Page 1 DC power input type Reference materials 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: Table Of Contents
Introduction Before using the product ............................8 Operating manuals ..............................9 Related operating manuals ..................................9 How to use operating manuals................................9 Overview of the product ............................11 Safety precautions ..............................12 Graphical symbols on the driver's front panel ........................... 14 Warning indication (AC power input driver) ..........................14 Precautions for use ..............................15 AC power input type System configuration ..............................18...
Page 3 Inspection and maintenance ...........................42 Inspection ........................................ 42 Warranty ........................................42 Disposal ........................................42 Cables ...................................43 Connection cable ....................................43 I/O signal cable ...................................... 45 Accessories ..................................46 Pulse signal converter for noise immunity ..........................46 Relay contact protection parts/circuits ............................46 Regeneration resistor ..................................
Page 4 Inspection and maintenance ...........................71 Inspection ........................................ 71 Warranty ........................................71 Disposal ........................................71 Cables ...................................72 Connection cable ....................................72 I/O signal cable ...................................... 76 Accessories ..................................77 Pulse signal converter for noise immunity ..........................77 Relay contact protection parts/circuits ............................77 EtherCAT communication Guidance ..................................81 Communications specifications ..........................84...
Page 5 Object dictionary ..............................157 Composition of the object dictionary ............................157 Objects of the CoE communication area ...........................158 Objects of the profile area ................................163 Objects of the manufacturer-specific area ..........................173 Object list Objects of the CoE communication area ......................179 Objects of the profile area ............................181 Objects of the manufacturer-specific area ......................183 Troubleshooting Alarms ..................................196...
Page 7 Introduction This part explains the product overview and safety precautions in addition to the types and descriptions about operating manuals.  Table of contents Before using the product ....... 8 Operating manuals ......... 9 2-1 Related operating manuals ......9 2-2 How to use operating manuals ....9 Overview of the product ......
Page 8: Before Using The Product
The product described in this manual has been designed and manufactured to be incorporated in general industrial equipment. Do not use for any other purpose. Oriental Motor Co., Ltd. is not responsible for any compensation for damage caused through failure to observe this warning.
Page 9: Operating Manuals
Operating manuals Operating manuals Related operating manuals For operating manuals not included with the product, contact your nearest Oriental Motor sales office or download from Oriental Motor Website Download Page. Included or not included Operating manual name with product AZ Series OPERATING MANUAL Motor...
Page 10 Operating manuals Installation and connection Before starting operation Setting of node address 2 AC power input type 1 Before starting 2 AC power input type 3 DC power input type operation *1 3 DC power input type Setting of parameters Operation 4 EtherCAT communication EtherCAT communication...
Page 11: Overview Of The Product
XML format. By importing the ESI file to the EtherCAT Configration Tool of the PLC (programmable controller), the settings of EtherCAT communication can be performed before you receive the driver. For details, contact your nearest Oriental Motor sales office.
Page 12: Safety Precautions
Safety precautions Safety precautions The precautions described below are intended to ensure the safe and correct use of the product, and to prevent the user and other personnel from exposure to the risk of injury. Use the product only after carefully reading and fully understanding these instructions.
Page 13 Safety precautions „ AC power input driver General • Do not touch the terminals indicated signs on the driver’s front panel while the power is supplied because high voltage is applied. Doing so may result in fire or electric shock. Inspection and maintenance •...
Page 14: Graphical Symbols On The Driver's Front Panel
Safety precautions Graphical symbols on the driver's front panel This is the Protective Earth Terminal. Be sure to ground because improper grounding may result in electric shock. A high voltage is applied to the motor connector (CN3) and the main power supply input terminals (CN4).
Page 15: Precautions For Use
Precautions for use Precautions for use This chapter covers restrictions and requirements the user should consider when using the product. „ Common to AC power input driver and DC power input driver z Be sure to use our cable to connect the motor and the driver. Check the cable models on p.43 (AC power input driver) or p.72 (DC power input driver).
Page 17 AC power input type This part explains contents specific to the AC power input type driver.  Table of contents System configuration ......18 Power removable function (ETO function: External torque off Preparation ..........19 function) ..........38 2-1 Checking the product ........19 6-1 Block diagram ..........
