Autonics AiC-CL Series Communications Manual
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Autonics AiC-CL Series Communications Manual

Autonics AiC-CL Series Communications Manual

Closed-loop stepper system
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Communication Manual
Closed-Loop Stepper System
AiC-CL Series
MMD-AiC-CLC1-V1.0-2002KR
Thank you for purchasing an Autonics product.
This manual contains information about the product and its proper use,
and should be kept in a place where it will be easy to access.
www.autonics.com

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  • Page 1 Communication Manual Closed-Loop Stepper System AiC-CL Series MMD-AiC-CLC1-V1.0-2002KR Thank you for purchasing an Autonics product. This manual contains information about the product and its proper use, and should be kept in a place where it will be easy to access. www.autonics.com...

  • Page 3: Preface

    Preface Preface Thank you for purchasing an Autonics product. Please familiarize yourself with the information contained in the Safety Considerations section before using this product. This manual contains information about the product and its proper use, and should be kept in a place where it will be easy to access ©...

  • Page 4: Communication Manual Guide

    The manual's content may vary depending on changes to the product's software and other  unforeseen developments within Autonics, and is subject to change without prior notice. Upgrade notice is provided through out website. We contrived to describe this manual more easily and correctly. However, if there are any ...

  • Page 5: Communication Manual Symbols

    Failure to follow instructions can result in serious injury or death. Failure to follow instructions can lead to a minor injury or product damage. An example of the concerned feature’s use. ※1 Annotation mark © Copyright Reserved Autonics Co., Ltd.

  • Page 6: Safety Considerations

    Failure to follow this instruction may result in burn or electric shock due to high temperature of the surface. Emergency stop directly when error occurs.  Failure to follow this instruction may result in personal injury or fire. viii © Copyright Reserved Autonics Co., Ltd.
  • Page 7 Failure to follow this instruction may result in fire or product damage. The above specifications are subject to change and somd models may be discontinued without notice. Be sure to follow cautions written in the instruction manual, user manual and the technical descriptions (catalog, website). © Copyright Reserved Autonics Co., Ltd.

  • Page 8: Table Of Contents

    Operating Mode Group(Command code: 11h) ..........46 Operating Group (Command Code: 12h) ............47 Parameter Group (Command Code: 13h) ............48 Home Search Mode Group (Command Code: 14h) ........50 Monitoring Group .....................51 Alarm Code .......................52 Warning Code ....................52 © Copyright Reserved Autonics Co., Ltd.

  • Page 9: Communication Specification

    2 stations occupied: RWrn/RWwn 8 words each Point table read/write, parameter read/write, read only, Command special command monitor only, network connection, drive control, motion control, drive status LED indicators Status LED indicators × 2 (L.ERR: Red, L.RUN: Green) © Copyright Reserved Autonics Co., Ltd.

  • Page 10: Function

    2 Function Function System Configuration * 485 © Copyright Reserved Autonics Co., Ltd.

  • Page 11: Remote I/O Specification

    Read Success Read success RYnF Write Request Write request RXnF Write Success Write success RYn0 STOP Stop RX(n+1)0 Read Error Read error RX(n+1)1 Write Error Write error RY(n+1)1 to Disable RX(n+1)2 to RY(n+1)F Disable RX(n+1)F © Copyright Reserved Autonics Co., Ltd.

  • Page 12: Remote Register In 1 Station Occupied

    Upper: Write request code, Program single step running Upper: Alarm Code RWwm+1 RWrn+1 number Lower: Warning Code Lower: Write data number RWwm+2 Write Data (lower) RWrn+2 Read Data (lower) RWwm+3 Write Data (upper) RWr3 Read Data (upper) © Copyright Reserved Autonics Co., Ltd.

  • Page 13: Remote I/O In 2 Stations Occupied

    RY(n+2)B Step4 RX(n+2)B OUT0 RY(n+2)C Step5 RX(n+2)C OUT1 Monitor RY(n+2)D Monitor request RX(n+2)D OUT2 Request RY(n+2)E RX(n+2)E OUT3 RY(n+2)F RX(n+2)F OUT4 RX(n+3)0 OUT5 RX(n+3)1 OUT6 Disable RY(n+3)0 RX(n+3)2 Monitoring Monitoring RX(n+3)3 RY(n+3)F Disable RX(n+3)F © Copyright Reserved Autonics Co., Ltd.

