. The factory setting is used here. Select "Use the factory default settings of selected product," and click [Next]. 6) Set the minimum step angle of the table. This example is set as "0.0005 mm."...
Page 34 Setting of display unit and resolution 8) Set the acceleration/deceleration unit. Select "s" here, and click [Finish]. If "s" is selected in the acceleration/deceleration unit, the initial value of the "Starting/changing rate" and "Stopping deceleration" is "1000 s." After the setting was complete, change the value according to the operating condition.
Page 35 Setting of display unit and resolution 4) Click [OK]. 4. Cycle the driver power. Parameters are applied.
Page 36: Home Position Setting
Home position setting Home position setting The home position has not set at the time of shipment. Before starting an operation, be sure to set the home position. Perform the home position setting only once initially. Once the home position is set, the driver keeps the home information even if the power supply is shut down.
Page 37 Home position setting Descriptions of JOG operation buttons Assigned input signal Button Relationship between the input signal and parameter name This is used to perform continuous operation at the operating speed set RV-JOG-H in the "(JOG) Operating speed (high)" parameter This is used to perform continuous operation at the operating speed set RV-JOG in the "(JOG) Operating speed"...
Page 38 Home position setting z Built-in controller type Input signals (HOMES, FW-LS, RV-LS) from sensors and signals (M0, M1, START, STOP) related in positioning operation are assigned to direct I/O. And the alarm reset signal (ALM-RST) is remained. The HOME is assigned to both direct I/O and remote I/O so that return-to-home operation can be performed even in both of them.
Page 39: Wrap Setting
Wrap setting Wrap setting The wrap function is a function to automatically preset the position information of the present position when the number of revolutions of the motor output shaft exceeds the set range. Setting of wrap offset allows you to limit the operation area of the equipment and control the index table with coordinates on the positive and negative sides.
Page 40 Wrap setting Related parameters Initial MEXE02 tree view Parameter name Description value Set the wrap function. Setting range Wrap setting 0: Disable 1: Enable Set the wrap range. The position information of the present position is automatically preset when Initial coordinate the motor has rotated for the number of times set generation &...
Page 41 Wrap setting 2. Set the "Initial coordinate generation & wrap setting range" parameter. The internal coordinate of the ABZO sensor is 900 rev or 1,800 rev. This example is set to "18" so that the position information is preset when the motor output shaft rotates 18 revolutions.
Page 42 Wrap setting z Setting example 2 • Internal coordinate of the ABZO sensor: 1,800 rev • Wrap setting range: 14.4 rev • Resolution: 333.333··· P/R (Electronic gear A=1, Electronic gear B=1) • Motor: TH geared motor (gear ratio 3.6) 1,800 1,800 Condition (1) = 125...
Page 43 Wrap setting STEP 4 Set the amount of offset of the wrap range After setting the offset ratio of the wrap range, use when adjusting the home position in increments of a step. 1. Click “Motor and mechanism (coordinates/ JOG/home operation)” under “Parameter” in the tree view.
Page 44: Setting Of Software Limit
Setting of software limit Setting of software limit When no sensor is used, the setting of the software limit is recommended. Set the software limits of the positive and negative sides as well as the stopping method for when the software limit is detected.
Page 45 Setting of software limit 1) Using the JOG operation buttons, operate the motor to the moving range 10,000 of the positive side. Adjust the position while checking the "Command position (CPOS)" in the "Driver status" field. JOG operation buttons 2) Click the [Preset (CPOS+1)] button in the "Positive software limit"...
Page 46 Setting of software limit 5) Click the [Preset (CPOS−1)] button in the "Negative software limit" field. 6) Click [Yes]. The value that was added −1 to the present command position is set in the software limit. ...
Page 47: Operation Check
Operation check Operation check Perform an operation check for the items set before this section. Before operating the motor, check the condition of the surrounding area to ensure safety. „ Steps for checking Operation check for return-to-home operation p.47  Operation check for software limit p.48 STEP 1...
Page 48 Operation check „ When sensors are used 1. Click the [Teaching, remote operation] shortcut button or click the [Teaching, remote operation] icon in the toolbar. 2. Click "Start the teaching remote operation." 3. Execute the following return-to-home operation, and check the command position (CPOS) is being "0." 1) Click "Home operation."...
Page 49 Operation check „ Operation check 1. Click the [Teaching, remote operation] shortcut button or click the [Teaching, remote operation] icon in the toolbar. 2. Click "Start the teaching remote operation." 3. Operate the motor using the JOG operation buttons. JOG operation buttons 4.
Page 50: Backup Of Data
Backup of data 10 Backup of data There are the following two methods to backup the contents set in the MEXE02. z Create to save the data file The data edited in the MEXE02 or the data read from the driver can be saved as a file. Data files can be saved in the MEXE02 format (.mx2), MEXE02 extended format (.mx2a), or CSV format (.csv).
Page 51 Operation This part explains the operation functions and parameters. Flow of setting required for positioning operation ......... 52 Setting of resolution ....................53 Stored data (SD) operation ..................55 Return-to-home operation ..................105 Macro operation ......................121 Relationship between operation type and operation data and parameter ................136 Position coordinate management ................140...
Page 52: Flow Of Setting Required For Positioning Operation
Flow of setting required for positioning operation Flow of setting required for positioning operation The contents of are explained in this manual. OPERATING MANUAL • Install the motor and the • Inst Driver driver and arrange wiring. driv • Set the home position. •...
Page 53: Setting Of Resolution
Setting of resolution Setting of resolution Set the resolution for combined use with the mechanism such as the geared motor and actuator. When the "Electronic gear A" and "Electronic gear B" parameters are set, the resolution per revolution of the motor output shaft can be set.
Page 54 Setting of resolution „ Calculation of electronic gears A and B Calculation of electronic gears A and B is explained with examples of a ball screw and rotary table. z Calculation example 1: Ball screw • When a ball screw with a lead of 12 mm should be moved 0.01 mm per step. •...
Page 55: Stored Data (Sd) Operation
Stored data (SD) operation Stored data (SD) operation Stored data operation is an operation executed by setting the motor operating speed, position (travel amount) and other items as operation data. * Be sure to set the home position before starting an operation. Types of stored data (SD) operation Operation types Speed...
Page 56 Stored data (SD) operation „ Operation types Operation types Description By setting the motor operating speed, position (travel amount) and other items as operation data, trapezoidal operation is performed from the present position to the Positioning stored data (SD) target position. The motor is started at the starting speed and accelerates until the operation operating speed is reached.
Page 57 Stored data (SD) operation Operation types Description Continuous stored data (SD) Operation is continued with the set operating speed. operation Operation mode Description The motor is started running at the starting speed and Continuous operation accelerates until the operating speed is reached. When the (Position control) operating speed is reached, operation is continued with the speed maintained while monitoring the position deviation.
Page 58 Stored data (SD) operation „ How to set target position There are three methods to set the target position as shown below. z Absolute positioning Set the target position on coordinates with the home position as a reference. Example: Setting to move from the present position "100" to the target position "400" Present Target Home...
Page 59 Stored data (SD) operation Setting of data There are three types of settings concerning stored data operation as shown below. z Operation data The operation type, target position, operating speed, acceleration/deceleration rate, operating current, etc. required for stored data operation are set. z Operation I/O event The condition to generate an event required for the event jump function, the next data and linked method of the operation when an event is generated are set.
Page 60 Stored data (SD) operation MEXE02 tree view Item Description Initial value Sets the deceleration rate (deceleration time) for stop. Setting range Stopping deceleration 1,000,000 1 to 1,000,000,000 (1=0.001 kHz/s, 1=0.001 s, or 1=0.001 ms/kHz) Sets the motor operating current based on the base current being 100%.
Page 61 Stored data (SD) operation MEXE02 tree view Item Description Initial value Sets the number of the operation I/O event to generate a high event. If a low event and a high event are generated at the same time, the high event is prioritized. The condition to generate the event is set in Operation I/O Operation data (High) I/O event No.
Page 62 Stored data (SD) operation z Link, Next data No. • No Link Executes operation once with one operation data number. (Single-motion operation) • Manual sequential Executes operation of the operation data number set in "Next data No." every time the SSTART input is input. The SSTART input is enabled when the READY output is turned ON.
Page 63 Stored data (SD) operation „ Operation I/O event Operation I/O event is required for setting of (Low) I/O event No. and (High) I/O event No. of Operation data. Initial MEXE02 tree view Item Description value Sets the linked method after event trigger detection. Setting range 0: No link Link...
Page 64 Stored data (SD) operation „ Selection of operation data number There are three methods to select the operation data number to be started as shown below. • Selection by NET selection number • Direct selection (D-SEL0 to D-SEL7) • Selection using the M0 to M7 inputs The order of the priority is: NET selection number, direct selection , M0 to M7 inputs.
Page 65 Stored data (SD) operation „ Timing charts z Positioning operation 2 ms or more 2 ms or more START input M0 to M7 input 2 ms or less READY output 2 ms or less MOVE output IN-POS output Internal speed command z Continuous operation 2 ms or more 2 ms or more...
Page 66 Stored data (SD) operation Positioning SD operation Positioning SD operation is an operation executed by setting the motor operating speed, position (travel amount) and other items as operation data. When positioning SD operation is executed, the motor is started running at the starting speed and accelerates until the operating speed is reached.
Page 67 Stored data (SD) operation „ Absolute positioning Sets the target position on coordinates with the home position as a reference. z Usage example When the motor is operated from the command position 100 to the target position 8,600 Setting of operation data Operation image Speed Speed...
Page 68 Stored data (SD) operation „ Incremental positioning (based on command position) Sets the travel amount from the present command position to the target position. z Usage example When the motor is operated from the command position 100 to the target position 8,600 Setting of operation data Operation image Speed...
Page 69 Stored data (SD) operation „ Incremental positioning (based on feedback position) Sets the travel amount from the present feedback position to the target position. z Usage example When the motor is operated from the feedback position 100 to the target position 8,600 Setting of operation data Operation image Speed...
Page 70 Stored data (SD) operation „ Wrap absolute positioning Sets the target position within the wrap range to the operation data. z Usage example When the motor is operated from the command position 100 to the target position 8,600 (Wrap setting range 18 rev, wrap offset ratio 50%) Setting of wrap function For the details of the wrap function, refer to "Wrap function"...
Page 71 Stored data (SD) operation „ Wrap proximity positioning Sets the target position within the wrap range. Positioning SD operation is executed in the rotation direction near to the target position. z Usage example When the motor is operated from the command position 100 to the target position 8,600 (Wrap setting range 18 rev, wrap offset ratio 50%) Setting of wrap function Setting of operation data...
Page 72 Stored data (SD) operation „ Wrap forward direction absolute positioning Sets the target position within the wrap range to the operation data. Positioning SD operation is always executed in the forward direction regardless of the target position. z Usage example When the motor is operated from the command position 100 to the target position 8,600 (Wrap setting range 18 rev, wrap offset ratio 50%) Setting of wrap function...
Page 73 Stored data (SD) operation „ Wrap reverse direction absolute positioning Sets the target position within the wrap range. Positioning SD operation is always executed in the reverse direction regardless of the target position. z Usage example When the motor is operated from the command position 100 to the target position 8,600 (Wrap setting range 18 rev, wrap offset ratio 50%) Setting of wrap function Setting of operation data...
Page 74 Stored data (SD) operation z Orbit comparison of positioning SD operation The wrap setting range should be 1 rev, and the wrap offset ratio should be 50%. ( "Wrap function" on p.147) Initial value → Value set to "Position" of operation data Operation mode 250 →...
Page 75 Stored data (SD) operation Positioning push-motion SD operation Positioning push-motion SD operation is an operation executed by setting the motor operating speed, position (travel amount) and other items as operation data. When positioning push-motion SD operation is executed, rectangular operation (drive without acceleration/deceleration time) is executed at an operating speed set in the operation data. After that, the motor is operated with the speed maintained and stops when it reaches the target position.
Page 76 Stored data (SD) operation • The rotation direction (forward/reverse) of positioning push-motion SD operation depends on the setting of "Position" of operation data. When a positive value is set, the motor rotates in the forward direction. When a negative value is set, it rotates in the reverse direction. •...
Page 77 Stored data (SD) operation „ Wrap proximity push-motion Sets the target position within the wrap range. Positioning push-motion SD operation is executed in the rotation direction near to the target position. z Usage example When the motor is operated from the present position to the target position 8,600 Setting of operation data „...
Page 78 Stored data (SD) operation Continuous SD operation Continuous SD operation is an operation executed by setting the operating speed to the operation data. The motor is continuously operated in the forward direction when a positive operating speed is set, and in the reverse direction when a negative operating speed is set.
Page 79 Stored data (SD) operation „ Continuous operation (Position control) Set the operating speed to the operation data to execute operation. When the operation is executed, the motor is started running at the starting speed and accelerates until the operating speed is reached. When the operating speed is reached, operation is continued with the speed maintained.
Page 80 Stored data (SD) operation „ Continuous operation (Speed control) Sets the operating speed to the operation data to execute operation. When the operation is executed, the motor is started running at the starting speed and accelerates until the operating speed is reached. When the operating speed is reached, operation is continued with the speed maintained.
Page 81 Stored data (SD) operation „ Continuous operation (Push-motion) Set the operating speed to the operation data to execute operation. When the operation is executed, the motor is started running at the starting speed and accelerates until the operating speed is reached. When the operating speed is reached, operation is continued with the speed maintained.
Page 82 Stored data (SD) operation „ Continuous operation (Torque control) Rectangular operation (drive without acceleration/deceleration time) of the motor is executed at the speed set in the operation data, and operation is continued with the speed maintained. When a mechanism installed to the motor presses against a load, pressure is continuously applied to the load.
Page 83 Stored data (SD) operation Mode for link operation of operation data More than one operation data number are linked. If the base point for the link operation is changed using the M0 to M7 inputs or the D-SEL0 to D-SEL7 inputs, link operation with multiple patterns can be set. It can be used when setting a different operation pattern for each load.
Page 84 Stored data (SD) operation „ No link (single-motion operation) Operation is executed once with one operation data number. Related I/O signals Drive-complete delay time Motor operation START input M0 to M7 input MOVE output READY output IN-POS output SEQ-BSY output OPE-BSY output DELAY-BSY output CRNT output...
Page 85 Stored data (SD) operation „ Manual sequential operation Operation of the operation data number set in "Next data No." is executed whenever the SSTART input is turned ON. This method is convenient when multiple positioning operations must be executed sequentially, because there is no need to repeatedly select each operation data number.
Page 86 Stored data (SD) operation Timing chart 1. Check that the READY output is ON. 2. Select the operation data number using the M0 to M7 inputs. 3. Turn the START input ON. The READY output is turned OFF, and the SEQ-BSY output is turned ON. Then, the motor starts operation. 4.
Page 87 Stored data (SD) operation Related I/O signals Motor operation START input SSTART input M0 to M7 input MOVE output READY output IN-POS output SEQ-BSY output OPE-BSY output DELAY-BSY output CRNT output MBC output D-END0 output D-END1 output D-END2 output M-ACT0 to M-ACT7 output M-CHG output AUTO-CD output...
Page 88 Stored data (SD) operation „ Automatic sequential operation More than one operation are executed automatically and sequentially. After one operation is complete, operation of the operation data number set in "Next data No." is started after stop for the time set in "Drive-complete delay time." If operation data includes data for which "No link"...
Page 89 Stored data (SD) operation Related I/O signals Motor operation START input M0 to M7 input MOVE output READY output IN-POS output SEQ-BSY output OPE-BSY output DELAY-BSY output CRNT output MBC output D-END0 output D-END1 output D-END2 output M-ACT0 to M-ACT7 output M-CHG output AUTO-CD output...
Page 90 Stored data (SD) operation „ Type connection operation Operation of the operation data number set in "Next data No." is executed continuously without stopping the motor. If operation data includes data for which "No link" is set, the motor is stopped after the stored data operation with respect to the "No link"...
Page 91 Stored data (SD) operation Timing chart 1. Check that the READY output is ON. 2. Select the operation data number using the M0 to M7 inputs. 3. Turn the START input ON. The READY output is turned OFF, and the SEQ-BSY output is turned ON. Then, the motor starts operation. 4.
Page 92 Stored data (SD) operation Related I/O signals Motor operation START input M0 to M7 input MOVE output READY output IN-POS output SEQ-BSY output OPE-BSY output DELAY-BSY output CRNT output MBC output D-END0 output D-END1 output D-END2 output D-END3 output M-ACT0 to M-ACT7 output M-CHG output...
Page 93 Stored data (SD) operation Sequence function „ Loop function The loop function is a function to repeat the operation of the linked operation data number for the number of times set. Operation is repeated from the operation data number for which "Loop count" is set to the operation data number to which "Loop end No."...
Page 94 Stored data (SD) operation z Usage example When operation from the operation data No.0 to No.1 is repeated three times Setting of operation data Operation image Speed Speed 2,000 2,000 No.2 1,000 1,000 No.0 No.0 No.0 2,000 5,000 Position Time -500 -500 No.1...
Page 95 Stored data (SD) operation Operation image Speed Loop o set 1,200 1000 1,100 1,200 Position -500 -1,200 „ Event jump function The event jump function is a function to branch operation with ON/OFF of the signal set in "Event trigger I/O" of operation I/O event.