Page 18: System Configuration
System configuration System configuration The figure shows models for the electromagnetic brake type with single-phase 200 to 240 VAC input. Regeneration resistor RGB100 Control power supply +24 V Driver Thermostat output (AWG22) EtherCAT communication EtherCAT communication compatible products Regeneration resistor (AWG18) Motor EtherCAT master...
Page 19: Preparation
This chapter explains the items you should check, as well as names and functions of each part. Checking the product Verify that the items listed below are included. Report any missing or damaged items to the Oriental Motor sales office from which you purchased the product.
Page 20: Information About Nameplate
Preparation Information about nameplate The figure shows an example. Driver model Input speci cation Output speci cation Serial number Manufacturing date The position describing the information may vary depending on the product. Names and functions of parts The figure shows the AZD-CED. PWR/ALM LED (Green/Red) Control power supply input terminals (CN1) RUN LED (Green)
Page 21 Preparation Type Name Sign Description This LED is lit while the main power supply is turned on. After the main power has been turned off, the LED CHARGE LED (Red) CHARGE will turn off once the residual voltage in the driver drops to a safe level.
Page 22: Indication Of Leds
Preparation Indication of LEDs „ LED indication related to driver status PWR/ALM LED status Description Green Unlit Unlit The control power supply is not turned on. Unlit The control power supply is turned on. An alarm is being generated. Details about the generated alarm can be Unlit Blinking checked by counting the number of times the LED blinks.
Page 23: Installation
Installation Installation This chapter explains the installation location and installation method of the driver. Installation location The driver is designed and manufactured to be incorporated in an equipment. Install it in a well-ventilated location that provides easy access for inspection. The location must also satisfy the following conditions: •...
Page 24 Installation „ Dimensions • Unit: mm (in.) • Mass: 0.68 kg (1.5 lb.) Slits [76 (2.99)] 125 (4.92) [22.5 (0.89)] 45 (1.77) 5 (0.20) ø4.5 (0.177) hole Slits R2.25 (0.089) 0.5 (0.02) Protective Earth Terminals 2×M4 (1.38) 5 (0.20) [7.5 (0.30)] [10 (0.39)]...
Page 25: Connection
Connection Connection This chapter explains a connection example of a driver and a motor, connection methods of power supplies and the regeneration resistor RGB100, the grounding method, and others. The installation and wiring methods in compliance with the EMC Directive as well as protection against noise are also explained.
Page 26: Connecting The Control Power Supply
Connection „ Electrical wire size Connector Terminal symbol Recommended wire size +24V, 0V, MB1, MB2, TH1, TH2, HWTO1+, HWTO1−, HWTO2+, Stranded wire or solid wire AWG24 to 16 (0.2 to 1.25 mm HWTO2−, EDM+, EDM− RG1, RG2, L, N, L1, L2, L3 Stranded wire or solid wire AWG18 to 14 (0.75 to 2.0 mm −...
Page 27: Connecting The Regeneration Resistor
Connection Connecting the regeneration resistor If vertical drive (gravitational operation) such as elevating Regeneration resistor RGB100 applications is performed or if sudden start-stop operation of a large inertial is repeated frequently, connect our regeneration resistor RGB100. To TH1 and TH2 •...
Page 28: Grounding The Driver
Connection „ Power supply current capacity The current capacity for the power supply varies depending on the product combined. Check the current capacity in reference to the equipped motor model name when using the EAS Series, EAC Series, EZS Series, or EZSH Series. z Single-phase 100-120 VAC z Single-phase 200-240 VAC z Three-phase 200-240 VAC...
Page 29: Connecting The Ethercat Communication Cable
Connection Connecting the EtherCAT communication cable Connect the EtherCAT master and the CN5 connector (ECAT IN) on the driver using the EtherCAT communication cable. Be sure to connect from the CN6 connector (ECAT OUT) to the CN5 connector (ECAT IN) when linking drivers. Driver Driver EtherCAT master...
Page 30: Connecting The I/O Signals
Connection Connecting the I/O signals Connect when using direct I/O or sensors. „ Wiring method of CN7 connector • Applicable lead wire: AWG24 to 16 (0.2 to 1.25 mm • Stripping length of wire insulation: 10 mm (0.39 in.) 1. Strip the insulation of the lead wire. Button of the orange color Lead wire 2.