  • Page 14: Remote Register In 2 Stations Occupied

    Description Description RWwm+4 RWrn+4 Monitor 1 Data (lower) RWwm+5 RWrn+5 Monitor 1 Data (upper) RWwm+6 Monitor 1 RWrn+6 Monitor 2 Data (lower) RWwm+7 Monitor 2 RWrn+7 Monitor 2 Data (upper) © Copyright Reserved Autonics Co., Ltd.

  • Page 15: Ry Signal Specification

    During the home search mode operation, Running[RYn6] is ON, when home search is completed, Home End[Rxn2] is ON. Reset [RYn3]  Driver reset operates same as power resupply. When the motor is running, it stops immediately and resets the driver. © Copyright Reserved Autonics Co., Ltd.
  • Page 16 When the pause signal is applied during the program mode running, it stops after completing the current step. “PR Start[RYn7]” command is applied after pause, program running restarts from the next step after the stopped step. © Copyright Reserved Autonics Co., Ltd.
  • Page 17 When the Write Request Success[RXnF] is not ON and the Write Error[RX(n+1)1] is ON, this is the case that the command was incorrectly input or the allowable input data range is exceeded. Please check the entered command and data. © Copyright Reserved Autonics Co., Ltd.
  • Page 18 Monitor Request [RY(n+2]D]  Request monitoring execution. When entering the Monitoring group’s command code write data number on [Rwwm+6 to 7]Monitor1 to 2. The data will be displayed on [Rwrn+4 to 5]Monitor1, [Rwrn+6 to 7]Monitor2 © Copyright Reserved Autonics Co., Ltd.

  • Page 19: Rx Signal Specification

    Read execution request error Write Error [RX(n+1)1]  Write execution request error ORG [RX(n+2)0 to RX(n+3)1]  I/O port status ORG, +Limit, -Limit, IN0 to 7, OUT0 to 6 signal Monitoring [RX(n+3)2]  Monitoring © Copyright Reserved Autonics Co., Ltd.

  • Page 20: Driving Operation

    7: CC-Link status indicator (L.ERR/L.RUN, Red/Green) 8. CC-Link station setting DIP switch (SW1) 9: CC-Link comm. speed setting rotary switch (B-RATE) 10: CC-Link comm. station setting rotary switch (STATION NO.) 11. CC-Link connector (CN6: DA DB DG SH FG) © Copyright Reserved Autonics Co., Ltd.

  • Page 21: Number Of Occupied Stations

    Disable Set the CC-Link station number with STATION NO. switch. Station Station Setting switch Setting Setting switch Setting No. (×10) No. (×1) 0×10 1×10 2×10 3×10 4×10 5×10 6×10 ×1 ×10 7×10 8×10 9×10 © Copyright Reserved Autonics Co., Ltd.

  • Page 22: Led Indication

    When alarm occurs, it can be checked through the CC-Link Remote I/O Alarm[RXn3] and the alarm code is displayed above Remote Register [RWrn1]. It operates as following alarm table and the LED flashing cycle is 400ms. © Copyright Reserved Autonics Co., Ltd.
  • Page 23 When index command is not completed due to the stop command Home search mode error When failed to find home ※ When ee to eh alarm occurs, the motor stops, but the current flowing into the motor is not blocked. © Copyright Reserved Autonics Co., Ltd.
  • Page 24 When reverse direction(CCW) hardware limit -Hardware limit is ON When maximum load is kept connected over Overload warning 10sec Remain Remain (motor or driver can be overheated) ※ Other warning can be occurred during Overload warning. © Copyright Reserved Autonics Co., Ltd.