Page 96 Stored data (SD) operation MEXE02 tree view Item Description Initial value Sets I/O to be used as an event trigger. Event trigger I/O 0: Not used Setting range Refer to "2 Signal list" on p.165. Sets the timing to detect the event trigger. Setting range 0: Non (Disable) 1: ON (calculated cumulative msec)
Page 97 Stored data (SD) operation z Event trigger type ON edge OFF edge Trigger I/O Trigger I/O Trigger count Trigger count Internal timer Internal timer Event Event ON (msec) OFF (msec) Trigger I/O Trigger I/O Trigger count Trigger count Internal timer Internal timer Event Event...
Page 98 Stored data (SD) operation z Usage example When absolute positioning push-motion operation of the operation data No.0 is executed • Without push-motion: Operation of the operation data No.1 is started after completion of operation of the operation data No.0. (No event generated) •...
Page 99 Stored data (SD) operation Extended operation data setting The specification of the operation data can be extended. „ Extended loop function The extended loop function is a function to execute loop operation for a number of times that cannot be set in operation data (256 or more).
Page 100 Stored data (SD) operation Related extended operation data setting MEXE02 tree view Item Description Initial value Sets the operation data number from which extended loop operation is started. Repeat start data No. −1 Setting range −1: Disable 0 to 255: Operation data number Sets the operation data number in which extended loop operation is completed.
Page 101 Stored data (SD) operation „ Common setting and separate setting of acceleration/deceleration In "Rate selection" of extended operation data setting, the acceleration/deceleration in stored data operation and continuous macro operation can be set as follows. • Common setting: The values set in the "Common acceleration rate or time" and "Common stopping deceleration" parameters are followed.
Page 102 Stored data (SD) operation „ Hardware overtravel Hardware overtravel is a function that limits the range of movement by installing the limit sensors (FW-LS, RV-LS) at the upper and lower limit of the moving range. If the "FW-LS, RV-LS input action" parameter is set, the motor can be stopped when detecting the limit sensor.
Page 103 Stored data (SD) operation 3-10 Base current and stop current „ Base current Set the base current rate (%) for the operating current and stop current. The maximum driver output current can be changed using the "Base current" parameter. If the load is small and there is an ample allowance for torque, the motor temperature rise can be suppressed by setting a lower base current.
Page 104 Stored data (SD) operation 3-11 Acceleration/deceleration unit Set the acceleration/deceleration unit using the "Acceleration/deceleration unit" parameter. The settable units are the acceleration/deceleration rate (kHz/s, ms/kHz) and the acceleration/deceleration time (s). Explanation of labels • TVEL: Operating speed • SVEL: Starting speed •...
Page 105: Return-To-Home Operation
Return-to-home operation Return-to-home operation High-speed return-to-home operation High-speed return-to-home operation is an operation to return to the mechanical home position on the absolute position coordinate set in advance. Since the home position is recognized by the ABZO sensor, return-to-home operation can be executed at the same speed as that of the normal positioning operation without using an external sensor.
Page 106 Return-to-home operation „ Timing chart 1. Check that the READY output is ON. 2. Turn the ZHOME input ON. The IN-POS output, PLS-RDY output, READY output, and DCMD-RDY output are turned OFF, and the MOVE output is turned ON. Then, the motor starts operation. 3.
Page 107 Return-to-home operation ZHOME input HOME-END output 2 ms or less IN-POS output 2 ms or less PLS-RDY output 2 ms or less READY output 2 ms or less DCMD-RDY output 2 ms or less MOVE output Excitation Motor excitation Non-excitation Hold Electromagnetic brake Release...
Page 108 Return-to-home operation Item Description Features The motor rotates in the reverse direction when a mechanism installed to the motor presses against a stopper, etc. on the machine. After that, the motor moves according to the value of "(HOME) Backward steps after first entry in push motion home-seeking,"...
Page 109 Return-to-home operation Related parameters MEXE02 tree view Parameter name Description Initial value Sets the mode for return-to-home operation. Setting range (HOME) Home-seeking 0: 2-sensor mode 1: 3-sensor 2: One-way rotation 3: Push-motion Sets the starting direction for home detection. (HOME) Starting direction Setting range 0: Negative side 1: Positive side...
Page 110 Return-to-home operation MEXE02 tree view Parameter name Description Initial value Sets the generation time of the TLC output to judge push-motion completion. (HOME) Pushing time in push motion home-seeking Setting range 1 to 65,535 ms Motor and mechanism Sets the backward steps after the position of mechanical end is set in push-motion (HOME) Backward steps return-to-home operation.
Page 111 Return-to-home operation „ Timing chart (in case of 3-sensor mode) 1. Check that the READY output is ON. 2. Turn the HOME input ON. 3. The PLS-RDY output, READY output, and DCMD-RDY output are turned OFF, and the MOVE output is turned ON. Then, the return-to-home operation is started.
Page 112 Return-to-home operation „ Operation sequence z 3-sensor mode When the limit sensor is detected during operation, the motor rotates in the reverse direction and pulls out of the limit sensor. When operation is performed at the return-to-home operation speed and the ON edge of the HOME sensor is detected, operation is stopped.
Page 113 Return-to-home operation When only the HOME sensor is used (rotating mechanism, etc.) If the limit sensor is not used, in case of a rotating mechanism for example, the sequence is as follows. Starting position of Starting direction of return-to-home Starting direction of return-to-home return-to-home operation operation: Positive side operation: Negative side...
Page 114 Return-to-home operation When the SLIT input, TIM signal, and ZSG signal are used concurrently Even after return-to-home operation is complete, operation is continued until an external signal is detected. If an external signal is detected while the HOME sensor is ON, return-to-home operation is complete. Home position Starting direction of return-to-home Starting direction of return-to-home...
Page 115 Return-to-home operation z 2-sensor mode The motor is operated in the starting direction of return-to-home at the starting speed. When the limit sensor is detected, the motor rotates in the reverse direction and pulls out of the limit sensor at the last speed. After pulling out, the motor is operated according to the value of the backward steps in return-to-home at the starting speed and stops.
Page 116 Return-to-home operation When the SLIT input and/or TIM signal are used concurrently Even after return-to-home operation is complete, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is complete. Home position Starting direction of return-to-home Starting direction of return-to-home detection signal operation: Positive side...
Page 117 Return-to-home operation z One-way rotation mode The motor is operated in the starting direction of return-to-home at the operating speed and decelerates to a stop when the HOME sensor is detected. After that, it pulls out of the range of the HOME sensor at the last speed, operates according to the value of operating amount in return-to-home at the starting speed, and stops.
Page 118 Return-to-home operation When SLIT input and/or TIM signal are used concurrently Even after return-to-home operation is complete, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is complete. Home position Starting direction of return-to-home Starting direction of return-to-home detection signal operation: Positive side...
Page 119 Return-to-home operation z Push mode The motor rotates in the reverse direction when it is operated in the starting direction of return-to-home at the operating speed and a mechanism installed to the motor presses against a stopper, etc. mounted at the mechanical end.
Page 120 Return-to-home operation When the SLIT input, TIM signal, and ZSG signal are used concurrently Even after return-to-home operation is complete, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is complete. Home position Starting direction of return-to-home Starting direction of return-to-home detection signal...
Page 121: Macro Operation
Macro operation Macro operation Macro operation is an operation type in which a specific input signal is turned ON to automatically perform operation corresponding to the signal. The macro operation includes JOG operation, inching operation, continuous operation, etc. The travel amount, operating speed, acceleration/deceleration and stopping decelerations for each operation are set with parameters.
Page 122 Macro operation With macro operation, link of operation data, loop function, and event jump function cannot be used. If you want to link operation data, use stored data operation. JOG operation With JOG operation, the motor operates continuously in one direction while the FW-JOG input or RV-JOG input is ON. If the input signal is turned OFF, the motor decelerates to a stop.
Page 123 Macro operation „ Timing chart 1. Check that the READY output is ON. 2. Turn the FW-JOG input (or RV-JOG input) ON. The READY output is turned OFF, and the MOVE output is turned ON. Then, the motor starts operation. 3.
Page 124 Macro operation High-speed JOG operation With high-speed JOG operation, the motor operates continuously in one direction at a high speed while the FW- JOG-H input or RV-JOG-H input is ON. If the input signal is turned OFF, the motor decelerates to a stop. Operation can be stopped also by inputting an operation stop signal.
Page 125 Macro operation „ Timing chart 1. Check that the READY output is ON. 2. Turn the FW-JOG-H input (or RV-JOG-H input) ON. The READY output is turned OFF, and the MOVE output is turned ON. Then, the motor starts operation. 3.
Page 126 Macro operation Inching operation With inching operation, when the FW-JOG-P input or RV-JOG-P input is turned from OFF to ON, positioning operation is executed. After rotating according to the number of the steps set in "(JOG) Travel amount," the motor stops. „...
Page 127 Macro operation „ Timing chart 1. Check that the READY output is ON. 2. Turn the FW-JOG-P input (or RV-JOG-P input) ON. The IN-POS output and the READY output are turned OFF, and the MOVE output is turned ON. Then, the motor starts operation.
Page 128 Macro operation Combined JOG operation With combined JOG operation, the operation transits in the order of inching operation → JOG operation → high-speed JOG operation while the FW-JOG-C input or RV-JOG-C input is ON. When the FW-JOG-C input or RV-JOG-C input is turned ON, operation is started.
Page 129 Macro operation MEXE02 tree view Parameter name Description Initial value Sets the timing to transit from inching operation to JOG operation in combined JOG JOG-C time from JOG-P operation. to JOG Setting range 1 to 5,000 (1=0.001 s) I/O action and function Sets the timing to transit from JOG operation to high-speed JOG operation in combined JOG JOG-C time from JOG to...
Page 130 Macro operation Continuous operation The motor operates continuously at the operating speed of the operation data number selected while the FW-POS input or RV-POS input is ON. When the operation data number is changed while executing continuous operation, the speed is changed. When the FW-POS input or RV-POS input is turned OFF, the motor decelerates to a stop.
Page 131 Macro operation „ Timing chart 1. Check that the READY output is ON. 2. Turn the FW-POS input (or RV-POS input) ON. The READY output is turned OFF, and the MOVE output is turned ON. Then, the motor starts operation. 3.
Page 132 Macro operation Speed control operation The motor operates continuously at the operating speed of the operation data number selected while the FW-SPD input or RV-SPD input is ON. When the operation data number is changed while executing speed control operation, the speed is changed.
Page 133 Macro operation Related parameters MEXE02 tree view Parameter name Description Initial value Sets the starting speed. Base setting Starting speed Setting range 0 to 4,000,000 Hz „ Timing chart 1. Check that the READY output is ON. 2. Turn the FW-SPD input (or RV-SPD input) ON. The READY output is turned OFF, and the MOVE output is turned ON.
Page 134 Macro operation Speed control push-motion operation The motor operates continuously at the operating speed of the operation data number selected while the FW-PSH input or RV-PSH input is ON. When the operation data number is changed while executing speed control push-motion operation, the speed is changed.
Page 135 Macro operation Related parameters MEXE02 tree view Parameter name Description Initial value Sets the starting speed. Base setting Starting speed Setting range 0 to 4,000,000 Hz „ Timing chart 1. Check that the READY output is ON. 2. Turn the FW-PSH input (or RV-PSH input) ON. The READY output is turned OFF, and the MOVE output is turned ON.
Page 136: Relationship Between Operation Type And Operation Data And Parameter
Relationship between operation type and operation data and parameter Relationship between operation type and operation data and parameter MEXE02 tree view Parameter name Operation data Operation data − ¡ Operation I/O event Operation I/O event − ¡ Extended operation data setting Extended operation data setting −...
Page 137 Relationship between operation type and operation data and parameter Return-to-home operation Macro operation − − − − − − − − ¡ ¡ ¡ ¡ − − − − − − − − − ¡ ¡ ¡ − − − −...
Page 138 Relationship between operation type and operation data and parameter MEXE02 tree view Parameter name (HOME) Acceleration/deceleration rate − − (HOME) Starting speed − − (HOME) Operating speed − − (HOME) Last speed − − (HOME) SLIT detection − − (HOME) TIM/ZSG signal detection −...
Page 139 Relationship between operation type and operation data and parameter Return-to-home operation Macro operation − − − − − − − − ¡ ¡ ¡ ¡ − − − − − − − − ¡ ¡ ¡ ¡ − − − −...
Page 140: Position Coordinate Management
Position coordinate management Position coordinate management Overview of position coordinate management The AZ Series manages the position coordinate of the motor with the ABZO sensor (Mechanical multi-rotation absolute sensor). The present position coordinate is mechanically recorded inside the ABZO sensor. Therefore, even if the motor output shaft was externally rotated while the power was OFF, the absolute coordinate against the home position can be maintained.
Page 141 Position coordinate management „ About initial coordinate generation Decision of how to use the revolution range to 1,800 that can be managed by the ABZO sensor is called "initial coordinate generation." There are three parameters required for initial coordinate generation as shown below. These parameters are read when the power is turned on.
Page 142 Position coordinate management „ Wrap function The wrap function is a function to automatically preset the position information of the current position when the number of revolutions of the motor output shaft exceeds the set range. Setting of wrap offset allows you to limit the operation area of the equipment and control the index table with coordinates on the positive and negative sides.
Page 143 Position coordinate management Setting examples of parameters MEXE02 tree view Parameter name Set value Initial coordinate generation/wrap coordinate setting Manual setting Wrap setting Enable Motor and mechanism Initial coordinate generation & wrap setting range 18.0 rev Initial coordinate generation & wrap range offset ratio 50.0% Initial coordinate generation &...
Page 144 Position coordinate management Position coordinate origin The AZ Series has two types of home positions that are a mechanical home position and electrical home position. When the position coordinate has been set, the ABSPEN output is turned ON. If the position coordinate has not been set, the next operation cannot be performed. •...
Page 145 Position coordinate management „ Electrical home position The electrical home position is the home position that is set in the driver. When the EL-PRST input is turned ON, the electrical home position is set. The motor operates in the coordinate system with the electrical home position as the home position.
Page 146 Position coordinate management MEXE02 tree view Parameter name Description Initial value Disables the ABZO setting of the mechanism protection parameter. Mechanism protection Setting range parameter setting 0: ABZO setting is followed 1: Disable Motor and mechanism To change the operation parameter, select manual setting.
Page 147 Position coordinate management MEXE02 tree view Parameter name Description Initial value Sets the lead of the ball screw. This parameter is applied to the MEXE02 only. Mechanism lead pitch Setting range 1 to 32,767 Sets the number of decimal places when the lead of the ball screw contains a decimal point.
Page 148 Position coordinate management MEXE02 tree view Parameter name Description Initial value Sets the offset ratio of the wrap range. Initial coordinate generation & wrap 5,000 Setting range range offset ratio 0 to 10,000 (1=0.01%) Motor and mechanism Sets the amount of offset of the wrap range. Initial coordinate generation &...
Page 149 Position coordinate management Example 2: Coordinate when the "Wrap setting range" is 1,800 rev and the resolution is 1,000 P/R MEXE02 tree view Parameter name Setting Initial coordinate generation/wrap coordinate setting Manual setting Wrap setting Enable Initial coordinate generation & wrap setting range 1,800 rev Motor and mechanism Initial coordinate generation &...
Page 150 Position coordinate management Setting example 2 • Wrap setting range: 14.4 rev • Resolution: 333.333 P/R (Electronic gear A=3, Electronic gear B=1) • Motor: TS geared motor (gear ratio 3.6) 1,800 1,800 Condition (1) = 125 Wrap setting range 14.4 Electronic gear B Condition (2) Wrap setting range ×...
Page 151 Position coordinate management z Wrap range offset value setting For the coordinate system offset in the "Initial coordinate generation & wrap range offset ratio" parameter, the coordinate can be shifted by step. When the coordinate is set in the "Initial coordinate generation & wrap range offset value" parameter, information of wrap setting error is generated if the home position is not included in the coordinate.
Page 152 Position coordinate management Related parameters MEXE02 tree view Parameter name Description Initial value Sets the number of times to turn the RND-ZERO output ON in the wrap range. The number of the RND- Motor and mechanism ZERO output in wrap range Setting range 1 to 536,870,911 divisions Mechanism limit...
Page 153 Position coordinate management Position coordinate information monitor function There are two methods to synchronize the coordinate system managed by the ABZO sensor and the coordinate system of the master controller as shown below. • Clear the encoder counter of the master controller to 0 after high-speed return-to-home operation, position preset, or return-to-home operation is complete.
Page 154 Position coordinate management Output example When the motor rotates 700 steps from the mechanical home position, in the forward direction (when the settings of the parameters are as shown in the table below) MEXE02 tree view Parameter name Set value Electronic gear A Electronic gear B Motor and mechanism...
Page 155 Position coordinate management z Timing chart 1. When the MON-REQ0 input or MON-REQ1 input is turned ON, the command position, feedback position and alarm code at that moment are recorded, and the MON-OUT output is turned ON. 2. Check that the MON-OUT output is turned ON and input the clock signal to the MON-CLK input. 3.
Page 156 Position coordinate management z Timing chart 1. When the PLSM-REQ input is turned ON, the ASG output and BSG output at that moment are latched, and the present command position and feedback position are recorded. Before the PLSM-REQ input is turned OFF, the present feedback position is not output from the ASG output and the BSG output even if the motor shaft rotates.
Page 157 I/O signals This chapter explains input signals and output signals. Overview of I/O signals .....................158 Signal list ........................165 Signal types ........................172 Input signals .........................183 Output signals ......................207 Timing chart .........................219 Power removal function (ETO function: External Torque Off function) ...........222...