Page 31 Connection „ Connection example with a current sink output circuit z When the pulse input circuit of the driver is of line driver type The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned. EtherCAT master Driver 270 Ω...
Page 32 Connection • Use input signals at 24 VDC. • Use output signals at 12 to 24 VDC, 10 mA or less. If the current exceeds 10 mA, connect an external resistor R0 so that the current becomes 10 mA or less. •...
Page 33 Connection „ Connection example with a current source output circuit z When the pulse input circuit of the driver is of line driver type The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned. EtherCAT master Driver 270 Ω...
Page 34: Noise Elimination Measures
Connection • Use input signals at 24 VDC. • Use output signals at 12 to 24 VDC, 10 mA or less. If the current exceeds 10 mA, connect an external resistor R0 so that the current becomes 10 mA or less. •...
Page 35 Connection z Prevention of noise propagation • Connect a noise filter to the power supply cable of the driver. • Place the power lines, such as the motor and the power supply cables, keeping a distance of 200 mm (7.87 in.) or more from the signal lines, and also do not bundle them or wire them in parallel.
Page 36: Conformity To The Emc Directive
The use of the following installation and wiring methods will enable the motor and the driver to be compliant with the EMC Directive. Refer to p.220 for the applicable standards. Oriental Motor conducts EMC measurements on its motors and drivers in accordance with “Example of installation and wiring. ”...
Page 37: Setting Of Node Address
Setting of node address Setting of node address This chapter explains how to set the node address. Setting method Set the node address using two node address setting switches (ECAT ID ×10, ×1). The node address setting switches are hexadecimal number. Convert the node address from decimal to hexadecimal to set.
Page 38: Power Removable Function (Eto Function: External Torque Off Function)
Power removable function (ETO function: External torque off function) Power removable function (ETO function: External torque off function) The power removable function (ETO function: External torque off function) +24V is a function 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 39: Wiring Example
Power removable 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 40: Reset Of Eto-Mode
Power removable function (ETO function: External torque off function) Reset of ETO-mode „ When the “HWTO mode selection (4190h)” is set to “0: ETO-mode” Reset the ETO-mode using a signal that has set the ETO reset action (4199h, 419Ah, or 419Ch). When the signal that has set the ETO reset action is turned from OFF to ON, the ETO-mode is reset.
Page 41: To Use This Product Safely
Power removable function (ETO function: External torque off function) To use this product safely 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.
Page 42: Inspection And Maintenance
Inspection It is recommended that periodic inspections are conducted for the items listed below after each operation of the motor. If any failure is found, discontinue any use and contact your nearest Oriental Motor sales office. „ Inspection item • Check if the openings in the driver are clogged.
Page 43: Cables
Cables Cables Connection cable „ Connection cable set/Flexible connection cable set These cables are used when connecting a motor and a driver. It is a set of two cables for the motor and the encoder. For the cable set of electromagnetic brake motors, a set of three cables for the motor, the encoder, and the electromagnetic brake is provided.
Page 44 Cables z Flexible connection cable set For motor/encoder For motor/encoder/ electromagnetic brake Model Length [m (ft.)] Model Length [m (ft.)] CC005VZR 0.5 (1.6) CC005VZRB 0.5 (1.6) CC010VZR 1 (3.3) CC010VZRB 1 (3.3) CC015VZR 1.5 (4.9) CC015VZRB 1.5 (4.9) CC020VZR 2 (6.6) CC020VZRB 2 (6.6) CC025VZR...
Page 45: I/O Signal Cable
Cables z Extension cable set For motor/encoder For motor/encoder/ electromagnetic brake Model Length [m (ft.)] Model Length [m (ft.)] CC010VZFT 1 (3.3) CC010VZFBT 1 (3.3) CC020VZFT 2 (6.6) CC020VZFBT 2 (6.6) CC030VZFT 3 (9.8) CC030VZFBT 3 (9.8) CC050VZFT 5 (16.4) CC050VZFBT 5 (16.4) CC070VZFT...
Page 46: Accessories
Accessories Accessories Pulse signal converter for noise immunity This product converts a pulse signal, which is output from the open collector output, to a pulse signal for good noise immunity by outputting the pulse signal again from the differential output. Model: VCS06 Relay contact protection parts/circuits z CR circuit for surge suppression...