  • Page 25: Operation

    In case of arriving to the target position without reaching max. speed due to acceleration time is long and command position is short, the acceleration time may change. e.g.) Acceleration Time 500 Deceleration Time 500 Start Speed 300 Max Speed 15000 Linear acel/deceleration operation © Copyright Reserved Autonics Co., Ltd.
  • Page 26 If Write Request Success[RXnF] is not ON but Write Error[RX(n+1)1] is ON, this is the case that the command is entered wrong or exceeded the availabe data range. Please check the entered command and data. © Copyright Reserved Autonics Co., Ltd.
  • Page 27 04h on the lower side. 2nd Enter the write data 500(1F4h) on [RWwm+2]. RWwm+1 RWwm+2 3rd Set the Write Request[RYnF] ON. RYnF (5) Linear Accel/deceleration operation 1st Set the linear accel/deceleration operation through ±RUN[RYn5 or RYn6] ON. RYn5 © Copyright Reserved Autonics Co., Ltd.

  • Page 28: Relative Position Movement

    3 times, it moves to the A, B and C points as shown below. e.g.) Acceleration Time 500 Deceleration Time 500 Start Speed 300 Max Speed 15000 Position 50000 Relative position movement operation © Copyright Reserved Autonics Co., Ltd.
  • Page 29 If Write Request Success[RXnF] is not ON but Write Error[RX(n+1)1] is ON, this is the case that the command is entered wrong or exceeded the available data range. Please check the entered commmand and data. © Copyright Reserved Autonics Co., Ltd.
  • Page 30 05h on the lower side. 2nd Enter the write data 50000(C350h) on [RWwm+2]. RWwm+1 RWwm+2 3rd Set the Write Request[RYnF] ON. RYnF (6) Relative position movement operation 1st Set the linear accel/deceleration operation through INC[RYnC] ON. RYnC © Copyright Reserved Autonics Co., Ltd.

  • Page 31: Absolute Position Movement

    “ABS” command shoud be set each 9000, 18000 and 27000 pulse. (1) Parameter setting is same as INC (2) Absolute position movement operation 1st Set the linear accel/deceleration movement through ±RUN[RYn5, 6] ON. RYnC © Copyright Reserved Autonics Co., Ltd.

  • Page 32: Program Mode Operation

    The final step must include END(0AH). e.g.) Step 0 Acceleration Time 1000 Deceleration Time 1000 Start Speed 50 Max Speed 10000 Position 50000 Relative position movement operation Step 1 OPT, Next ON, 1000ms Step 2 END command © Copyright Reserved Autonics Co., Ltd.
  • Page 33 1st Enter the write command code 06h on the upper side of [RWwm+1] and Enter the step number 00h on the lower side. 2nd Enter the Position Data 50000(C350h) on [RWwm+2]. RWwm+1 RWwm+2 3rd Set the Write Request[RYnF] ON. RYnF © Copyright Reserved Autonics Co., Ltd.
  • Page 34 1st Enter the write command code 04h on the upper side of [RWwm+1] and Enter the step number 00h on the lower side. 2nd Enter the Acceleration Time 1000(3e8h) on [RWwm+2]. RWwm+1 RWwm+2 3rd Set the Write Request[RYnF] ON. RYnF © Copyright Reserved Autonics Co., Ltd.
  • Page 35 2nd Enter the 상대위치이동 명령(01h) on [RWwm+2]. RWwm+1 RWwm+2 ※ In case of ABS which is operated by continue mode, enter 01h on the upper byte of [RWwm+2]. 3rd Set the Write Request[RYnF] ON. RYnF © Copyright Reserved Autonics Co., Ltd.
  • Page 36 1st Enter the write command code 03h on the upper side of [RWwm+1] and Enter the step number 01h on the lower side. 2nd Enter the ON(01h) on [RWwm+2]. RWwm+1 RWwm+2 3rd Set the Write Request[RYnF] ON. RYnF © Copyright Reserved Autonics Co., Ltd.
  • Page 37 1st Enter the write command code 04h on the upper side of [RWwm+1] and Enter the step number 01h on the lower side. 2nd Enter the On Time 1000(3E8h) on [RWwm+2]. RWwm+1 RWwm+2 3rd Set the Write Request[RYnF] ON. RYnF © Copyright Reserved Autonics Co., Ltd.
  • Page 38 1st Enter the write command code 01h on the upper side of [RWwm+1] and Enter the step number 02h on the lower side. 2nd Enter the END(0Ah) on [RWwm+2]. RWwm+1 RWwm+2 3rd Set the Write Request[RYnF] ON. RYnF © Copyright Reserved Autonics Co., Ltd.