Page 158: Overview Of I/O Signals
Overview of I/O signals Overview of I/O signals Overview of input signals „ Direct input Direct input (DIN) is a method in which a signal is input directly by connecting the I/O cable to the connector. If you use the composite function, one input can turn two signals ON simultaneously, realizing saving of wiring. Name Description AC power...
Page 159 Overview of I/O signals Setting example of the MEXE02: When the TLC output is turned ON, stop the motor operation by turning the STOP input ON Overview of output signals „ Direct output Direct output (DOUT) is a method in which a signal is output directly by connecting the I/O cable to the connector. When you use the composite output function, the logical combination result of two output signals can be output in one signal.
Page 160 Overview of I/O signals „ User output User output (USR-OUT) is a method in which a signal is output by using the internal I/O. Two types of signals (A and B) are assigned to one user output. When logical combination of A and B has been established, USR-OUT is output.
Page 161 Overview of I/O signals z Change of ON/OFF setting of input signals MEXE02 tree view Parameter name Description Initial value Changes ON/OFF of DIN0 to DIN9. Setting range Direct-IN function Inverting mode 0: Non invert 1: Invert z ON signal dead-time MEXE02 tree view Parameter name Description...
Page 162 Overview of I/O signals z Virtual input inverting mode MEXE02 tree view Parameter name Description Initial value Changes ON/OFF of VIR-IN0 to VIR-IN3. EXT-IN and VIR-IN and Virtual input inverting Setting range USR-OUT function mode 0: Non invert 1: Invert z Virtual input ON signal dead-time MEXE02 tree view Parameter name...
Page 163 Overview of I/O signals z Composite logical combination MEXE02 tree view Parameter name Description Initial value Sets the composite logical combination of DOUT0 to DOUT5. Composite logical Direct-OUT function Setting range combination 0: AND 1: OR z Composite Output function MEXE02 tree view Parameter name Description...
Page 164 Overview of I/O signals z User output logic link selection MEXE02 tree view Parameter name Description Initial value Sets the logical combination of User output resources A and B. EXT-IN and VIR-IN and User output logic link Setting range USR-OUT function selection 0: AND 1: OR...
Page 165: Signal List
Signal list Signal list Assign input and output signals using the MEXE02 or network. Input signal list To assign signals via network, use the "Assignment No." in the table instead of the signal names. For details of each signal, refer to "4 Input signals" on p.183. Assignment Signal name Function...
Page 166 Signal list Assignment Signal name Function number D-SEL2 D-SEL3 D-SEL4 Execute direct positioning operation. D-SEL5 D-SEL6 D-SEL7 FW-JOG Execute JOG operation in the forward direction. RV-JOG Execute JOG operation in the reverse direction. FW-JOG-H Execute high-speed JOG operation in the forward direction. RV-JOG-H Execute high-speed JOG operation in the reverse direction.
Page 167 Signal list Assignment Signal name Function number General signals. Output signal list To assign signals via network, use the "Assignment No." in the table instead of the signal names. For details of each signal, refer to "5 Output signals" on p.207. Assignment Signal name Function...
Page 168 Signal list Assignment Signal name Function number D-SEL6_R D-SEL7_R FW-JOG_R RV-JOG_R FW-JOG-H_R RV-JOG-H_R FW-JOG-P_R RV-JOG-P_R FW-JOG-C_R RV-JOG-C_R FW-POS_R RV-POS_R FW-SPD_R RV-SPD_R FW-PSH_R RV-PSH_R M0_R M1_R M2_R M3_R M4_R M5_R M6_R Output in response to the input signal. M7_R TEACH_R MON-REQ0_R MON-REQ1_R MON-CLK_R PLSM-REQ_R...
Page 169 Signal list Assignment Signal name Function number ALM-B Output the alarm status of the driver (normally closed). SYS-RDY Output when the control power supply of the driver is turned on. READY Output when the driver is ready to operate. PLS-RDY Output when the pulse input is enabled.
Page 170 Signal list Assignment Signal name Function number SPD-LMTD Output when speed limiting is executed. OPE-BSY Output when internal oscillation is executed. PAUSE-BSY Output when the motor is in pause status. SEQ-BSY Output when stored data operation is executed. DELAY-BSY Output when the driver is in waiting status (Drive-complete delay time, Dwell) JUMP0-LAT Output when a low event trigger is detected.
Page 171 Signal list Assignment Signal name Function number INFO-NET-E INFO-FW-OT INFO-RV-OT INFO-CULD0 INFO-CULD1 Output when corresponding information is generated. INFO-TRIP For the list of information, refer to p.469. INFO-ODO INFO-DSLMTD INFO-IOTEST INFO-CFG INFO-RBT...
Page 172: Signal Types
Signal types Signal types Direct I/O Direct I/O is I/O accessed via the I/O signal connector. For input terminals, signals that can be assigned vary depending on the driver. Output terminals are common to all drivers. „ Assignment to input terminals (Built-in controller type) Assign the input signals to DIN0 to DIN9 of the input terminals by parameters.
Page 173 Signal types „ Assignment to input terminals (Pulse input type with RS-485 communication interface, pulse input type) Assign the input signals to DIN4 to DIN9 of the input terminals by parameters. For input signals that can be assigned, refer to "2-1 Input signal list" on p.165. Connector Terminal Connector...
Page 174 Signal types „ Assignment to output terminals (Common) Assign the output signals to DOUT0 to DOUT5 of the output terminals by parameters. For output signals that can be assigned, refer to "2-2 Output signal list" on p.167. Output terminals are common to all drivers. Connector Terminal Connector...
Page 175 Signal types „ Pin assignments list • AC power input driver: CN5 connector • DC power input driver: CN4 connector • All input signals of the driver are photocoupler inputs. • The status of signals is as follows. I/O of normally open: "ON: Conducting" "OFF: Not conducting" I/O of normally closed: "ON: Not conducting"...
Page 176 Signal types z Pulse input type with RS-485 communication interface, pulse input type Signal Signal Pin No. Description * Pin No. Description * name name CW pulse input+ CW− CW pulse input− [PLS+] [Pulse input+] [PLS−] [Pulse input−] CCW pulse input+ CCW pulse input−...
Page 177 Signal types „ Connecting to a current sink output circuit The figure below shows a connection example of the built-in controller type driver. In the case of the pulse input type with RS-485 communication interface and the pulse input type, the pin No.1, No.2, No.13, and No.14 are only available to the pulse input.
Page 178 Signal types z Pulse input type with RS-485 communication interface, pulse input type The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned. When pulse input is of line driver type Controller Driver 270 Ω...
Page 179 Signal types „ Connecting to a current source output circuit The figure below shows a connection example of the built-in controller type driver. In the case of the pulse input type with RS-485 communication interface and the pulse input type, the pin No.1, No.2, No.13, and No.14 are only available to the pulse input.
Page 180 Signal types z Pulse input type with RS-485 communication interface, pulse input type The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned. When pulse input is of line driver type Controller Driver 270 Ω...
Page 181 Signal types Remote I/O Remote I/O is I/O accessed via RS-485 communication. „ Assignment to input signals Assign the input signals shown below to the R-IN0 to R-IN15 of the remote I/O by parameters. For input signals that can be assigned, refer to "2-1 Input signal list" on p.165. Remote I/O signal name Initial value Remote I/O signal name...
Page 182 Signal types „ Assignment to output signals Assign the output signals shown below to the R-OUT0 to R-OUT15 of the remote I/O by parameters. For output signals that can be assigned, refer to "2-2 Output signal list" on p.167. Remote I/O signal name Initial value Remote I/O signal name Initial value...
Page 183: Input Signals
Input signals Input signals Operation control „ Excitation switching signal This signal is used to switch the motor excitation condition between excitation and non-excitation. z FREE input When the FREE input is turned ON, the motor current is cut off and the motor excitation is stopped. The motor output shaft can be rotated manually since the motor holding torque is lost.
Page 184 Input signals When The motor is a non-excitation state 1. When the FREE input is turned ON, the electromagnetic brake is released. 2. When the FREE input is turned OFF, the electromagnetic brake is held. FREE input PLS-RDY output READY output Excitation Motor excitation Non-excitation...
Page 185 Input signals C-ON input 2 ms or less 250 ms or less PLS-RDY output 2 ms or less 250 ms or less READY output 250 ms or less 200 ms or less Excitation Motor excitation Non-excitation 60 ms or less 250 ms or less Hold Electromagnetic brake...
Page 186 Input signals 2 ms or more CLR input 2 ms or less 2 ms or less PLS-RDY output 2 ms or less READY output 2 ms or less MOVE output Excitation Motor excitation Non-excitation Hold Electromagnetic brake Release 5 ms or less Motor operation z STOP-COFF input When the STOP-COFF input is turned ON, the motor stops and the motor excitation is cut off.
Page 187 Input signals When the STOP/STOP-COFF input action is "Deceleration stop" (The motor stops while the STOP-COFF input is ON) 1. When the STOP-COFF input is turned ON during operation, the PLS-RDY output is turned OFF, and the motor starts stop operation. The motor excitation is stopped when the motor stops.
Page 188 Input signals When the STOP/STOP-COFF input action is "Deceleration stop" (The motor does not stop while the STOP-COFF input is ON) 1. When the STOP-COFF input is turned ON during operation, the PLS-RDY output is turned OFF, and the motor starts stop operation.
Page 189 Input signals z STOP input When the STOP input is turned ON, the motor stops. Function for each operation Operation types Function Pulse-input operation The motor stops immediately. The pulse input is disabled. Stored data operation Operation is stopped according to the "STOP/STOP-COFF input action" parameter. Macro operation The remaining travel amount is cleared.
Page 190 Input signals 2 ms or more STOP input 2 ms or less 2 ms or less PLS-RDY output 2 ms or less READY output MOVE output 2 ms or less Motor operation Excitation Motor excitation Non-excitation Hold Electromagnetic brake Release * It varies depending on the driving condition.
Page 191 Input signals When the STOP/STOP-COFF input action is "Immediate stop" 1. When the STOP input is turned ON during operation, the PLS-RDY output is turned OFF. The motor stops at the command position at the time when the ON status of the STOP input was detected. 2.
Page 192 Input signals In case of stored data operation and direct data operation 1. When the PAUSE input is turned ON during operation, the PLS-RDY output is turned OFF, and the PAUSE-BSY output is turned ON. The motor starts deceleration stop. 2.
Page 193 Input signals In case of stored data operation and direct data operation (The PAUSE input is turned OFF during deceleration stop) 1. When the PAUSE input is turned ON during operation, the PLS-RDY output is turned OFF, and the PAUSE-BSY output is turned ON.
Page 194 Input signals z FW-BLK input and RV-BLK input The motor stops operation in the forward direction when the FW-BLK input is turned ON and stops operation in the reverse direction when the RV-BLK input is turned ON. When each input is ON, the motor does not operate even if the operation start signal in the stopping direction is input.
Page 195 Input signals 2 ms or more FW-BLK input PLS-RDY output READY output MOVE output 2 ms or less Motor operation Excitation Motor excitation Non-excitation Hold Electromagnetic brake Release * It varies depending on the driving condition. When the FW-BLK, RV-BLK input action is "Deceleration stop" (The motor does not stop while the FW-BLK input is ON) 1.
Page 196 Input signals When the FW-BLK, RV-BLK input action is "Immediate stop" 1. When the FW-BLK input is turned ON during operation in the forward direction, the motor stops. 2. The motor stops at the command position at the time when the ON status of the FW-BLK input was detected. 2 ms or more FW-BLK input PLS-RDY output...
Page 197 Input signals Related parameters Initial MEXE02 tree view Parameter name Description value Sets whether to start the operation when the D-SEL input has been turned ON. D-SEL drive start Setting range function 0: Only operation data number selection 1: Operation data number selection+START function D-SEL0 operation number selection D-SEL1 operation...
Page 198 Input signals z NEXT input When the NEXT input is turned ON during operation, the motor is transited forcibly to the operation data number of the next data. If there is no next data, the current operation is continued. This is a signal required when performing a different operation in the middle of continuous operation or push-motion operation.
Page 199 Input signals Setting example 2 The motor returns 5,000 steps in an arbitrary timing from the state of pressing on a load in push- motion operation. Start Stop Pressing START input 5,000 steps returns NEXT input...
Page 200 Input signals Setting example 3 Link multiple continuous operations having different speeds with "Continuous form connection," and change the operating speed in an arbitrary timing. 5,000 Hz 3,000 Hz 1,000 Hz START NEXT input NEXT input „ Signal used for high-speed return-to-home z ZHOME input When the ZHOME input is turned from OFF to ON, high-speed return-to-home operation is started.
Page 201 Input signals z FW-JOG-H input and RV-JOG-H input When the FW-JOG-H input is turned ON, high-speed JOG operation is performed in the forward direction, and when the RV-JOG-H input is turned ON, high-speed JOG operation is performed in the reverse direction. z FW-JOG-P input and RV-JOG-P input When the FW-JOG-P input is turned ON, inching operation is performed in the forward direction, and when the RV-JOG-P input is turned ON, inching operation is performed in the reverse direction.
Page 202 Input signals Position coordinate management „ External sensor input signal z FW-LS input and RV-LS input These signals are input signals from the limit sensors. The FW-LS input is from the sensor in the forward direction, and the RV-LS input is from the sensor in the reverse direction. •...
Page 203 Input signals z EL-PRST input While the EL-PRST input is ON, the coordinate system is switched to the one with the electrical home position as the home position. The coordinate system when the EL-PRST input is turned from OFF to ON becomes the electrical home position, and the motor operates in the electrical home position coordinate system.
Page 204 Input signals z PLSM-REQ input When the PLSM-REQ input is turned from OFF to ON, the position coordinate information to be sent by the pulse request function is set. Related parameters MEXE02 tree view Parameter name Description Initial value Selects the information to be output by the pulse request function.
Page 205 Input signals „ Driver function change signal z HMI input When the HMI input is turned ON, the function limitation of the MEXE02 is released. When the HMI input is turned OFF, the function limitation is imposed. The following functions are limited. •...
Page 206 Input signals z T-MODE input When the T-MODE input is turned ON, the alarm of overload is disabled. In pulse-input operation, the T-MODE input is turned ON when push-motion is executed. Related parameters MEXE02 tree view Parameter name Description Initial value Selects the command current for when the motor is stopped in a state where the T-MODE Current setting during...
Page 207: Output Signals
Output signals Output signals Management of driver „ Driver status indication signal z ALM-A output and ALM-B output When an alarm is generated, the ALM-A output is turned ON, and the ALM-B output is turned OFF. At the same time, the PWR/ALM LED (or POWER/ALARM LED) on the driver blinks in red, and the motor stops.
Page 208 Output signals and enters the regeneration status, the RG output is turned ON. Management of operation „ Operating status indication z READY output When preparation of stored data operation, macro operation, or return-to-home operation is complete, the READY output is turned ON. Input operation start command to driver after the READY output has turned ON. The READY output is turned ON when all of the following conditions are satisfied.
Page 209 Output signals Related parameters MEXE02 tree view Parameter name Description Initial value Sets the output range of the IN-POS output (the motor operation converges within this angular range) as the center on the target IN-POS positioning position. completion signal range Setting range I/O action and function 0 to 180 (1=0.1°)
Page 210 Output signals When the "VA mode selection" parameter is "Speed at command position (only internal profile)" When the command speed of the motor matches the target speed, the VA output is turned ON. Target spee VA output When the "VA mode selection" parameter is "Speed at feedback position & command position (only internal profile)"...
Page 211 Output signals z SPD-LMTD output This signal is enabled when speed limiting is executed. When the operating speed reaches or exceeds the value set in the "SPD-LMT speed limit ratio" parameter or "SPD-LMT speed limit value" parameter, the operating speed is limited. At the same time, the SPD-LMTD output is turned ON.
Page 212 Output signals z D-END0 to D-END7 outputs These signals are enabled in operations using operation data (pulse-input operation, stored data operation, continuous macro operation). They are turned OFF when operation is started and turned ON when the operation of the specified operation data number is complete.
Page 213 Output signals „ Power removal function signal z ETO-MON output If either HWTO1 or HWTO2 is turned OFF when the "HWTO mode selection" parameter is set to "ETO-mode," the ETO-MON output is turned ON. Related parameters MEXE02 tree view Parameter name Description Initial value Sets the status of the driver when both HWTO1...
Page 214 Output signals MEXE02 tree view Parameter name Description Initial value Sets the frequency to turn the RND-ZERO output ON in the wrap range. The number of the RND- Motor and mechanism ZERO output in wrap range Setting range 1 to 536,870,911 divisions RND-ZERO signal width is 1 RND-ZERO signal width is 2 or 3 RND-ZERO signal width is 4 or 5...
Page 215 Output signals Setting example 1 To turn the MAREA output ON in the range of ±10 steps with the position of 5,000 steps in the center in incremental positioning operation with an travel amount of 10,000 steps. • Area offset: −5,000 steps •...
Page 216 Output signals When the "AREA range setting mode" parameter is "Range setting with absolute value" • "AREA positive direction position/offset" parameter > "AREA negative direction position/detection range" parameter When the position of the motor is "AREA negative direction position/detection range" or more or "AREA positive direction position/offset"...
Page 217 Output signals „ Position coordinate status indication z ELPRST-MON output When the electrical home position coordinate is enabled, the ELPRST-MON output is turned ON. z ABSPEN output When the position coordinate has been set, the ABSPEN output is turned ON. z PRST-DIS output When the home position needs to be reset, the PRST-DIS output is turned ON.