Page 47 DC power input type This part explains contents specific to the DC power input type driver.  Table of contents System configuration ......48 Power removable function (ETO function: External torque off Preparation ..........49 function) ..........67 2-1 Checking the product ........49 6-1 Block diagram ..........
Page 48: System Configuration
System configuration System configuration EtherCAT communication compatible products Driver Control power supply EtherCAT +24 V communication EtherCAT master Grounding Motor Noise Main power supply lter AC power supply +24 V (+48 V) Grounding * Connect when using direct I/O or sensors.
Page 49: Preparation
This chapter explains the items you should check, as well as names and functions of each part. Checking the product Verify that the items listed below are included. Report any missing or damaged items to the Oriental Motor sales office from which you purchased the product.
Page 50: Information About Nameplate
Preparation Information about nameplate The figure shows an example. Driver model Input speci cation Output speci cation Serial number Manufacturing date The position describing the information may vary depending on the product. Names and functions of parts Node address setting switches (ECAT ID ×10, ×1) PWR/ALM LED (Green/Red) USB communication connector HOME PRESET switch...
Page 51 Preparation Type Name Sign Description • This LED is lit in green while the control power supply is turned on. • If an alarm (protective function) is generated, the LED will blink in red. • If the power removable function (p.67) is triggered, PWR/ALM LED (Green/Red) PWR/ALM the LED will blink in green.
Page 52: Indication Of Leds
Preparation Indication of LEDs „ LED indication related to driver status PWR/ALM LED status Description Green Unlit Unlit The control power supply is not turned on. Unlit The control power supply is turned on. An alarm is being generated. Details about the generated alarm can be Unlit Blinking checked by counting the number of times the LED blinks.
Page 53: Installation
Installation Installation This chapter explains the installation location and installation method of the driver. Installation location The driver is designed and manufactured to be incorporated in an equipment. Install it in a well-ventilated location that provides easy access for inspection. The location must also satisfy the following conditions: •...
Page 54 Installation Removing from DIN rail Pull the DIN lever down until it locks using a slotted screwdriver, and lift the bottom of the driver to remove it from the rail. Use force of about 10 to 20 N (2.2 to 4.5 lb.) to pull the DIN lever to lock it.
Page 55: Connection
Connection Connection This chapter explains a connection example of a driver and a motor, connection methods of power supplies, the grounding method, and others. The installation and wiring methods in compliance with the EMC Directive as well as protection against noise are also explained.
Page 56: Connecting The Control Power Supply
Connection „ Electrical wire size Connector Terminal symbol Recommended wire size +24V, 0V, HWTO1+, HWTO1−, Stranded wire or solid wire AWG26 to 20 (0.14 to 0.5 mm HWTO2+, HWTO2−, EDM+, EDM− +, −, MB1, MB2 Stranded wire or solid wire AWG24 to 16 (0.2 to 1.25 mm Stranded wire or solid wire AWG18 to 16 (0.75 to 1.25 mm −...
Page 57: Connecting The Main Power Supply And Grounding
Connection Connecting the main power supply and grounding The CN4 connector has the power supply terminal and the Protective Earth Terminal. The applicable wire size varies between lead wires for a power supply and the Protective Earth. Be sure to use proper lead wires. „...
Page 58: Connecting The Ethercat Communication Cable
Connection „ Grounding the driver Be sure to ground the driver. Do not share the grounding wire with a welder or any other power equipment. Note that the applicable wire size varies between lead wires for a power supply and the Protective Earth. +24 VDC +48 VDC Connect to CN4...
Page 59: Connecting The Usb Cable
Connection Connecting the USB cable Using a USB cable of the following specification, connect a PC in which the MEXE02 has been installed to the USB communication connector. Specification USB2.0 (full speed) Length: 3 m (9.8 ft.) or less Cable Shape: A to mini B •...
Page 60 Connection „ Connection example with a current sink output circuit z When the pulse input circuit of the driver is of line driver type The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned. EtherCAT master Driver 270 Ω...
Page 61 Connection • Use input signals at 24 VDC. • Use output signals at 12 to 24 VDC, 10 mA or less. If the current exceeds 10 mA, connect an external resistor R0 so that the current becomes 10 mA or less. •...