  • Page 39: Home Search Mode Operation

    1st Enter the write command code 14h on the upper side of [RWwm+1] and enter the data number 02h on the lower side. 2nd Enter the write data 10(Ah) on [RWwm+2]. RWwm+1 RWwm+2 3rd Set the Write Request[RYnF] ON. RYnF © Copyright Reserved Autonics Co., Ltd.
  • Page 40 1st Enter the write command code 14h on the upper side of [RWwm+1] and Enter the step number 05h on the lower side. 2nd Enter the Deceleration Time 1000(3e8h) on [RWwm+2]. RWwm+1 RWwm+2 3rd Set the Write Request[RYnF] ON. RYnF © Copyright Reserved Autonics Co., Ltd.
  • Page 41 1st Enter the write command code 14h on the upper side of [RWwm+1] and enter the data number 06h on the lower side. 2nd Enter the write data 0(0h) on [RWwm+2]. RWwm+1 RWwm+2 3rd Set the Write Request[RYnF] ON. RYnF © Copyright Reserved Autonics Co., Ltd.
  • Page 42 07h on the lower side. 2nd Enter the write data 1(1h) on [RWwm+2]. RWwm+1 RWwm+2 3rd Set the Write Request[RYnF] ON. RYnF (8) Homesearch Operation [RYn2] 1st Set the Homesearch operation throgh Home[RYn2] ON. RYnC © Copyright Reserved Autonics Co., Ltd.

  • Page 43: Parameter Data Map

    Don’t Care 0x100: Absolute position Acceleration Deceleration move (ABS) Start speed Max. speed Position time time Continue mode 0x101: Relative position Acceleration Deceleration move (INC) Start speed Max. speed Position time time Continue mode © Copyright Reserved Autonics Co., Ltd.

  • Page 44: Operating Mode Group(Command Code: 11H)

    Motor Direction Set the default rotation direction of the motor Set whether to remain or reset the output pins Output Mode Holding Reset Holding status when the alarm occurs © Copyright Reserved Autonics Co., Ltd.

  • Page 45: Operating Group (Command Code: 12H)

    [msec] 10,000 Up to 5 acceleration time is available. Set the deceleration rate, Deceleration Time [msec] 10,000 Up to 5 deceleration time is available. Position [Pulse] -2,147,483,648 +2,147,483,647 Set the position to be moved © Copyright Reserved Autonics Co., Ltd.

  • Page 46: Parameter Group (Command Code: 13H)

    Motor Gain Set the motor gain When Motor Gain is set P Gain as User Setting, set the P Gain When Motor Gain is set I Gain as User Setting, set the I Gain © Copyright Reserved Autonics Co., Ltd.
  • Page 47 IN6 function setting IN7 function setting OUT0 function setting OUT1 function setting OUT2 function setting General output “OUT0” OUT3 function to “OUT6” function setting assigned OUT4 function setting OUT5 function setting OUT6 function setting © Copyright Reserved Autonics Co., Ltd.

  • Page 48: Home Search Mode Group (Command Code: 14H)

    -2,147,483,648 +2,147,483,647 Position Set position value as this setting value In case of running torque home search, calculate 80% of torque(%) Home Search rated current as 100% Torque e.g. 1) setting value: 40%, motor: © Copyright Reserved Autonics Co., Ltd.

  • Page 49: Monitoring Group

    105h -2,147,483,648 to +2,147,483,647 position 0: Standby mode 4: Program mode Operation 1: Index mode 5: Home search mode 106h mode 2: Jog mode 6: General mode 3: Continuous mode 7: Program pause mode © Copyright Reserved Autonics Co., Ltd.

  • Page 50: Alarm Code

    Input voltage error In-Position error Memory error Emergency stop Program mode error Index mode error Home search mode error Warning Code FND indicator Description Warning Code +Software limit -Software limit +Hardware limit -Hardware limit Overload warning © Copyright Reserved Autonics Co., Ltd.
  • Page 51 4 Parameter Data Map © Copyright Reserved Autonics Co., Ltd.
  • Page 52 * Dimensions or specifications on this manual are subject to change and some models may be discontinued without notice.

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