Page 218 Output signals Response output The response output is the output signal that shows the ON/OFF status corresponding to the input signals. The following tables show the correspondence between the input signals and output signals. Input signals Output signals Input signals Output signals Input signals Output signals...
Page 219: Timing Chart
Timing chart Timing chart „ Power supply (AC power input driver) 10 sec or more Control power supply 0 sec or more 0 sec or more 10 sec or more Main power supply 1 sec or less 1 sec or less MPS output 1 sec or less 1 sec or less...
Page 220 Timing chart „ Power supply (DC power input driver) 10 sec or more Power supply 1 sec or less 1 sec or less MPS output 1 sec or less 1 sec or less SYS-RDY (output is set, and input is enabled) Not set 1.25 sec or less 1 sec or less...
Page 221 Timing chart „ I/O signal (when output is switched according to the ON edge of the input signal) Input signal (ON) Input signal (OFF) 2 ms or less 2 ms or less Output signal „ I/O signal (when output is switched with the ON/OFF edge of the input signal) Input signal 2 ms or less 2 ms or less...
Page 222: Power Removal Function (Eto Function: External Torque Off Function)
Power removal function (ETO function: External Torque Off function) Power removal function (ETO function: External Torque Off function) This is a function of the AC power input driver. The power removable function (ETO function: External Torque Off function) +24V is the one that stops supplying the power to the motor forcibly to put the motor into a non-excitation state if the HWTO input of the CN1 is shut off.
Page 223 Power removal function (ETO function: External Torque Off function) Wiring example External device Driver 24 VDC 4.7 kΩ HWTO1+ HWTO1- 4.7 kΩ HWTO2+ HWTO2- 24 VDC EDM+ EDM- • Separately provide contacts to operate the HWTO1 input and the HWTO2 input. •...
Page 224 Power removal function (ETO function: External Torque Off function) Reset of ETO-mode „ When the "HWTO mode selection" parameter is "ETO-mode" Reset the ETO-mode with a signal for which the parameter of the ETO reset action is set. When the signal for which the parameter is set is turned from ON to OFF, the ETO-mode is reset. Be sure to turn the HWTO1 input and the HWTO2 input ON before turning the STOP input ON.
Page 225 Power removal function (ETO function: External Torque Off function) Timing chart „ In case of the built-in controller type Be sure to check the motor is in a standstill state before executing the ETO function. If the ETO function is executed while the motor is operated, it may cause damage to the motor, driver, or equipment.
Page 226 Power removal function (ETO function: External Torque Off function) „ In case of the pulse-input operation Be sure to check the motor is in a standstill state before executing the ETO function. If the ETO function is executed while the motor is operated, it may cause damage to the motor, driver, or equipment.
Page 227 Power removal function (ETO function: External Torque Off function) For safe use z When the ETO function is used, be sure to conduct a risk assessment of equipment in advance to satisfy the safety requirements of the entire system. z The ETO function is designed based on the assumption that the motor is in a standstill state. Do not execute the ETO function while the motor is rotating.
Page 229 Parameters This part explains the parameters. The parameters are classified based on the window display of the MEXE02. Parameter: Base setting ....................230 Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) ..............233 Parameter: ETO and Alarm and Info..............236 Parameter: I/O action and function ..............239 Parameter: Direct-IN function ................244 Parameter: Direct-OUT function................245 Parameter: Remote-I/O function (R-I/O) .............246...
Page 230: Parameter: Base Setting
Parameter: Base setting Parameter: Base setting If the resolution or display unit is set using the User unit setting support wizard, the value shown in the "Acceleration/deceleration unit" parameter is also changed automatically. The changed value is applied when it is written to the driver. Refer to “5 Setting of display unit and resolution” on p.29 for details.
Page 231 Parameter: Base setting Parameter name Description Setting range Initial value Adjusts the motor response in reaction to the position deviation. When this SVE position loop gain value is increased, the deviation 1 to 50 between the command position and actual position becomes smaller. Adjusts the motor response in reaction to the speed deviation.
Page 232 Parameter: Base setting Parameter name Description Setting range Initial value Sets the command when 0 is written Direct data operation zero 0: Deceleration stop command for "Operating speed" in direct data speed command action 1: Speed zero command operation. −7: Operation data number update −6: Operation type update −5: Position update −4: Speed update...
Page 233: Parameter: Motor And Mechanism (Coordinates/Jog/Home Operation)
Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) • Parameters for the Motor and Mechanism (Coordinates/JOG/Home Operation) are linked to the unit information monitor of the MEXE02. If these parameters are changed, check the changed value is applied in the "Active" field of the unit information monitor. (unit information monitor p.442) •...
Page 234 Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) Initial Parameter name Description Setting range value JOG/HOME/ZHOME operation To change the operation parameter, 0: ABZO setting is prioritized setting select manual setting. 1: Manual setting JOG/HOME/ZHOME command Sets the time constant for command 1 to 200 ms filter time constant filter.
Page 235 Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) Initial Parameter name Description Setting range value Sets the backward steps after the (HOME) Backward steps after mechanical end is detected first in first entry in push motion 0 to 8,388,607 steps push-motion return-to-home home-seeking operation.
Page 236: Parameter: Eto And Alarm And Info
Parameter: ETO and Alarm and Info Parameter: ETO and Alarm and Info Parameter name Description Setting range Initial value Sets the status of the driver when both 0: ETO-mode (power removal HWTO mode selection HWTO1 input and HWTO2 input are status) turned OFF.
Page 237 Parameter: ETO and Alarm and Info Parameter name Description Setting range Initial value Undervoltage information Sets the generation condition of the (INFO-UVOLT) (DC power input undervoltage information (INFO- 150 to 630 (1=0.1 V) type driver) [V] UVOLT). [DC power input driver only] Sets the generation condition of the Overload time information overload time information (INFO-...
Page 238 Parameter: ETO and Alarm and Info Parameter name Description Setting range Initial value INFO action (Forward operation prohibition information (INFO- FW-OT)) INFO action (Reverse operation prohibition information (INFO- RV-OT)) INFO action (Cumulative load 0 information (INFO-CULD0)) INFO action (Cumulative load 1 information (INFO-CULD1)) INFO action (Tripmeter 0: Only the bit output is ON *...
Page 239: Parameter: I/O Action And Function
Parameter: I/O action and function Parameter: I/O action and function Initial Parameter name Description Setting range value 0: Immediate stop for both STOP input and STOP-COFF input 1: Deceleration stop for the STOP input and immediate stop for the STOP- Sets how to stop the motor when the STOP STOP/STOP-COFF input COFF input...
Page 240 Parameter: I/O action and function Initial Parameter name Description Setting range value SPD-LMT speed limit type Selects the setting method of the speed 0: Ratio selection limitation value. 1: Value Sets the speed limit value as a "Ratio." This SPD-LMT speed limit ratio parameter is enabled when the "SPD-LMT 1 to 100% speed limit type selection"...
Page 241 Parameter: I/O action and function Initial Parameter name Description Setting range value 0: Feedback position (ON after operation) 1: Command position (ON after Sets the standard to turn the MAREA operation) MAREA output source output ON and the status of the MAREA 2: Feedback position (MAREA output output after operation.
Page 242 Parameter: I/O action and function Initial Parameter name Description Setting range value Sets the positioning standard of AREA0 0: Based on feedback position AREA0 positioning standard output. 1: Based on command position Sets the positive direction position or offset AREA1 positive direction from the target position for the AREA1 −2,147,483,648 to 2,147,483,647 steps position/offset [step]...
Page 243 Parameter: I/O action and function Initial Parameter name Description Setting range value Sets the positioning standard of AREA5 0: Based on feedback position AREA5 positioning standard output. 1: Based on command position Sets the positive direction position or offset AREA6 positive direction from the target position for the AREA6 −2,147,483,648 to 2,147,483,647 steps position/offset [step]...
Page 244: Parameter: Direct-In Function
Parameter: Direct-IN function Parameter: Direct-IN function Parameter name Description Setting range Initial value DIN0 input function selection Selects the input signal to be assigned to DIN0. 32: START DIN1 input function selection Selects the input signal to be assigned to DIN1. 64: M0 DIN2 input function selection Selects the input signal to be assigned to DIN2.
Page 245: Parameter: Direct-Out Function
Parameter: Direct-OUT function Parameter: Direct-OUT function Parameter name Description Setting range Initial value DOUT0 output function Selects the output signal to be assigned to DOUT0. 144: HOME-END selection DOUT1 output function Selects the output signal to be assigned to DOUT1. 138: IN-POS selection DOUT2 output function...
Page 246: Parameter: Remote-I/O Function (R-I/O)
Parameter: Remote-I/O function (R-I/O) Parameter: Remote-I/O function (R-I/O) Parameter name Description Setting range Initial value R-IN0 input function Selects the input signal to be assigned to R-IN0. 64: M0 selection R-IN1 input function Selects the input signal to be assigned to R-IN1. 65: M1 selection R-IN2 input function...
Page 247 Parameter: Remote-I/O function (R-I/O) Parameter name Description Setting range Initial value R-OUT0 output function Selects the output signal to be assigned to R-OUT0. 64: M0_R selection R-OUT1 output function Selects the output signal to be assigned to R-OUT1. 65: M1_R selection R-OUT2 output function Selects the output signal to be assigned to R-OUT2.
Page 248: Parameter: Ext-In And Vir-In And Usr-Out Function (Extend)
Parameter: EXT-IN and VIR-IN and USR-OUT function (Extend) Parameter: EXT-IN and VIR-IN and USR-OUT function (Extend) Parameter name Description Setting range Initial value Extended input (EXT-IN) Selects the input signal to be assigned to the HOME Input signal list 9: P-PRESET function selection PRESET switch.
Page 249 Parameter: EXT-IN and VIR-IN and USR-OUT function (Extend) Parameter name Description Setting range Initial value Virtual input (VIR-IN1) function Input signal list Selects the input signal to be assigned to VIR-IN1. 0: Not used selection p.256 Virtual input (VIR-IN1) source Output signal list 128: Selects the output signal to be the trigger of VIR-IN1.
Page 250: Parameter: Communication & I/F
Parameter: Communication & I/F Parameter: Communication & I/F Parameter name Description Setting range Initial value −1: Disable 0: The switch setting of the driver is followed. * 1: 2-pulse input mode 2: 1-pulse input mode This is enabled with the pulse-input type 3: Phase difference input mode (×1) with RS-485 communication interface and 4: Phase difference input mode (×2)
Page 251 Parameter: Communication & I/F Parameter name Description Setting range Initial value −1: The switch setting of the driver is followed 0: 9,600 bps This is enabled in Modbus communication. 1: 19,200 bps Baudrate (Modbus) Sets the transmission rate. 2: 38,400 bps 3: 57,600 bps 4: 115,200 bps 5: 230,400 bps...
Page 252 Parameter: Communication & I/F Parameter name Description Setting range Initial value This is enabled in the industrial network. Frame time (NETC) [ms] 1 to 10,000 ms Sets the frame time. Communication connection This is enabled in the industrial network. 0 to 10,000 ms time (NETC) [ms] Sets the communication connection time.
Page 253 Parameter: Communication & I/F Parameter name Description Setting range Initial value Indirect reference address Sets the ID of the data to be stored in the setting (20) indirect reference address (20). Indirect reference address Sets the ID of the data to be stored in the setting (21) indirect reference address (21).
Page 254 Parameter: Communication & I/F „ USB-ID The USB-ID is a parameter to associate the USB port (COM port number) of a PC with the driver. The COM port number is used when setting the communication port with the MEXE02. If multiple drivers are connected to a PC, the PC allocates empty COM ports to the driver in the connected order. If the driver power is turned on again or if the UBS cable is removed and inserted, the allocated COM port numbers may change because the order of connection recognized by the PC is changed.
Page 255 Parameter: Communication & I/F „ USB-PID Although the USB-ID can fix the COM port number to each driver, changing the PC will also change and disable the COM port numbers. Meanwhile, the USB-PID is a parameter to set an ID number to the driver itself. Even if the PC or the COM port number is changed, the product can easily be distinguished using the MEXE02 because the ID number of the driver is not changed.
Page 256: O Signal Assignment List
I/O signal assignment list 10 I/O signal assignment list 10-1 Input signals To assign signals via network, use the "Assignment No." in the table instead of the signal names. Assignment Assignment Assignment Signal name Signal name Signal name Not used SSTART FREE NEXT...
Page 257 I/O signal assignment list 10-2 Output signals To assign signals via network, use the "Assignment No." in the table instead of the signal names. Assignment Assignment Assignment Signal name Signal name Signal name Not used FW-JOG-P_R PLS-RDY FREE_R RV-JOG-P_R MOVE C-ON_R FW-JOG-C_R INFO...
Page 258 I/O signal assignment list Assignment Assignment Signal name Signal name SEQ-BSY INFO-ODO DELAY-BSY INFO-DSLMTD JUMP0-LAT INFO-IOTEST JUMP1-LAT INFO-CFG NEXT-LAT INFO-RBT PLS-LOST DCOM-RDY DCOM-FULL M-CHG M-ACT0 M-ACT1 M-ACT2 M-ACT3 M-ACT4 M-ACT5 M-ACT6 M-ACT7 D-END0 D-END1 D-END2 D-END3 D-END4 D-END5 D-END6 D-END7 INFO-USRIO INFO-POSERR INFO-DRVTMP...
Page 259 Method of control via Modbus RTU (RS-485 communication) This part explains how to control from the master controller via RS- 485 communication. The protocol for the RS-485 communication is the Modbus protocol. Specification of Modbus RTU .................260 Message structure ......................264 Function codes ......................268 Flow of setting required for Modbus communication ........274 Guidance ........................275...
Page 260: Specification Of Modbus Rtu
Specification of Modbus RTU Specification of Modbus RTU The Modbus protocol is simple and its specification is open to the public, so this protocol is used widely in industrial applications. Modbus communication is based on the single-master/multiple-slave method. Only the master can issue a query (command).
Page 261 Specification of Modbus RTU „ Internal circuit diagram z In case of AC power input driver Driver 1 RS-485 TERM. TERM. No.2 No.1 Driver 2 TERM. TERM. No.2 No.1 Driver 31 TERM. TERM. No.2 *2 No.1 *2 *1 Termination resistor 120 Ω *2 Turn the termination resistor ON.
Page 262 Specification of Modbus RTU z In case of DC power input driver Driver 1 RS-485 No.3 No.4 Driver 2 No.3 No.4 Driver 31 No.3 *2 No.4 *2 *1 Termination resistor 120 Ω *2 Turn the termination resistor ON.
Page 263 Specification of Modbus RTU Communication timing The communication time monitored by the driver and the communication timing of the master are as follows. Tb3 (Broadcast) C3.5 C3.5 C3.5 Master Query Query Slave Response Character Name Description Intervals between received queries are monitored. If no query could be received after the time set in the "Communication timeout Communication (Modbus)"...
Page 264: Message Structure
Message structure Message structure The message format is shown. Query Master Slave Slave address Slave address Response Function code Function code Data Data Error check Error check Query The query message structure is shown. Slave address Function code Data Error check 8 bit 8 bit N×8 bit...
Page 265 Message structure z Calculation example of CRC-16 The following table is a calculation example when setting the slave address of the first byte to 02h and setting the function code of the second byte to 07h. The result of actual CRC-16 calculation is calculated including the data on and after the third byte. Description Result Bit shifted out...
Page 266 Message structure Response Slave-returned responses are classified into three types: normal response, no response, and exception response. The response message structure is the same as the query message structure. Slave address Function code Data Error check 8 bit 8 bit N×8 bit 16 bit „...
Page 267 Message structure z Example of exception response Slave address Query Slave address Function code Function code Register address (upper) Data Exception code Register address (lower) Error check (lower) Number of registers (upper) Response Error check (upper) Number of registers (lower) Data Number of bytes Value write to register address (upper)
Page 268: Function Codes
Function codes Function codes This chapter explains the function codes supported by the AZ Series drivers. Note that the function code cannot be executed if function codes other than those introduced here are sent. Reading from a holding register(s) (03h) Read a register (16 bits).
Page 269 Function codes z Response Field name Data Description Slave address Same as query Function code Same as query Number of data bytes Twice the number of registers in the query Value read from register address (upper) Value read from register address 1840h Value read from register address (lower) Value read from register address + 1 (upper) Value read from register address 1841h...
Page 270 Function codes z Response Field name Data Description Slave address Same as query Function code Same as query Register address (upper) Same as query Register address (lower) Data Value write (upper) Same as query Value write (lower) Error check (lower) Calculation result of CRC-16 Error check (upper) Diagnosis (08h)
Page 271 Function codes Writing to multiple holding registers (10h) This function code is used to write data to multiple successive registers. Up to 123 registers can be written. Write the data to the upper and lower at the same time. If not, an invalid value may be written. Registers are written in order of register addresses.
Page 272 Function codes z Response Field name Data Description Slave address Same as query Function code Same as query Register address (upper) Same as query Register address (lower) Data Number of registers (upper) Same as query Number of registers (lower) Error check (lower) Calculation result of CRC-16 Error check (upper) Read/write of multiple holding registers (17h)
Page 273 Function codes z Query Field name Data Description Slave address Slave address 1 Function code Read/write of multiple holding registers (Read) Register address (upper) Register address to start reading from (Read) Register address (lower) Number of registers to be read from the (Read) Number of registers (upper) starting register address (Read) Number of registers (lower)
Page 274: Flow Of Setting Required For Modbus Communication
Flow of setting required for Modbus communication Flow of setting required for Modbus communication The contents of are explained in this manual. OPERATING MANUAL • Install the motor and the • Inst Driver driver and arrange wiring. driv • Set the home position. •...