Page 62 Connection „ Connection example with a current source output circuit z When the pulse input circuit of the driver is of line driver type The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned. EtherCAT master Driver 270 Ω...
Page 63: Noise Elimination Measures
Connection • Use input signals at 24 VDC. • Use output signals at 12 to 24 VDC, 10 mA or less. If the current exceeds 10 mA, connect an external resistor R0 so that the current becomes 10 mA or less. •...
Page 64 Connection z Prevention of noise propagation • Connect a noise filter on the AC input side of the DC power supply. • Place the power lines, such as the motor and the power supply cables, keeping a distance of 200 mm (7.87 in.) or more from the signal lines, and also do not bundle them or wire them in parallel.
Page 65: Conformity To The Emc Directive
The use of the following installation and wiring methods will enable the motor and the driver to be compliant with the EMC Directive. Refer to p.221 for the applicable standards. Oriental Motor conducts EMC measurements on its motors and drivers in accordance with "Example of installation and wiring."...
Page 66: Setting Of Node Address
Setting of node address Setting of node address This chapter explains how to set the node address. Setting method Set the node address using two node address setting switches (ECAT ID ×10, ×1). The node address setting switches are hexadecimal number. Convert the node address from decimal to hexadecimal to set.
Page 67: Power Removable Function (Eto Function: External Torque Off Function)
Power removable function (ETO function: External torque off function) Power removable function (ETO function: External torque off function) The power removable function (ETO function: External torque off function) +24V HWTO1+ is a function that stops supplying the power to the motor forcibly to put HWTO1- HWTO2+ the motor into a non-excitation state if the HWTO input of the CN1 is shut...
Page 68: Wiring Example
Power removable 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 69: Reset Of Eto-Mode
Power removable function (ETO function: External torque off function) Reset of ETO-mode „ When the “HWTO mode selection (4190h)” is set to “0: ETO-mode” Reset the ETO-mode using a signal that has set the ETO reset action (4199h, 419Ah, or 419Ch). When the signal that has set the ETO reset action is turned from OFF to ON, the ETO-mode is reset.
Page 70: To Use This Product Safely
Power removable function (ETO function: External torque off function) To use this product safely 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.
Page 71: Inspection And Maintenance
Inspection It is recommended that periodic inspections are conducted for the items listed below after each operation of the motor. If any failure is found, discontinue any use and contact your nearest Oriental Motor sales office. „ Inspection item • Check if the openings in the driver are clogged.
Page 72: Cables
Cables Cables Connection cable „ Connection cable set/Flexible connection cable set (For AZM14, AZM15, AZM24, AZM26) These cables are used when connecting a motor and a driver. Connection cable set/Flexible connection cable set When installing the motor on a moving part, use a flexible cable offering excellent flexibility. z Connection cable set z Flexible connection cable set For motor/encoder...
Page 73 Cables „ Connection cable set/Flexible connection cable set (For AZM46, AZM48, AZM66, AZM69) These cables are used when connecting a motor and a driver. It is a set of two cables for the motor and the encoder. For the cable set of electromagnetic brake motors, a set of three cables for the motor, the encoder, and the electromagnetic brake is provided.
Page 74 Cables z Flexible connection cable set For motor/encoder For motor/encoder/ electromagnetic brake Model Length [m (ft.)] Model Length [m (ft.)] CC005VZR2 0.5 (1.6) CC005VZRB2 0.5 (1.6) CC010VZR2 1 (3.3) CC010VZRB2 1 (3.3) CC015VZR2 1.5 (4.9) CC015VZRB2 1.5 (4.9) CC020VZR2 2 (6.6) CC020VZRB2 2 (6.6) 2.5 (8.2)
Page 75 Cables „ Extension cable set/Flexible extension cable set (For AZM46, AZM48, AZM66, AZM69) These cables are used when extending the connection cable. Use if the length of the connection cable used is not enough when extending the distance between a motor and a driver.
Page 76: I/O Signal Cable
Cables z Flexible extension cable set For motor/encoder For motor/encoder/ electromagnetic brake Model Length [m (ft.)] Model Length [m (ft.)] CC010VZRT 1 (3.3) CC010VZRBT 1 (3.3) CC020VZRT 2 (6.6) CC020VZRBT 2 (6.6) CC030VZRT 3 (9.8) CC030VZRBT 3 (9.8) CC050VZRT 5 (16.4) CC050VZRBT 5 (16.4) CC070VZRT...