Page 275: Guidance
Guidance Guidance If you are new to this type, read this section to understand the operating methods along with the operation flow. This is an example how to operate the motor based on the operation data and parameters being set to the driver via the master controller.
Page 276 Guidance STEP 1 Check the installation and connection „ AC power input driver +24V CN1 connector Necessary MEXE02 (PC) Connected to +24 V and 0 V 24 VDC power supply Connected to the ENCODER Cable for encoder Connected to the MOTOR RS-485 communication cable Cable for motor Connected to CN6 or CN7...
Page 277 Guidance STEP 2 Set the switches Set as shown in the following table with the switches. The status becomes as shown in the following figures after setting. Setting contents Switch Protocol: Modbus protocol Turn No.2 of SW1 ON Address number: 1 Turn No.1 of SW1 OFF, set ID to 1 Transmission rate: 115,200 bps Set BAUD to 4...
Page 278 Guidance STEP 5 Send a message and operate the motor As an example, here is a description how to execute the following positioning operation. Speed 2,000 Hz 8,500 steps 500 Hz Time 1. Send the following five queries and set the operation data. Communication data (Hex) Description Operation data No.0 operation type=2: Incremental positioning...
Page 279: Setting Of Switches
Setting of switches Setting of switches The following figure shows the status of factory setting. Be sure to turn off the driver power before setting the switches. If the switches are set while the power is still on, the new setting will not become effective. „...
Page 280 Setting of switches Address number (slave address) Set the address number (slave address) using the ID switch and No.1 of the SW1 switch. Make sure each address number (slave address) you set for each driver is unique. Address number (slave address) 0 is reserved for broadcasting, so do not use this address.
Page 281 Setting of switches Termination resistor For the driver that is most distant from the master controller (termination), set the termination register (120 Ω) of RS-485 communication. For the AC power input driver, turn both No.1 and No. 2 of the TERM switch ON. For the DC power input driver, turn both No.
Page 282: Setting Of Rs-485 Communication
Setting of RS-485 communication Setting of RS-485 communication Set parameters required for RS-485 communication before performing communication. Parameters reflected when turning on the power These are parameters related to sending/receiving via RS-485 communication. Set these parameters using the MEXE02. • They are out of the range of configuration. •...
Page 283 Setting of RS-485 communication „ Setting example of the "Byte & word order (Modbus)" parameter When 32-bit data "12345678h" is stored at the register addresses 1000h and 1001h, arrangement is changed as follows depending on the setting of parameters. 1000h (even address) 1001h (odd address) Setting of parameters Upper...
Page 284: Example Of Data Setting In Modbus Rtu Mode
Example of data setting in Modbus RTU mode Example of data setting in Modbus RTU mode Remote I/O command These are commands related to remote I/O. The set values are stored in RAM. Register address Initial Name Description value Upper Lower NET selection Selects the operation data number.
Page 285 Example of data setting in Modbus RTU mode „ Driver output status These are the driver output signals that can be accessed via Modbus communication. They can be accessed by one register (16 bit). z Upper Register Description address bit15 bit14 bit13 bit12...
Page 286 Example of data setting in Modbus RTU mode Positioning operation As an example, here is a description how to execute the following positioning operation. z Setting example • Address number (slave address): 1 • Operation data number: 0 • Position (travel amount): 1,000 steps •...
Page 287 Example of data setting in Modbus RTU mode 2. Send the following query and turn START ON. Positioning operation is started. Query Field name Data Description Slave address Slave address 1 Function code Writing to a holding register Register address (upper) Register address to which writing is executed =Driver input command (007Dh) Register address (lower)
Page 288 Example of data setting in Modbus RTU mode Continuous operation As an example, here is a description how to execute the following continuous operation. z Setting example • Address number (slave address): 1 • Operation data number: 0 • Rotation direction: Forward direction •...
Page 289 Example of data setting in Modbus RTU mode Error check (lower) Calculation result of CRC-16 Error check (upper) Response Field name Data Description Slave address Same as query Function code Same as query Register address (upper) Same as query Register address (lower) Data Number of registers (upper) Same as query...
Page 290 Example of data setting in Modbus RTU mode Error check (lower) Calculation result of CRC-16 Error check (upper)
Page 291 Example of data setting in Modbus RTU mode 2. Send the following query and turn FW-POS ON. Continuous operation is started. Query Field name Data Description Slave address Slave address 1 Function code Writing to a holding register Register address (upper) Register address to which writing is executed =Driver input command (007Dh) Register address (lower)
Page 292 Example of data setting in Modbus RTU mode High-speed return-to-home operation As an example, here is a description how to execute the following high-speed return-to-home operation. z Setting example • Address number (slave address): 1 • Operation condition: Initial value z Operation procedure 1.
Page 293 Example of data setting in Modbus RTU mode Response Field name Data Description Slave address Same as query Function code Same as query Register address (upper) Same as query Register address (lower) Data Value write (upper) Same as query Value write (lower) Error check (lower) Calculation result of CRC-16 Error check (upper)
Page 294: Data Setting Method
Data setting method Data setting method Overview of setting method There are three methods to set data via Modbus communication. The communication specification of Modbus allows reading/writing from/to successive addresses when multiple data pieces are handled. „ When operation data is set Input method Features Direct data operation...
Page 295 Data setting method Indirect reference Indirect reference is a method in which data is stored in addresses exclusive for sending (indirect reference addresses) and set. Even if addresses of the data to be set are not successive, multiple data pieces can be sent with one query because the indirect reference addresses are successive.
Page 296 Data setting method Related parameters Initial MEXE02 tree view Name Description value Indirect reference address setting (0) Indirect reference address setting (1) Indirect reference address setting (2) Indirect reference address setting (3) Indirect reference address setting (4) Indirect reference address setting (5) Indirect reference address setting (6) Indirect reference address setting (7) Indirect reference address setting (8)
Page 297 Data setting method z Register addresses of indirect reference addresses Register address Register address Name Name Upper Lower Upper Lower 4864 4865 4896 4897 Indirect reference address setting (0) Indirect reference address setting (16) (1300h) (1301h) (1320h) (1321h) 4866 4867 4898 4899 Indirect reference address setting (1)
Page 298 Data setting method z Register addresses of indirect reference areas Register address Register address Name Name Upper Lower Upper Lower 4928 4929 4960 4961 Indirect reference area 0 Indirect reference area 16 (1340h) (1341h) (1360h) (1361h) 4930 4931 4962 4963 Indirect reference area 1 Indirect reference area 17 (1342h)
Page 299 Data setting method „ Setting example The following is an example of sending/receiving of data to/from the address number 1 using indirect reference. z STEP 1: Registration in indirect reference addresses Set data Register address Indirect reference Data to be sent address Upper Lower...
Page 300 Data setting method z STEP 2: Writing to indirect reference areas Set data Register address Indirect reference area Data to be sent Setting value Upper Lower Indirect reference area 0 1340h 1341h Position of operation data No.1 1,500 (5DCh)  Stopping deceleration of Indirect reference area 1 1342h...
Page 301 Data setting method z STEP 3: Reading from indirect reference areas Send the following query and read the data written in the indirect reference areas. Query Field name Data Description Slave address Slave address 1 Function code Reading from holding registers Register address (upper) Register address to start reading from =Indirect reference area 0 (1340h)
Page 302: Direct Data Operation
Direct data operation 10 Direct data operation 10-1 Overview of direct data operation Direct data operation is a mode that allows rewriting of data and start of operation to be executed at the same time. It is suitable to frequently change operation data such as the position (travel amount) and operating speed or to fine-tune the position.
Page 303 Direct data operation 10-2 Guidance STEP 1 Installation and connection  STEP 2 Setting of switches  Power-on and check of STEP 3 communication parameters  Communication parameters are STEP 4 Power cycle enabled after the power is cycled.  STEP 5 Operation of motor z Example of operating condition...
Page 304 Direct data operation STEP 1 Check the installation and connection „ AC power input driver +24V CN1 connector MEXE02 (PC) Necessary Connected to +24 V and 0 V 24 VDC power supply Connected to the ENCODER Cable for encoder Connected to the MOTOR RS-485 communication cable Cable for motor Connected to CN6 or CN7...
Page 305 Direct data operation STEP 2 Set the switches Set as shown in the following table with the switches. The status becomes as shown in the figures below after setting. Setting contents Switch Protocol: Modbus protocol Turn No.2 of SW1 ON Address number: 1 Turn No.1 of SW1 OFF, set ID to 1 Transmission rate: 115,200 bps...
Page 306 Direct data operation STEP 5 Operate the motor As an example, here is a description how to execute the following positioning operation. The trigger is the one for collective rewriting. Speed 2,000 Hz 8,500 steps 500 Hz Time 1. With the following query, send the operation data and the trigger. Operation is started at the same time as transmission.
Page 307 Direct data operation 10-3 Commands required for direct data operation Related commands Register address Name Description Initial value Upper Lower Sets the operation data number to be used in direct data operation. Direct data operation (0058h) (0059h) operation data number Setting range 0 to 255: Operation data No.0 to 255 Sets the operation type for direct data operation.
Page 308 Direct data operation Register address Name Description Initial value Upper Lower Sets the trigger for direct data operation. (About the trigger Next paragraph) Setting range −7: Operation data number −6: Operation type Direct data operation −5: Position (0066h) (0067h) trigger −4: Operating speed −3: Starting/changing speed rate −2: Stopping deceleration...
Page 309 Direct data operation z Timing chart 1. Check that the DCMD-RDY output is ON. 2. Send a query (including the trigger and data) to execute direct data operation. 3. When the master receives the query, the READY output is turned OFF, and operation is started. 4.
Page 310 Direct data operation „ Data destination Select the stored area when the next direct data is transmitted during direct data operation. Set value Linked method 0000 0000h Execution memory 0000 0001h Buffer memory z When the data destination is set to "Execution memory" When the trigger is written, the data in operation is rewritten to the next direct data.
Page 311 Direct data operation Related parameters MEXE02 tree view Parameter name Description Initial value When "0" is written to the operating speed, selects whether to cause the motor to decelerate to a stop or to change the speed to Direct data operation 0 r/min in an operating status.
Page 312: Group Send
Group send 11 Group send Multiple slaves are made into a group and a query is sent to these group at once. „ Group composition A group consists of one parent slave and child slaves, and only the parent slave returns a response. „...
Page 313 Group send z Related parameters Since the set value of the "Group ID" command is stored in RAM, the initial value is returned when the power is turned off, and the group is released. Therefore, the group should be always reset after power-on. On the other hand, since the "Initial group ID"...
Page 314: Timing Chart
Timing chart 12 Timing chart 12-1 Communication start Power-on 1 s or more Master Query Communication Response Slave * Tb2 (transmission waiting time) + C3.5 (silent interval) 12-2 Start of operation Master Query *1 Communication Response Slave MOVE output *1 A message including a query to start operation via RS-485 communication. *2 Tb2 (transmission waiting time) + C3.5 (silent interval) *3 C3.5 (silent interval) + 2 ms or less 12-3...
Page 315 Timing chart 12-4 General signals Master Query *1 Communication Slave Response General signals *1 A message including a query for remote output via RS-485 communication. *2 Tb2 (transmission waiting time) + C3.5 (silent interval) *3 C3.5 (silent interval) + 2 ms or less 12-5 Configuration Master...
Page 316: Detection Of Communication Errors
Detection of communication errors 13 Detection of communication errors This is a function to detect abnormalities that may occur in RS-485 communication, including two types: communication errors and alarms. 13-1 Communication errors When the communication error with error code 84h occurs, the C-DAT/C-ERR LED of the driver is lit in red. In addition, the red color and green color on the PWR/ALM LED (or POWER/ALARM LED) blink twice at the same time.
Page 317 Method of control via industrial network This part explains how to control via industrial network. This product can be controlled via CC-Link communication or EtherCAT communication in combination with a network converter (sold separately). Flow of setting required for control via industrial network ......318 Setting of switches .....................319 Method of control via CC-Link communication ..........322 Method of control via EtherCAT communication ...........340...
Page 318: Flow Of Setting Required For Control Via Industrial Network
Flow of setting required for control via industrial network Flow of setting required for control via industrial network The contents of are explained in this manual. OPERATING MANUAL • Install the motor and the • Inst Driver driver and arrange wiring. driv •...
Page 319: Setting Of Switches
Setting of switches Setting of switches The following figure shows the status of factory setting. Be sure to turn off the driver power before setting the switches. If the switches are set while the power is still on, the new setting will not become effective. „...
Page 320 Setting of switches Address number (slave address) Set the address number (slave address) using the ID switch and No.1 of the SW1 switch. Make sure each address number (slave address) you set for each driver is unique. Up to 16 units can be connected. Address number 0 •...
Page 321 Setting of switches For example, in the case of the following system, the termination resistor should be set to two drivers. RS-485 communication Master controller Driver Driver Driver Network converter Termination CC-Link resistor ON communication RS-485 communication Driver Driver Network converter Termination resistor ON...
Page 322: Method Of Control Via Cc-Link Communication
Method of control via CC-Link communication Method of control via CC-Link communication Guidance If you are new to the NETC02-CC, read this section to understand the operating methods along with the operation flow. STEP1 Installation and connection p.324  STEP2 Setting of NETC02-CC p.325 ...
Page 323 Method of control via CC-Link communication „ Setting condition z Setting of RS-485 communication compatible product Address number 0 AC power input driver Address number 1 DC power input driver Protocol Network converter RS-485 communication 625,000 bps transmission rate z Setting of NETC02-CC RS-485 communication compatible 2 units product connected unit...
Page 324 Method of control via CC-Link communication STEP 1 Check the installation and connection [Address number 0] AC power input driver CN1 connector Required Connect to +24 V and 0 V 24 VDC power supply Connect to ENCODER Cable for encoder Connect to CN6 or CN7 RS-485 communication Connect to MOTOR...
Page 325 Method of control via CC-Link communication STEP 2 Set the switches of the NETC02-CC Set the switches provided on the upper side of the NETC02-CC as follows. The status becomes as shown in the following figures after setting. Setting contents Switch Factory setting RS-485 communication...
Page 326 Method of control via CC-Link communication STEP 3 Set the switches of the driver Set the following with the switches of the driver. The status becomes as shown in the following figures after setting. Setting contents AC power input driver DC power input driver Protocol: Network converter Turn No.2 of SW1 "OFF"...
Page 327 Method of control via CC-Link communication Operation example of command selection method This section explains how to perform the following operations using the command selection method. Execute continuous operation in the reverse direction, STEP1 Check an operation and check if the operation is performed. ...
Page 328 Method of control via CC-Link communication STEP 2 Perform positioning operation 1. In order to make easier to check that the operation was properly performed when positioning operation was performed, set the position information to "0." 1) Set the maintenance command "P-PRESET execution (30C5h)" to remote register. Master to NETC02-CC Address number Address...
Page 329 Method of control via CC-Link communication 2. Check the position information is changed to "0" by the "P-PRESET execution" of the maintenance command. 1) Set the "Detection position (2066h)" of the monitor command to remote register. Master to NETC02-CC Address number Address Input value Description...
Page 330 Method of control via CC-Link communication 3. Set the operation data of positioning operation. Set the position No.0 and position data "5000 (1388h)" to remote register. Master to NETC02-CC Address number Address Input value Description RWw100 1200h Command code (position No.0) RWw101 Address number RWw102...
Page 331 Method of control via CC-Link communication 6. Start positioning operation. Turn the START ON. Master to NETC02-CC Address number Remote I/O Address Input value Description RY1003 START Start of positioning operation RY1013 7. When positioning operation is started, turn the START OFF. Even if the START is turned OFF, the operation continues until the command position.
Page 332 Method of control via CC-Link communication 3) The response of the D-END is changed to "1," the monitor of the detection position is started. The monitor is continued while the D-REQ is ON. NETC02-CC to master Address number Address Response Description RWr8 2066h...
Page 333 Method of control via CC-Link communication 2) The response of the D-END is automatically changed to "1" when it is properly processed. NETC02-CC to master Address number Remote I/O Address Response Description D-END0 RX1080 Write completed D-END1 RX1082 3) The value written to the driver is displayed when the response of the D-END is changed to "1." Check the value is matched with the one having set in the above 1).
Page 334 Method of control via CC-Link communication Operation example of command fixation method This section explains how to perform the following operations using the command fixation method. Execute continuous operation in the reverse direction, and STEP1 Check an operation check if the operation is performed. ...
Page 335 Method of control via CC-Link communication Execute continuous operation in the reverse direction by remote I/O, and STEP 1 check if the operation is performed. 1. Start continuous operation in the reverse direction. Turn the RV-POS ON. Master to NETC02-CC Address number Remote I/O Address...
Page 336 Method of control via CC-Link communication 3) The response of the D-END is automatically changed to "1" when it is properly processed. NETC02-CC to master Address number Remote I/O Address Response Description D-END0 RX1080 Write completed D-END1 RX1082 4) The value written to the driver is displayed when the response of the D-END is changed to "1." Check the value is matched with the one having set in the above 1).
Page 337 Method of control via CC-Link communication 3. When the response of the RD-DAT is changed to "1," the monitor of the feedback position and read of the position No.0 are started. The monitor is continued while the RD-REQ is ON. NETC02-CC to master Address number Address...
Page 338 Method of control via CC-Link communication 3) Since the RD-REQ is kept to the ON-state in the STEP 3, the write value is displayed at the same time the data of the position No.0 is set. Check the data of the position No.0 is matched with the set value. NETC02-CC to master Address number Address...
Page 339 Method of control via CC-Link communication STEP 5 Change the position data of the operation data No.0 1. Set the position data "3000 (BB8h)" of the position No.0 to remote register. Since the WR-REQ is kept to the ON-state in the STEP 4, the write value is displayed at the same time the data of the position No.0 is set.
Page 340: Method Of Control Via Ethercat Communication
• Before operating the motor, check the condition of the surrounding area to ensure safety. • Before starting guidance, import the ESI file to the EtherCAT Configuration Tool of the PLC and register the PLC configuration in advance. The ESI file can be downloaded from Oriental Motor Website Download Page.
Page 341 Method of control via EtherCAT communication STEP 1 Check the installation and connection „ AC power input driver Driver +24 V CN1 connector Required Connect to +24 V and 0 V 24 VDC power supply MEXE02 (PC) Connect to ENCODER Cable for encoder Connect to MOTOR Connect to CN6 or CN7...
Page 342 Method of control via EtherCAT communication STEP 2 Set the parameters and switches of the NETC01-ECT Set the parameters and switches of the NETC01-ECT. 1. Turn on the power to the NETC01-ECT. At this time, since parameters and switches are not set, the ALARM LED will be lit. Move on the next procedure, and set parameters and switches.
Page 343 Method of control via EtherCAT communication 4. Set the switches of the NETC01-ECT. Set as the illustration below. Setting contents Switch Factory setting RS-485 communication Set SW1 to "7" transmission: 625 kbps EtherCAT Node address: 1 Set the ×10 to "0" and the ×1 to "1" of the ECAT ID 1 (×10: 0, ×1: 1) Node address setting switches RS-485 communication transmission...
Page 344 Method of control via EtherCAT communication • For the address number, set the one with the "Connection (axis #)" parameter of the NETC01-ECT set to "Enable." • For the AZ Series, the transmission rate does not require to set. It is fixed to 625,000 bps in the "Baudrate(NETC)"...
Page 345 Method of control via EtherCAT communication Basic operating procedures This section explains how to perform positioning operation and monitor function as basic operating procedures. This is an example of the operating procedure for controlling via EtherCAT communication using the NETC01-ECT. „...
Page 346 Method of control via EtherCAT communication [R-IN (initial value) of AZ Series] Sub- CoE Index Item Type Access Description Index − Sub-index number: 2 R-IN7 R-IN6 R-IN5 R-IN4 R-IN3 R-IN2 R-IN1 R-IN0 I/O Command 2600h ALM- (lower) (Address FREE STOP ZHOME START number 0)
Page 347 Method of control via EtherCAT communication 3. If the data of the address number 0 is monitored by the remote monitor response, the communication was successful. The TRIG_R is turned ON while the monitor is performed properly. At this time, the STATUS remains OFF. The monitor is continued to update while the TRIG of the remote monitor command is being ON.
Page 348: Group Function
Group function Group function Multiple slaves are made into a group and a query is sent to the group at once. With the AZ Series, groups can be set for each remote I/O. This function allows to control certain remote I/O by group and to control another remote I/O by driver.
Page 349 Group function Group address A group consists of one parent slave and child slaves. When forming a group, set a group address (address number of the parent slave) to the child slaves to be included in the group. The child slaves to which the group address has been set can receive remote I/O sent to the parent slave. „...
Page 350 Group function Related parameters Command code Initial Name Description value READ WRITE This is enabled when setting a group. Sets the input method of remote I/O. Specify the remote I/O to be input to the group by bit. (Details of bit arrangement p.351) 4121 R-IN Group action mode (for...
Page 351 Group function z Bit arrangement of R-IN Group action mode (NETC) bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 R-IN15 R-IN14 R-IN13 R-IN12 R-IN11 R-IN10 R-IN9 R-IN8 bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 R-IN7 R-IN6 R-IN5 R-IN4 R-IN3 R-IN2 R-IN1 R-IN0...
Page 352: Simple Direct Data Operation
Simple direct data operation Simple direct data operation Simple direct data operation is a function to start operation only by writing the "Target position" and the "Operating speed." At the same time, the current position and operating speed can be monitored by using the response function. The monitoring contents can be set with parameters.
Page 353 Simple direct data operation How to use simple direct data operation monitor 0 As an example, write "8,500" to the "Position" of the operation data No.1. „ Setting example of operation data No.1 In simple direct data operation, the setting items in the following table are used. Items not shown in the table, such as Drive-complete delay time and Link are disabled even if they are set.
Page 354 Simple direct data operation z In case of EtherCAT communication Operation is started at the same time as TRIG of the remote register is turned ON and the target position is written. The data of response is continuously updated while TRIG is ON. Remote register command Sub- CoE Index...
Page 355 Simple direct data operation How to use simple direct data operation monitor 1 As an example, write "2,000" to the "Operating speed" of the operation data No.1. „ Setting example of operation data No.1 In simple direct data operation, the setting items in the following table are used. Items not shown in the table, such as Drive-complete delay time and Link are disabled even if they are set.
Page 356 Simple direct data operation z In case of EtherCAT communication Operation is started at the same time as TRIG of the remote register is turned ON and the operating speed is written. The data of response is continuously updated while TRIG is ON. Remote register command Sub- CoE Index...
Page 357: Detection Of Communication Errors
Detection of communication errors Detection of communication errors This is a function to detect abnormalities that occurred in communication with the network converter and the industrial network. It includes two types of detection: communication errors and alarms. Communication errors When the communication error with error code 84h occurs, the C-DAT/C-ERR LED of the driver is lit in red. In addition, the red color and green color on the PWR/ALM LED (or POWER/ALARM LED) blink twice at the same time.
Page 358 Detection of communication errors Alarms When an alarm is generated, the ALM-A output is turned OFF, and the motor stops. At the same time, the PWR/ALM LED (or POWER/ALARM LED) blinks in red. „ List of alarms related to communication Alarm code Alarm type Cause...
Page 359 Address/code lists This part provides lists of addresses/codes used for Modbus communication and industrial network control. Update timing of parameters .................360 I/O commands ......................361 Group commands .......................363 Protect release commands ..................364 Direct data operation commands ................365 Simple direct data operation commands ............367 Maintenance commands ..................368 Monitor commands ....................370 Overview of operation data R/W command address arrangement ..381...
Page 360: Update Timing Of Parameters
Update timing of parameters Update timing of parameters All data used by the driver is 32-bit wide. Since the register for the Modbus protocol is 16-bit wide, one data is described by two registers. The parameters are saved in RAM or non-volatile memory. The parameters saved in RAM are erased once the 24 VDC power supply is cut off, however, the parameters saved in the non-volatile memory are saved even if the 24 VDC power supply is cut off.
Page 361: O Commands
I/O commands I/O commands These are commands related to I/O. The set values are stored in RAM. They are not used in the industrial network. The industrial network uses an area exclusive for I/O. Register address Initial Name Description value Upper Lower NET selection...
Page 362 I/O commands „ Driver output status These are the driver output signals that can be accessed via Modbus communication. They can be accessed by one register (16 bit). z Upper Register Description address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 −...
Page 363: Group Commands
Group commands Group commands These are commands related to group send. The set values are stored in RAM. Modbus Industrial network communication Initial command code Name Description register address value Upper Lower READ WRITE Sets a group address. *1 Setting range 4120 −1: No group specification Group ID...
Page 364: Protect Release Commands
Protect release commands Protect release commands The key codes for reading/writing of data from/to the backup area and the key codes for release of function limitation by the HMI input are set. Modbus Industrial network communication Initial command code Name Description register address value...
Page 365: Direct Data Operation Commands
Direct data operation commands Direct data operation commands These are commands to use when performing direct data operation. The set values are stored in RAM. Modbus Industrial network communication command code Name Description Initial value register address Upper Lower READ WRITE Sets the operation data number to be used Direct data...
Page 366 Direct data operation commands Modbus Industrial network communication command code Name Description Initial value register address Upper Lower READ WRITE Sets the operating current for direct data Direct data operation. 4146 operation 1,000 (0064h) (0065h) (0032h) (1032h) Setting range operating current 0 to 1,000 (1=0.1%) Sets the trigger for direct data operation.
Page 367: Simple Direct Data Operation Commands
Simple direct data operation commands Simple direct data operation commands These are commands to use when performing simple direct data operation. The set values are stored in RAM. The simple direct data operation commands are exclusive for the industrial network. Industrial network Initial command code...
Page 368: Maintenance Commands
Maintenance commands Maintenance commands Release of alarms, clearing of latches and batch processing of the non-volatile memory are executed. The maintenance commands include processing in which the memory is operated, such as non- volatile memory batch processing and P-PRESET. Be careful not to execute them unnecessarily in succession.
Page 369 Maintenance commands Modbus Industrial network communication Name Description command code register address [WRITE] Upper Lower When a record number (1 to 10) is written to this command and the monitor command "Alarm Alarm record details 12501 (30D5h) (01AAh) (01ABh) record details" is executed, the detailed items of the specified alarm record can be checked.
Page 370: Monitor Commands
Monitor commands Monitor commands These commands are used to monitor the command position, command speed, alarm and information records, etc. All commands are used for read (READ). Modbus Industrial communication Name Description network register address command code Upper Lower 8256 Present alarm Shows the present alarm code.
Page 371 Monitor commands Modbus Industrial communication Name Description network register address command code Upper Lower Communication error 8288 Shows the oldest communication error code record. (00C0h) (00C1h) record 10 (2060h) Shows the operation data number currently selected. Present selected data 8289 The order of the priority is: NET selection number, (00C2h) (00C3h)
Page 372 Monitor commands Modbus Industrial communication Name Description network register address command code Upper Lower Shows the current number of times of loop in loop operation (extended loop operation). When operation 8306 Loop count (00E4h) (00E5h) other than loop is executed or loop is stopped, 0 is (2072h) displayed.
Page 373 Monitor commands Modbus Industrial communication Name Description network register address command code Upper Lower 8322 Sequence record 3 (0104h) (0105h) (2082h) 8323 Sequence record 4 (0106h) (0107h) (2083h) 8324 Sequence record 5 (0108h) (0109h) (2084h) 8325 Sequence record 6 (010Ah) (010Bh) (2085h) 8326...
Page 374 Monitor commands Modbus Industrial communication Name Description network register address command code Upper Lower Shows the input status of the function setting switch (SW1). Shows ON/OFF in order of No.2 and No.1. Value of READ SW1-No.2 SW1-No.1 8357 DIP SW (014Ah) (014Bh) (20A5h)
Page 375 Monitor commands Modbus Industrial communication Name Description network register address command code Upper Lower 2578 2579 Alarm record details 9481 (0A12h) (0A13h) (Feedback position) (2509h) 2580 2581 Alarm record details 9482 (0A14h) (0A15h) (Elapsed time from Boot) (250Ah) Shows the contents of the alarm record specified in Alarm record details the maintenance command "Alarm record details ."...
Page 376 Monitor commands Modbus Industrial communication Name Description network register address command code Upper Lower 2632 2633 Information generating 9508 (0A48h) (0A49h) time record 5 (2524h) 2634 2635 Information generating 9509 (0A4Ah) (0A4Bh) time record 6 (2525h) 2636 2637 Information generating 9510 (0A4Ch) (0A4Dh)
Page 377 Monitor commands Modbus Industrial communication Name Description network register address command code Upper Lower 2976 2977 Latch monitor status 9680 (0BA0h) (0BA1h) (I/O event − High event) (25D0h) Latch monitor command 2978 2979 9681 position (0BA2h) (0BA3h) (25D1h) (I/O event − High event) Latch monitor feedback 2980 2981...
Page 378 Monitor commands „ Information codes The information codes are represented in a 8-digit hexadecimal number. They can be read also in 32 bit. If multiple information pieces are generated, they are represented in the OR value of the information code. Example: When information pieces of the position deviation and driver temperature are generated Information code of position deviation: 0000 0002h Information code of driver temperature: 0000 0004h...
Page 379 Monitor commands „ I/O status The following are the bit arrangements of internal I/O. z Input signals Modbus Industrial communication Description network register address command code bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 SLIT HOMES RV-LS FW-LS RV-BLK FW-BLK −...
Page 380 Monitor commands z Output signals Modbus Industrial communication Description network register address command code bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 RND- RND- MAREA − RV-SLS FW-SLS ZERO (0178h) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 ORGN- PRST- ELPRST- HOME- PRST-DIS...
Page 381: Overview Of Operation Data R/W Command Address Arrangement
Overview of operation data R/W command address arrangement Overview of operation data R/W command address arrangement With the operation data R/W commands, operation data is set. There are two methods to set the operation data: "direct reference" and "offset reference." The stored areas are the same even if the addresses are different.
Page 382 Overview of operation data R/W command address arrangement Overview of direct reference Direct reference is a method in which the register address (base address) of the base operation data number is specified to input data. Use direct reference in Modbus communication. (Details of addresses p.383) Base data number Base address...
Page 383: Operation Data R/W Commands
Operation data R/W commands 10 Operation data R/W commands This is a method in which input is made by operation data number. To input all the setting items included in operation data in succession, use the following addresses. 10-1 Direct reference (Modbus communication) Direct reference is a method in which the register address (base address) of the base operation data number is specified to input data.
Page 384 Operation data R/W commands Modbus Modbus Modbus Communication Base Communication Base Communication Base Operation Operation Operation address address address data No. data No. data No. 12096 2F40 No.93 14976 3A80 No.138 17856 45C0 No.183 12160 2F80 No.94 15040 3AC0 No.139 17920 4600 No.184...
Page 385 Operation data R/W commands Modbus Communication Base Operation address data No. 20736 5100 No.228 20800 5140 No.229 20864 5180 No.230 20928 51C0 No.231 20992 5200 No.232 21056 5240 No.233 21120 5280 No.234 21184 52C0 No.235 21248 5300 No.236 21312 5340 No.237 21376 5380...
Page 386 Operation data R/W commands „ Register address The setting items of operation data are set with the operation data R/W command. The register addresses of the setting items are arranged based on the base addresses of the operation data numbers. (Base address p.383) For example, in the case of the setting item "Position,"...
Page 387 Operation data R/W commands Modbus communication Name Setting range Initial value Effective register address 0: None (−) Base address + 22 (upper) Loop count 2 to 255: Number of loop Base address + 23 (lower) (loop 2 { to loop 255 { ) Base address + 24 (upper) Loop offset −4,194,304 to 4,194,303 steps...
Page 388 Operation data R/W commands z Setting example of operation data No.2 From the table on p.383, we can find that the base address of the operation data No.2 is "6272 (1880h)." Based on this base address, the register addresses of the setting items are calculated from the table on p.386. Modbus communication register address Base address Setting item...
Page 389 Operation data R/W commands „ Base command codes The following are the command codes (base command codes) of the base operation data numbers in setting with offset reference. The base command codes are fixed. The base command codes of the starting data number are always "READ: 3072 (C00h), WRITE: 7168 (1C00h)."...
Page 390 Operation data R/W commands „ Command codes The setting items of operation data are set with the operation data R/W command. The command codes of setting items are arranged based on the base command code. (Base command code p.389) For example, in the case of the setting item "Position," if 1 is added to the base address, it becomes a command code. Industrial network Name Setting range...
Page 391 Operation data R/W commands „ Example of command codes The command codes of setting items are arranged based on the base command code of the operation data number. (Base command code p.389, command code p.390) As examples, here is a description of the command codes of the setting items when the operation data No.0, No.32, and No.255 are the starting data.
Page 392 Operation data R/W commands z When the "DATA offset reference origin" parameter is 32 (starting operation data No.32) Set the operation data No.32 as the starting point with the "DATA offset reference origin" parameter. Then, data from the operation data No.32 to No.63 can be specified. From the table on p.389, we can find that the base command codes of the operation data No.32 are "READ: 3072 (C00h), WRITE: 7168 (1C00h)."...
Page 393 Operation data R/W commands z When the "DATA offset reference origin" parameter is 255 (starting operation data No.255) Set the operation data No.255 as the starting point with the "DATA offset reference origin" parameter. When offset 1 is added to the operation data No.255, the operation data No.0 is accessed. Base address Offset=1 Offset=31...
Page 394 Operation data R/W commands „ Setting example As an example, here is a description how to set the following operation data to the operation data No.0 to No.2. Setting item Operation data No.0 Operation data No.1 Operation data No.2 Incremental positioning Incremental positioning Operation type Absolute positioning...
Page 395: Operation Data R/W Commands (Compatible)
Operation data R/W commands (compatible) 11 Operation data R/W commands (compatible) These commands include addresses grouped by setting items such as type, position, and operating speed. Use these addresses when our existing product has been replaced with the AZ Series or to input to a certain setting item in succession.
Page 396 Operation data R/W commands (compatible) Modbus communication Name Setting range Initial value Effective base address Upper Lower 1536 1537 Starting/changing rate No.0 (0600h) (0601h) 1538 1539 Starting/changing rate No.1 1 to 1,000,000,000 (0602h) (0603h) 1,000,000 (1=0.001 kHz/s, 1=0.001 s, or 1=0.001 ms/kHz) 1662 1663 Starting/changing rate...