Page 77: Accessories
Accessories Accessories Pulse signal converter for noise immunity This product converts a pulse signal, which is output from the open collector output, to a pulse signal for good noise immunity by outputting the pulse signal again from the differential output. Model: VCS06 Relay contact protection parts/circuits z CR circuit for surge suppression...
Page 79 EtherCAT communication This part explains how to control via EtherCAT communication.  Table of contents Guidance ..........81 4-5 Maintenance commands ......131 4-6 Assignment of I/O function .......132 Communications specifications ..84 Position coordinate management ...143 2-1 EtherCAT communication interface ..84 5-1 Overview of position coordinate 2-2 CiA402 drive profile ........
Page 80 „ Setting of data and parameters Data and parameters described in this "4 EtherCAT communication" can be set using the MEXE02 in addition to EtherCAT communication. „ Update timing of parameters When a parameter is changed, the timing to update the new value varies depending on the parameter.
Page 81: Guidance
Guidance Guidance If you are new to this product, read this chapter to understand the operating methods along with the operation flow. This is an example how to operate the motor via EtherCAT communication. STEP1 Installation and connection  STEP2 Before starting operation ...
Page 82 Guidance STEP 1 Check the installation and connection. „ AC power input driver The figure shows models for single-phase 200 to 240 VAC input. Connect to +24V and 0V Control Required power supply EtherCAT master Connect to CN2 Cable for encoder *1 *2 Connect to CN5 Connect to CN3 EtherCAT communication cable...
Page 83 Guidance STEP 2 Make preparations for operation. Refer to “Before starting operation” in the OPERATING MANUAL AZ Series Function Edition. STEP 3 Set an node address. Set an node address using the node address setting switches (ECAT ID ×10, ×1) of the driver. 1.
Page 84: Communications Specifications
Communications specifications Communications specifications EtherCAT communication interface Item Description Communications standards IEC 61158 Type12 Physical layer/Protocol 100 BASE-TX (IEEE 802.3) Transmission rate 100 Mbps • Free run mode: 1 ms or more Communication cycle • Sync manager 2 event synchronization mode: 1 ms or more •...
Page 85: Ethercat State Machine (Esm)
Communications specifications EtherCAT state machine (ESM) The EtherCAT state machine (ESM) is controlled by the EtherCAT master. Init Pre-operational Safe-operational Operational Transmit PDO Receive PDO ESM state Status communication (TxPDO) (RxPDO) During initialization. Communication is not Init Not possible Not possible Not possible possible.
Page 86 Communications specifications „ PDO mapping object Up to 16 objects can be mapped in a single PDO. Receive PDO mapping object Transmit PDO mapping object Receive PDO Index Transmit PDO Index RxPDO1 1600h TxPDO1 1A00h RxPDO2 1601h TxPDO2 1A01h Objects to be mapped in the PDO are as follows. Objects of profile area Objects of manufacturer-specific area 6000h to 67FFh...
Page 87 Communications specifications „ Example of PDO mapping This section introduces an example of PDO mapping. Data of 2 bytes and 4 bytes are little-endian. With the sync manager 2 and sync manager 3 PDO assignment objects, set the mapping of PDO communication by selecting the PDO mapping object that performs communication actually.
Page 88: Service Data Object (Sdo)
Communications specifications Service data object (SDO) When read and write of the parameter object is performed, or monitor is executed via EtherCAT communication, the "Service data object (SDO)" is used. The SDO is not synchronized to EtherCAT communication cycles, but it is sent and received in an arbitrary timing.
Page 89: Synchronous Mode Of Ethercat Communication
Communications specifications Synchronous mode of EtherCAT communication This product is compatible with three modes of EtherCAT communication. z Free run mode The driver operates in asynchronous to EtherCAT communication. The communication cycle of the Free run mode is 1 ms or more. z Sync manager 2 event synchronization mode The driver operates in synchronization with EtherCAT communication.
Page 90: Drive Profile
Drive profile Drive profile Drive state machine The drive state machine is controlled by the "Controlword object (6040h)." The status of each state can be checked by the "Statusword object (6041h)." Start Control Main Motor power power (A): Lower-level power Not ready to (B): High-level power switch on...