Page 397 Operation data R/W commands (compatible) Industrial network command code Name Setting range Initial value Effective READ WRITE 4736 1: Absolute positioning Type No.0 (0280h) (1280h) 2: Incremental positioning (based on command position) 4737 Type No.1 3: Incremental positioning (based on feedback (0281h) (1281h) position)
Page 398: Operation I/O Event R/W Commands
Operation I/O event R/W commands 12 Operation I/O event R/W commands If a specified event (ON/OFF of I/O) is generated during operation of the motor, another operation can be started. This is called operation I/O event. This chapter explains the addresses to execute operation I/O events. 12-1 Setting method As with the setting of operation data, operation I/O event has also "direct reference"...
Page 399 Operation I/O event R/W commands Industrial network Industrial network Modbus Modbus Operation Operation base command code base command code communication communication I/O event No. I/O event No. base address base address READ WRITE READ WRITE 2752 6848 2784 6880 5504 (1580h) 5568 (15C0h) (AC0h) (1AC0h)
Page 400 Operation I/O event R/W commands 12-3 Offset reference Offset reference is a method in which the I/O event number of the starting point (starting event number) is set and the offset from the starting event number is specified to access the event. The starting event number is set with the "Event offset reference origin"...
Page 401 Operation I/O event R/W commands z In case of starting event No.1 Industrial network base command code Modbus communication Operation I/O event No. base address READ WRITE 5120 (1400h) Starting event No. + 0 = 1 2560 (A00h) 6656 (1A00h) 5136 (1410h) Starting event No.
Page 402: Extended Operation Data Setting R/W Commands
Extended operation data setting R/W commands 13 Extended operation data setting R/W commands Parameters for extended operation data setting can be set. Modbus Industrial network communication command code Name Setting range Initial value Effective register address Upper Lower READ WRITE Common acceleration 4416 1 to 1,000,000,000...
Page 403: Parameter R/W Commands
Parameter R/W commands 14 Parameter R/W commands These commands are used to write or read parameters. All commands are used for read/write (READ/WRITE). (Details of parameters p.229) 14-1 Driver action simulation setting parameter Modbus Industrial network communication Initial command code Name Description Effective...
Page 404 Parameter R/W commands Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE 0: The setting of the CCM input is followed 4397 Current control mode 1: α control mode (CST) (025Ah) (025Bh) (012Dh) (112Dh)
Page 405 Parameter R/W commands 14-4 Operation parameters Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE 4418 Starting speed 0 to 4,000,000 Hz (0284h) (0285h) (0142h) (1142h) 0: kHz/s 4423 Acceleration/deceleration unit 1: s (028Eh) (028Fh)
Page 406 Parameter R/W commands 14-6 ABZO sensor setting parameters Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE 4064 4065 0: ABZO setting is prioritized 2032 6128 Mechanism settings (0FE0h) (0FE1h) 1: Manual setting (07F0h) (17F0h) 4066...
Page 407 Parameter R/W commands 14-8 Initial coordinate generation & wrap coordinate parameters Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE 0: Disable 4551 Wrap setting (038Eh) (038Fh) 1: Enable (01C7h) (11C7h) Initial coordinate generation &...
Page 408 Parameter R/W commands Modbus Industrial network communication command code Name Setting range Initial value Effective register address Upper Lower READ WRITE 4451 (HOME) Starting speed 1 to 4,000,000 Hz (02C6h) (02C7h) (0163h) (1163h) (HOME) Operating 4452 1 to 4,000,000 Hz 1,000 (02C8h) (02C9h)
Page 409 Parameter R/W commands 14-10 Power removal function setting parameters Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE 0: ETO-mode (power removal 4496 HWTO mode selection status) (0320h) (0321h) (0190h) (1190h) 1: Alarm generation HWTO delay time of 0 to 10: Disable...
Page 410 Parameter R/W commands Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE Overvoltage information (INFO-OVOLT) 4521 120 to 450 V (0352h) (0353h) (AC power input type (01A9h) (11A9h) driver) Undervoltage information (INFO-UVOLT) 4522 120 to 280 V...
Page 411 Parameter R/W commands Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE INFO action (Undervoltage 3914 3915 1957 6053 information (0F4Ah) (0F4Bh) (07A5h) (17A5h) (INFO-UVOLT)) 3916 3917 INFO action (Overload time 1958 6054 (0F4Ch)
Page 412 Parameter R/W commands 14-13 I/O parameter Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE 0: Immediate stop for both STOP input and STOP-COFF input 1: Deceleration stop for the STOP input and immediate stop for the 3584 3585...
Page 413 Parameter R/W commands Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE 3614 3615 SPD-LMT speed limit 1807 5903 1 to 100% (0E1Eh) (0E1Fh) ratio (070Fh) (170Fh) 3616 3617 SPD-LMT speed limit 1808 5904 1 to 4,000,000 Hz...
Page 414 Parameter R/W commands Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE AREA1 positive 3716 3717 1858 5954 direction position/ (0E84h) (0E85h) (0742h) (1742h) offset AREA1 negative 3718 3719 1859 5955 direction position/ (0E86h) (0E87h)
Page 415 Parameter R/W commands Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE 3756 3757 AREA6 range setting 1878 5974 0: Range setting with absolute (0EACh) (0EADh) mode (0756h) (1756h) value 1: Offset/width setting from the 3758 3759 AREA7 range setting...
Page 416 Parameter R/W commands 14-14 Direct I/O setting parameters Modbus Industrial network communication command code Name Setting range Initial value Effective register address Upper Lower READ WRITE 4224 4225 DIN0 input function 2112 6208 32: START (1080h) (1081h) selection (0840h) (1840h) 4226 4227 DIN1 input function...
Page 417 Parameter R/W commands Modbus Industrial network communication command code Name Setting range Initial value Effective register address Upper Lower READ WRITE 4298 4299 DOUT5 (Normal) Output Output signal list 2149 6245 130: ALM-B (10CAh) (10CBh) function p.430 (0865h) (1865h) 4320 4321 2160 6256...
Page 418 Parameter R/W commands Modbus Industrial network communication command code Name Setting range Initial value Effective register address Upper Lower READ WRITE 4422 4423 DOUT3 composite inverting 2211 6307 (1146h) (1147h) mode (08A3h) (18A3h) 4424 4425 DOUT4 composite inverting 0: Non invert 2212 6308 (1148h)
Page 419 Parameter R/W commands Modbus Industrial network communication command code Name Setting range Initial value Effective register address Upper Lower READ WRITE 4526 4527 2263 6359 0: The 1 shot signal DIN7 1 shot signal (11AEh) (11AFh) (08D7h) (18D7h) function is 4528 4529 disabled...
Page 420 Parameter R/W commands Modbus Industrial network communication command code Name Setting range Initial value Effective register address Upper Lower READ WRITE 4634 4635 R-IN13 input function 2317 6413 53: RV-JOG-P (121Ah) (121Bh) selection (090Dh) (190Dh) 4636 4637 R-IN14 input function Input signal list 2318 6414...
Page 421 Parameter R/W commands Modbus Industrial network communication command code Name Setting range Initial value Effective register address Upper Lower READ WRITE 4686 4687 R-IN7 group action mode 2343 6439 (124Eh) (124Fh) initial state (NETC) (0927h) (1927h) 4688 4689 R-IN8 group action mode 2344 6440 (1250h)
Page 422 Parameter R/W commands 14-16 Extended input setting parameters Modbus Industrial network communication command code Name Setting range Initial value Effective register address Upper Lower READ WRITE 4832 4833 Extended input (EXT-IN) 2416 6512 Input signal list p.429 9: P-PRESET (12E0h) (12E1h) function selection (0970h)
Page 423 Parameter R/W commands 14-18 Virtual input parameters Modbus Industrial network communication command code Name Setting range Initial value Effective register address Upper Lower READ WRITE 4736 4737 Virtual input (VIR-IN0) 2368 6464 0: Not used (1280h) (1281h) function selection (0940h) (1940h) 4738 4739...
Page 424 Parameter R/W commands 14-19 User output setting parameters Modbus Industrial network communication command code Name Setting range Initial value Effective register address Upper Lower READ WRITE 4800 4801 User output (USER-OUT0) 128: 2400 6496 (12C0h) (12C1h) source A function selection CONST-OFF (0960h) (1960h)
Page 425 Parameter R/W commands Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower 5110 5111 2555 6651 USB-PID 0 to 31 (13F6h) (13F7h) (9FBh) (19FBh) 14-21 LED status indication setting parameters Modbus Industrial network communication command code Name...
Page 426 Parameter R/W commands Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower 0: EvenAddress-HighWord & Big-Endian 1: Even Address-Low Word & 4996 4997 Byte & word order Big-Endian 2498 6594 (1384h) (1385h) (Modbus) 2: Even Address-High Word &...
Page 427 Parameter R/W commands Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower Communication 5036 5037 2518 6614 error detection 1 to 10 times (13ACh) (13ADh) (09D6h) (19D6h) (NETC) 5038 5039 Transmission 2519 6615 0 to 10,000 (1=0.1 ms) (13AEh) (13AFh)
Page 428 Parameter R/W commands Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE 4898 4899 2449 6545 Indirect reference address setting (17) (1322h) (1323h) (0991h) (1991h) 4900 4901 2450 6546 Indirect reference address setting (18) (1324h) (1325h) (0992h)
Page 429: O Signal Assignment List
I/O signal assignment list 15 I/O signal assignment list 15-1 Input signals To assign signals via network, use the "Assignment No." in the table instead of the signal names. Assignment No. Signal name Assignment No. Signal name Assignment No. Signal name Not used SSTART FREE...
Page 430 I/O signal assignment list 15-2 Output signals To assign signals via network, use the "Assignment No." in the table instead of the signal names. Assignment No. Signal name Assignment No. Signal name Assignment No. Signal name Not used RV-JOG-P_R INFO FREE_R FW-JOG-C_R SYS-BSY...
Page 431 I/O signal assignment list Assignment No. Signal name Assignment No. Signal name JUMP1-LAT INFO-RBT NEXT-LAT PLS-LOST DCOM-RDY DCOM-FULL M-CHG M-ACT0 M-ACT1 M-ACT2 M-ACT3 M-ACT4 M-ACT5 M-ACT6 M-ACT7 D-END0 D-END1 D-END2 D-END3 D-END4 D-END5 D-END6 D-END7 INFO-USRIO INFO-POSERR INFO-DRVTMP INFO-MTRTMP INFO-OVOLT INFO-UVOLT INFO-OLTIME INFO-SPD...
Page 433 Measures for various cases This part explains the operation functions and parameters. Vibration suppression ....................434 Suppression of heat generation and noise ............437 Backup of data of MEXE02 in driver ..............441 Check of product information ................442 Copying the setting value of the ABZO sensor to a driver ......444 Indicating the warning before writing data ............445 Monitoring of load factor ..................447 Utilizing the waveform monitor ................448...
Page 434 Vibration suppression Vibration suppression LPF (speed filter) and moving average filter If the command filter to adjust the motor response is used, the vibration of the motor can be suppressed. There are two types of command filters: LPF (speed filter) and moving average filter. Related parameters MEXE02 tree view Parameter name...
Page 435 Vibration suppression „ Moving average filter Select "Moving average filter" in the "Command filter setting" parameter and set the "Command filter time constant" parameter. The motor response can be adjusted. The positioning time can be shortened by suppressing the residual vibration for positioning operation.
Page 436 Vibration suppression Resonance suppression Set a filter to suppress resonance. Related parameters MEXE02 tree view Parameter name Description Initial value Sets the frequency of the vibration to be controlled. Setting range Resonance suppression 1,000 100 to 2,000 Hz control frequency (With the MEXE02, a value less than 100 Hz can be input.
Page 437 Suppression of heat generation and noise Suppression of heat generation and noise Automatic current cutback function The automatic current cutback function is a method in which heat generation of the motor is suppressed by automatically decreasing the motor current to the stop current at the time of stop. When operation is restarted, the current automatically increases to the operating current.
Page 438 Suppression of heat generation and noise „ Servo emulation mode z Difference between α control mode and servo emulation mode The α control mode is a control method to operate the motor with a constant current. The motor current increases to the operating current during operation, and it decreases to the stop current by the current cutback function at standstill.
Page 439 Suppression of heat generation and noise Example 3: When the operating current is 100%, the stop current is 50%, and the SVE ratio is 30% The ratio to be controlled in the servo emulation mode is: Operating current 100% × SVE ratio 30% = 30% Out of 100% of the operating current, 30% is the servo emulation mode and 70% is the α...
Page 440 Suppression of heat generation and noise Ramp up/ramp down rate of operating current Set the rate when the operating current is changed. It is applied when the operating current is changed due to change of the operation data number, etc. However, it is not applied to change of the current due to the current cutback function.
Page 441 Backup of data of MEXE02 in driver Backup of data of MEXE02 in driver When you use the backup function of the MEXE02, data opened in the MEXE02 can be stored in the backup area of the driver. The data stored by the backup function can be read using the restore function. z Use these functions in the following cases.
Page 442 Check of product information Check of product information The MEXE02 is equipped with the unit information monitor. This monitor function allows you to check product information such as product name, serial number, and settings of switches. The set values of parameters can also be checked. „...
Page 443 Check of product information Area Description Motor and mechanism information area Gray colored cells represent that the value is not set. Main monitored items Description Active Parameter value presently used Driver parameter Parameter value set in the driver using the MEXE02 or communication Parameter value stored in the ABZO sensor ABZO (fixed) This is the fixed value.
Page 444 Copying the setting value of the ABZO sensor to a driver Copying the setting value of the ABZO sensor to a driver The fixed value stored in the ABZO sensor can be copied to the driver. „ Procedure 1. Click [Communication] menu of the MEXE02 and select the parameter to copy from the ABZO sensor to the driver.
Page 445 Indicating the warning before writing data Indicating the warning before writing data A desired name (user name) for the motor or driver can be set using the base setting parameter. If the user name is set, it can prevent from overwriting the data to a wrong product when the MEXE02 data is written to the driver.
Page 446 Indicating the warning before writing data 2. Select the user name to be compared from "Warning for writing data," and click [OK]. „ When writing data When data writing is performed, if the user name is not same between the MEXE02 and the product, the following message is shown.
Page 447 Monitoring of load factor Monitoring of load factor The load factor can be monitored on the status monitor of the MEXE02. There are two methods to display the load factor as shown below. • Torque: The current torque ratio against the maximum holding torque being 100% is displayed. •...
Page 448 Utilizing the waveform monitor Utilizing the waveform monitor The waveform monitor is provided as one of the monitor functions of the MEXE02. The waveform monitor is a function to output the output signal as a waveform in addition to the command speed and feedback speed of the motor.
Page 449 Utilizing the waveform monitor Saves the waveform presently shown to an external file. Reads the setting for measurement from "Favorites." Saves the setting for measurement as "Favorites." 3. Click [CH settings]. The CH setting window is shown. Set the measurement condition for each CH. Moves the display position of the waveform up and down.
Page 450 Utilizing the waveform monitor The following items can be monitored depending on the version of the driver or the MEXE02. • Pulse waveforms (effective for drivers of Ver.4.00 or later) Pulse waveforms being input externally can be monitored. − In the case of the 2-pulse input mode: Assign CW to the D-IN0 and CCW to the D-IN2, and select by any of the CH5 to CH12.
Page 451 Alarm and information This chapter explains the alarm function and the information function. It also explains functions that help maintenance of the equipment. Alarms ..........................452 Information ........................466 Utilization for maintenance of equipment ............473...
Page 452 Main circuit overheat [°C (°F)] − 85 (185) 85 (185) Overvoltage [V] − Motor overheat [°C (°F)] − 85 (185) 85 (185) AZM14, AZM15 − 8,000 AZM24, AZM26 AZM46, AZM48 8,000 4,500 Overspeed (r/min) AZM66 AZM69 8,000 2,500...
Page 453 Alarms Alarm list Reset using Alarm Number of Motor Alarm type Cause Remedial action the ALM-RST code LED blinks excitation * input • The deviation between the command position and detection position exceeded the value • Decrease the load. set in the "excessive •...
Page 454 Alarms Reset using Alarm Number of Motor Alarm type Cause Remedial action the ALM-RST code LED blinks excitation * input • Check the input • The power supply voltage of the power voltage exceeded the supply. allowable value. • Decrease the load. Overvoltage •...
Page 455 Alarms Reset using Alarm Number of Motor Alarm type Cause Remedial action the ALM-RST code LED blinks excitation * input Data stored in the driver Non- EEPROM error Initialize all parameters. Not possible was damaged. excitation An error of the ABZO Turn off the power and Sensor error at sensor was detected...
Page 456 Alarms Reset using Alarm Number of Motor Alarm type Cause Remedial action the ALM-RST code LED blinks excitation * input • The allowable time from the turn-off of one of the HWTO input to the turn-off of • Increase the "HWTO the other exceeded delay time of checking the value set in the...
Page 457 Alarms Reset using Alarm Number of Motor Alarm type Cause Remedial action the ALM-RST code LED blinks excitation * input The HOMES input was not detected at a position between the Install the HOME sensor FW-LS and RV-LS inputs at a position between No HOMES Possible Excitation...
Page 458 Alarms Reset using Alarm Number of Motor Alarm type Cause Remedial action the ALM-RST code LED blinks excitation * input • Stored data operation was performed with data whose operating speed was 0. • Check the operation • Wrap operation was data.
Page 459 Alarms Reset using Alarm Number of Motor Alarm type Cause Remedial action the ALM-RST code LED blinks excitation * input • The time set in the "communication timeout" parameter has elapsed, and yet • Check the connection the communication between the master RS-485 controller and driver.
Page 460 Alarms Monitor of alarm records The MEXE02 is equipped with an alarm monitor window. The alarm monitor window allows you to check alarm records. The operation executed when the alarm was generated and the status of I/O signal are also recorded. Window in which alarm records are scrolled to the right...
Page 461 Alarms „ Items that can be checked in alarm records Item Description Code The alarm code. Alarm message The description of the alarm. Our code for checking. However, when the operation data error (alarm code 70h) was generated, you can Sub code check the cause of the alarm by yourself using the sub code.
Page 462 Alarms The value (fixed value) set in the ABZO sensor can be checked on the unit information monitor. Related parameters MEXE02 tree view Parameter name Description Initial value Disables the ABZO setting of the mechanism protection parameter. Mechanism protection Motor and Mechanism Setting ramge parameter setting 0: ABZO setting is followed...
Page 463 Alarms „ Export of alarm records Up to 10 generated alarms in order of the latest to oldest can be exported in CSV format. (effective for MEXE02 of Ver.3.40 or later)
Page 464 Alarms Timing charts „ When the motor remains excited even if an alarm is generated 1. When an error occurs, the ALM-B output, MOVE output, and PLS-RDY output are turned OFF. At the same time, the motor stops immediately. 2. When you release the alarm, stop the pulse input. When the alarm is released while inputting pulses, the motor is started suddenly, causing injury or damage to the equipment.
Page 465 Alarms „ When the motor is not excited after an alarm is generated 1. When an error occurs, the ALM-B output, MOVE output, and PLS-RDY output are turned OFF. At the same time, the motor stops immediately. 2. When you release the alarm, stop the pulse input. When the alarm is released while inputting pulses, the motor is started suddenly, causing injury or damage to the equipment.
Page 466 Information Information The driver is equipped with a function to generate information output before an alarm is generated. Setting of appropriate values to the parameter of each information will be a help for periodic maintenance of the equipment. For example, a failure of the equipment or production stop due to motor overheat can be prevented by using the "motor temperature information"...
Page 467 Information MEXE02 tree view Parameter name Description Initial value Sets the generation condition of the motor Motor temperature temperature information (INFO-MTRTMP). information (INFO- Setting range MTRTMP) 40 to 120 °C Sets the generation condition of the overvoltage information (INFO-OVOLT). [AC power input driver Overvoltage information only] (INFO-OVOLT) (AC power...
Page 468 Information MEXE02 tree view Parameter name Description Initial value Sets the generation condition of the odometer information (INFO-ODO). Odometer information Setting range (INFO-ODO) 0: Disable 1 to 2,147,483,647 (1=0.1 kRev) INFO action (Assigned I/O status information (INFO- USRIO)) INFO action (Position deviation information (INFO-POSERR)) INFO action (Driver...
Page 469 Information MEXE02 tree view Parameter name Description Initial value INFO action (Odometer information (INFO-ODO)) INFO action (Start operation restricted mode information (INFO-DSLMTD)) Setting range INFO action (I/O test mode 0: When information is generated, only the bit output ETO and Alarm and Info information (INFO-IOTEST)) of the corresponding information is turned ON.
Page 470 Information Contents of Information bit Cause Releasing condition information output signal The overload counter became A load exceeding the maximum torque was lower than the value set in the Overload time INFO-OLTIME applied for the time exceeding the value set in "overload time information"...
Page 471 Information Contents of Information bit Cause Releasing condition information output signal After performing one of the following operations, the travel distance (Tripmeter) of the motor became lower than the value set in The travel distance of the motor exceeded the the "tripmeter information"...
Page 472 Information Monitor of information function When you use the information monitor of the MEXE02, you can check the status and records of the information function. The status monitor window of the MEXE02 displays the operation status. Use it as a reference for checking operation or planning maintenance of the equipment.
Page 473 Utilization for maintenance of equipment Utilization for maintenance of equipment Various functions of the AZ Series are also helpful for maintenance of the equipment. Cumulative load The load factor in the operation pattern of the motor can be grasped with the area. When the cumulative area (load) exceeds a certain value, it can be notified with information.
Page 474 Utilization for maintenance of equipment 2. Set the maximum value decided in step 1 for information. 3. When operation of the equipment is started and the cumulative load of the motor increases to reach "5,000," information is generated. Perform maintenance of the equipment. „...
Page 475 Utilization for maintenance of equipment Tripmeter (travel distance) and odometer (cumulative travel distance) The travel distance and cumulative travel distance of the motor can be utilized for equipment maintenance. Check the values of the tripmeter (travel distance) and odometer (cumulative travel distance) in the status monitor window of the MEXE02.
Page 476 Utilization for maintenance of equipment Latch function The latch function is a function that saves the instantaneous operation information in the driver for when the operation was switched by an event jump or it was stopped. For example, if an operation was switched to the next operation by the NEXT input during continuous operation, the operation information at the moment when being switched is latched.
Page 477 Utilization for maintenance of equipment „ Example for latch function z Latch by the NEXT input Operation image Operating speed No.0 No.1 2 ms or more START input 2 ms or more NEXT input 2 ms or more LAT-CLR input 2 ms or less 2 ms or less NEXT-LAT output...
Page 478 Utilization for maintenance of equipment z Latch by the JUMP input Operation image Operating speed No.0 No.1 2 ms or more START input 2 ms or more Event trigger I/O 2 ms or more LAT-CLR input 2 ms or less 2 ms or less JUMP0-LAT output JUMP1-LAT output...
Page 479 Utilization for maintenance of equipment Waveform monitor (MEXE02) START LAT-CLR JUMP0-LAT JUMP1-LAT „ Monitor of operation information To monitor the operation information saved, there are two types, event monitor and latch monitor. The monitor value cannot be checked with the MEXE02. Check via RS-485 communication or industrial network. z Event monitor The command position and actual position are saved in the event monitor.
Page 481 Extended setting for pulse-input operation This part explains how to extend the function of the pulse-input operation. Flow of operation and extended setting ............482 Setting with switches (only for pulse-input type) ..........483 Extending settings by parameters ...............487 I/O signals related to pulse-input operation ............491 Monitor function ......................495 Push-motion operation ....................499...
Page 482 Flow of operation and extended setting Flow of operation and extended setting The contents of are explained in this manual. OPERATING MANUAL • Install the motor and the • Inst Driver driver and arrange wiring. driv • Set the home position. •...
Page 483 Setting with switches (only for pulse-input type) Setting with switches (only for pulse-input type) Resolution Set the resolution per revolution of the motor output shaft using the SW1-No.1. Factory setting: OFF AC power input driver DC power input driver No.1 No.1 OFF←→ON OFF←→ON...
Page 484 Setting with switches (only for pulse-input type) Pulse input mode Set a desired pulse input mode of the driver according to the pulse output mode of the controller used with the driver. Set with SW1-No.2 OFF: 2-pulse input mode 1-pulse input mode AC power input driver DC power input driver No.2...
Page 485 Setting with switches (only for pulse-input type) The dial settings and corresponding base current rates of the CURRENT switch are listed below. Scale Base current rate (%) Scale Base current rate (%) 56.3 12.5 62.5 18.8 68.8 25.0 75.0 31.3 81.3 37.5 87.5...
Page 486 Setting with switches (only for pulse-input type) Related parameters MEXE02 tree view Parameter name Description Initial value Selects the setting method of the command filter. Command filter time constant Base setting setting source (only for pulse Setting range input type) 0: The parameter setting is followed 1: The switch setting is followed...
Page 487 Extending settings by parameters Extending settings by parameters Resolution Set the resolution per revolution of the motor output shaft. For the pulse-input type, when setting the resolution with parameters, turn SW1-No.1 OFF. • For the pulse-input type, if SW1-No.1 is ON, the parameters are not enabled. •...
Page 488 Extending settings by parameters „ Pulse input mode types There are three types of pulse input modes: 1-pulse input mode, 2-pulse input mode, and phase difference input mode. z 1-pulse input mode Pulses are input via the PLS input and the rotation direction is selected using the DIR input. 5 µs or more 5 µs or more PLS input...
Page 489 Extending settings by parameters „ 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. z 1-pulse input mode, 2-pulse input mode z Phase difference mode 1 µs or more 2 µs or more 0.4 µs or more...
Page 490 Extending settings by parameters z LPF (speed filter) Select "LPF" in the "Command filter" parameter and set the "Command filter time constant" parameter. When the value of the "Command filter time constant" parameter is increased, vibration can be suppressed during low-speed operation, and starting/stopping of the motor becomes smooth.
Page 491 I/O signals related to pulse-input operation I/O signals related to pulse-input operation LED (only for the pulse-input type) z READY LED When preparation of operation is complete, the READY output is turned ON, and the READY LED of the driver is lit in green at the same time.
Page 492 I/O signals related to pulse-input operation z PLSM-REQ input The position coordinate information to be sent by the pulse request function is set. Related parameters MEXE02 tree view Parameter name Description Initial value Selects the information to be output by the pulse request function.
Page 493 I/O signals related to pulse-input operation z A-phase/B-phase output To the I/O connector of the driver, the A-phase (ASG) output and the B-phase (BSG) output are assigned at the time of factory shipment. The A-phase output and B-phase output are pulse signals output from the ABZO sensor. When the A-phase and B-phase outputs are used, the present position and rotation direction of the motor can be detected.
Page 494 I/O signals related to pulse-input operation Timing chart 1. Check the PLS-RDY output is turned ON 2. Input CW pulses. The motor will rotate in CW direction. 3. When the operation is completed, the READY output will be turned ON. PLS-RDY output CW input READY output...
Page 495 Monitor function Monitor function There are two methods to synchronize the coordinate system managed by the ABZO sensor and the coordinate system of the master controller as shown below. • Clear the encoder counter of the master controller to 0 after high-speed return-to-home operation, position preset, or return-to-home operation is complete.
Page 496 Monitor function z Output example: When the motor rotates 700 steps from the mechanical home position, in the forward direction (when the settings of the parameters are as shown in the table below) MEXE02 tree view Parameter name Setting value Electronic gear A Electronic gear B Motor and mechanism...
Page 497 Monitor function „ Timing chart 1. When the MON-REQ0 input or MON-REQ1 input is turned ON, the command position, feedback position and alarm code at that moment are recorded, and the MON-OUT output is turned ON. 2. Check that the MON-OUT output is turned ON and input the clock signal to the MON-CLK input. 3.
Page 498 Monitor function „ Timing chart 1. When the PLSM-REQ input is turned ON, the ASG output and BSG output at that moment are latched, and the present command position and feedback position are recorded. Before the PLSM-REQ input is turned OFF, the present feedback position is not output from the ASG output and the BSG output even if the motor shaft rotates.
Page 499 Push-motion operation Push-motion operation Push-motion operation is a type of operation where pulses are input to pressurize the load continuously. 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 motors and the hollow rotary actuator DGII Series.
Page 500 Push-motion operation „ Setting the current for push-motion operation If the push-motion current is set, the output torque can be limited. For example, if the push-motion current is set to 50%, the output torque is also limited to 50%. 100% 100% [Rotation speed] Torque characteristics when the torque value of the...
Page 501 Push-motion operation „ Data write The data or parameter created in the MEXE02 can be written to the driver. 1. Click the [Data writing] icon in the toolbar. 2. Select data to be written and click [OK]. 3. Click [Yes]. Data writing starts.
Page 502 Push-motion operation Performing the push-motion operation As an example, this section explains how to perform push-motion operation in the positive direction. z Setting example • Operation data No.0: Operating current (output torque) 30% • Operation data No.1: Operating current (output torque) 50% •...
Page 503 Push-motion operation Timing chart „ When the "Current setting during motor standstill at T-MODE" parameter is set to "Stop current" Command speed Operating current Command current Stop current T-MODE input CW input CCW input TLC output MOVE output PLS-RDY output READY output IN-POS output AUTO-CD output...
Page 504 Push-motion operation „ When the "Current setting during motor standstill at T-MODE" parameter is set to "Operating current" Command speed Operating current Command current Stop current T-MODE input CW input CCW input TLC output MOVE output PLS-RDY output READY output IN-POS output AUTO-CD output *1 The specific time varies depending on the load, operating speed, command filter and other.
Page 505 Appendix Change of function of HOME PRESET switch ...........506 Change of assignments of A-phase/B-phase outputs ........507 LEDs on the driver ......................509 Simulating the driver operation ................511 Use of general signals ....................521...
Page 506 Change of function of HOME PRESET switch Change of function of HOME PRESET switch In the AZ Series, the function of the P-PRESET input is assigned to the HOME PRESET switch. Therefore, just by pressing the HOME PRESET switch, the present position can be set as the home position. However, once the home position is set, the function of the HOME PRESET switch can be disabled so that the home position should not be preset even if the HOME PRESET switch is pressed by mistake.
Page 507 Change of assignments of A-phase/ B-phase outputs Change of assignments of A-phase/ B-phase outputs To the I/O connector of the driver, the A-phase (ASG) output and the B-phase (BSG) output are assigned at the time of factory shipment. The ASG output and the BSG output are signals output from the ABZO sensor. When the A-phase/ B-phase outputs are used, the present position and rotation direction of the motor can be detected.
Page 508 Change of assignments of A-phase/B-phase outputs When "A-phase/B-phase output" is selected in the "Differential output mode selection" parameter, the present feedback position is output as phase difference. The resolution of the pulse depends on the resolution of the motor set with the electronic gear A/B.
Page 509 LEDs on the driver LEDs on the driver You can check various conditions of the driver by the lighting state or the number of blinking of LEDs on the driver. Lighting state of LEDs z Built-in controller type, pulse-input type with RS-485 communication interface [AC power input driver] [DC power input driver] PWR/ALM LED...
Page 510 LEDs on the driver „ C-DAT/C-ERR LED (built-in controller type, pulse-input type with RS-485 communication interface) You can check the RS-485 communication status. Green Description The driver is communicating with the master station properly via RS-485 Lit/Blinking − communication. A RS-485 communication error occurs with the master station. The LED is lit or blinks −...
Page 511 Simulating the driver operation Simulating the driver operation In the driver simulation mode, the status for the coordinate and the I/O can be simulated without connecting the motor. If the motor is connected, a simulation which is closer to an actual operation can be performed using information of the ABZO sensor.
Page 512 Simulating the driver operation Preparation and operating procedure of the driver simulation mode „ preparation z When the motor is not connected When a simulation for a motorized actuators is performed, be sure to connect the actuator to the driver. ( p.513) AC power input MEXE02 (PC)
Page 513 Simulating the driver operation z When the motor is connected AC power input MEXE02 (PC) Connect to +24 V and 0 V 24 VDC power supply Connect to Connect to ENCODER USB communication connector Cable for encoder USB cable Connect to MOTOR Network converter Connect this cable if you want to control your Cable for motor...
Page 514 Simulating the driver operation „ Operating procedure This section explains how to simulate a driver operation without connecting a motor using the MEXE02. 1. Turn on the control power supply and main power supply of the driver. 2. Click the “Base settings” under “Parameter” in the tree view.
Page 515 Simulating the driver operation 6. Execute positioning operation, etc. with “Teaching, remote operation. ” The command position and the feedback position are increased/decreased without connecting the motor. The status can be checked also on the monitor windows of I/O and status. 7.
Page 516 Simulating the driver operation Coordinate „ Home position In the driver simulation mode, regardless of whether the motor is connected or unconnected, the position for when the power supply was turned on is set as the home position. The home position can be reset using the position preset or return-to-home operation. However, information of the home position in the ABZO sensor cannot be rewritten.
Page 517 Simulating the driver operation Monitor This section explains the contents that can be checked using the status monitor during simulation. Items that the displayed content is different from a normal time are explained here. Monitors the coordinate information detected in the ABZO sensor. Motor coordinate Regardless of whether the motor is connected or unconnected, the coordinate information...
Page 518 Simulating the driver operation Operation This section explains about operation of the driver simulation mode. Since the position deviation and the speed deviation are always 0 in the driver simulation mode, speed control operation and push-motion operation are the same movement as positioning operation or continuous operation. „...
Page 519 Simulating the driver operation „ Direct data operation A simulation can be performed with the built-in controller type driver. It operates using the data input from the master controller via RS-485 communication. (Direct data operation p.302) „ Return-to-home operation z Return-to-home operation When the HOME input is turned ON, a simulation of return-to-home operation is started.
Page 520 Simulating the driver operation „ Output signals Signal name Driver simulation mode Normal time ABSPEN Always ON * Output when the position coordinate is set. PRST-STLD Always OFF * Output when the mechanical home position is set. Output when a mechanical home position suitable to the ORGN-STLD Always OFF * product is set at the time of factory shipment.
Page 521 Use of general signals Use of general signals The R0 to R15 inputs are general signals. Using the R0 to R15 inputs, I/O signals for the external device can be controlled by the master controller via the driver. Direct I/O of the driver can be used as an I/O unit. „...
Page 523 „ Revision record Revision number Revised contents First edition • Amendment for adding models • Amendment for contents of ETO function • Addition of "1 Before starting operation" Second edition • Addition of push-motion operation and factory setting of resolution switch to "10 Extended setting for pulse-input type"...
Page 524 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 referenced in this manual.

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Oriental motor AZM14 Manual

1 Before Starting Operation

2 Operation

3 I\/O Signals

4 Parameters

5 Method of Control Via Modbus Rtu (Rs-485 Communication)

6 Method of Control Via Industrial Network

7 Address/Code Lists

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