Page 91 Drive profile „ State transition of the drive state machine The drive state machine is controlled by the "Controlword object (6040h)." z Controlword object (6040h) Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Manufacturer specific (ms) Reserved Halt Bit7 Bit6 Bit5 Bit4 Bit3...
Page 92 Drive profile State Motor operation Event Action The alarm of main power supply off is generated (alarm code 23h). After moving The main power was cut off. from "Fault reaction active" to "Fault," the motor becomes in a non-excitation state. Operation During (Transition number 13, 14)
Page 93: Operation Mode
Drive profile Operation mode The driver supports the operation modes listed below. • Cyclic synchronous position mode (CSP) • Profile position mode (PP) • Cyclic synchronous velocity mode (CSV) • Profile velocity mode (PV) • Homing mode (HM) „ Switching of operation modes The operation mode can be switched by the "Modes of operation (6060h)."...
Page 94 Drive profile Index Name Type Access Save Range Update 6064h Position actual value [step] INT32 TxPDO − − − −2,147,483,648 to 2,147,483,647 607Ah Target position [step] INT32 RxPDO − (Initial value: 0) −2,147,483,648 to 2,147,483,647 Min. position limit [step] INT32 ...
Page 95: Profile Position Mode (Pp)
Drive profile Name Value Description The function limitation by the internal limit is not in an active state. The function limitation by the internal limit became an active state. The value is 1 when any of the following internal limit function is activated.
Page 96 Drive profile „ Controlword of the profile position mode Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Manufacturer specific (ms) Base Reserved Halt Change on − Wrap Push position of − set point Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Operation mode specific (oms) Enable...
Page 97 Drive profile Name Value Description Starting of positioning operation Before starting the operation, select the "Wrap (6040h: bit14)", "Push (6040h: bit13)", "Base position of Rel (6040h: bit12)" and "Abs/Rel (6040h: bit6)." If positioning operation is executed in a state where the operation is stopped by changing the "Halt (6040h: bit8)"...
Page 98 Drive profile Name Value Description • When the "Halt (6040h: bit8)" is 0: The positioning operation is not complete. • When the "Halt (6040h: bit8)" is 1: During deceleration stop. • When the "Halt (6040h: bit8)" is 0: The value changes to 1 when the positioning operation is properly complete.
Page 99 Drive profile Single set-point [When the "Change set immidiately (6040h: bit5)" is 1] If the "New set point (6040h: bit4)" is set during operation, the new operation command is applied immediately. Velocity Velocity demand value Target position (607Ah) New set point (6040h: bit4) Set point acknowledge (6041h: bit12)
Page 100 Drive profile z Push-motion positioning operation After the "Push (6040h: bit13)" is set to 1, when the "New set point (6040h: bit4)" is set to 1, push-motion positioning operation is started. If push-motion positioning operation is started, self-start operation (rectangular operation) is performed at the operating speed set in the "Profile velocity (6081h)."...
Page 101 Drive profile z Wrap absolute positioning operation If the "New set point (6040h: bit4)" is changed to 1 after the "Target position (607Ah)" was set and the "Wrap (6040h: bit14)" was changed to 1, wrap absolute positioning operation is started. With wrap absolute positioning operation, absolute positioning operation is performed regardless of the value of the "Abs/Rel (6040h: bit6)."...
Page 102 Drive profile z Absolute positioning Positioning operation is performed from the present position to the set target position. In the "Target position (607Ah)," set the target position on the coordinates with the home position as a reference. Example: When moving from the command position "1,000" to the target position "4,000" Set 4,000 steps in the "Target position (607Ah)"...
Page 103 Drive profile z Wrap absolute positioning Positioning operation is performed to the target position within the wrap range. In the "Target position (607Ah)," set the target position within the wrap range. Refer to p.130 for the wrap function. Example: When moving from the command position "1,000" to the target position "4,000" (Wrap setting range 1.0 rev, wrap offset ratio 50.00%) Set the items in the table to start wrap absolute positioning operation.
Page 104 Drive profile z Wrap forward direction absolute positioning Positioning operation in the forward direction is performed to the target position within the wrap range. In the "Target position (607Ah)," set the target position within the wrap range. Refer to p.130 for the wrap function. Example: When moving from the command position "1,000"...
Page 105 Drive profile „ Orbit comparison of positioning operation These are examples for when the wrap setting range is set to 1 rev and the wrap range offset ratio is set to 50%. Initial value o The value set in the "Target position (607Ah)" Operation mode 2,500 o 9,000 2,500 o...
Page 106: Cyclic Synchronous Velocity Mode (Csv)
Drive profile Cyclic synchronous velocity mode (CSV) In the cyclic synchronous velocity mode, a path generation (profile generation) is performed by the EtherCAT master. By cyclic synchronous communication, when the "Target velocity (60FFh)" is sent from the EtherCAT master to the driver, the driver performs speed controls.
Page 107 Drive profile „ Operation mode of the cyclic synchronous velocity mode The operation mode of the cyclic synchronous velocity mode is set with the "Type (6040h: bit13, bit12)." The operation modes are as shown in the table. Bit13 Bit12 Operation mode Explanation Continuous operation is executed at the "Target velocity (60FFh)."...
Page 108 Drive profile „ Statusword of the cyclic synchronous velocity mode Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Manufacturer specific Operation mode specific Internal Reserved Remote Target velocity limit active − Reserved − ignored Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Switch on...
Page 109: Profile Velocity Mode (Pv)
Drive profile Profile velocity mode (PV) The profile velocity mode operates in the internal profile of the driver. A path generation (profile generation) is performed in the driver. The speed, acceleration and others are set in the EtherCAT master. Related object Index Name Type...
Page 110 Drive profile „ Operation mode of the profile velocity mode The operation mode of the profile velocity mode is set with the "Type (6040h: bit13, bit12)." The operation modes are as shown in the table. Bit13 Bit12 Operation mode Explanation The motor is started running at the "Starting speed (4142h)"...
Page 111 Drive profile Details of statusword Name Value Description A load does not reach the upper limit of the motor output torque. A load reached the upper limit of the motor output torque. Internal speed command is other than 0. Speed Internal speed command is 0.
Page 112: Homing Mode (Hm)
Drive profile Homing mode (HM) The home position is set in the homing mode. A path generation (profile generation) is performed in the driver. If return-to-home operation is performed, the position preset (P-PRESET) is executed when the operation is complete, and the home position will be the value set in the "Home offset (607Ch)."...
Page 113 Drive profile „ Statusword of the homing mode Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Manufacturer specific Operation mode specific Internal Target Remote Homing Homing limit active reached − − error attained Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Switch on Voltage...
Page 114 Drive profile „ Selection of return-to-home method The return-to-home method is selected in the "Homing method (6098h)." The driver supports the following return-to- home methods. Homing method Description Return-to-home by the limit sensor (FW-LS/RV-LS), Starts in the negative direction Return-to-home by the limit sensor (FW-LS/RV-LS), Starts in the positive direction Return-to-home by the home position sensor (HOMES), Starts in the positive direction Return-to-home by the home position sensor (HOMES), Starts in the negative direction 35, 37 *...
Page 115 Drive profile z Return-to-home operation of our specifications Return-to-home mode of our specifications is applied when setting the "Homing method (6098h)" to −1. Related object (our specifications) Index Name Type Access Save Range Update −2,147,483,648 to 607Ch Home offset [step] INT32 2,147,483,647 ...
Page 116 Drive profile „ Operation of return-to-home mode of CiA402 drive profile How to read the figure Starting position of operation Reverses when the motor Moving direction passed through the limit signal HOMES (limit signal) Selection number of the "Homing method (6098h)" and stop position z Homing method: 24 [Return-to-home by the home position sensor (HOMES), starts in the positive direction]...
Page 117 Drive profile In the case of return-to-home operation of our specifications, the same operation is performed if the following data is set. • (HOME) Home-seeking mode (4160h): 1 [3-sensor] • (HOME) Starting direction (4161h): 0 [negative side] • (HOME) SLIT detection (4166h): 0 [disable] •...
Page 118 Drive profile „ Operation of the return-to-home mode of our specifications z Return-to-home operation sequence of the 3-sensor mode The motor operates at the "Speed during search for switch (6099h-01h)." When the limit sensor is detected during operation, the motor rotates in the reverse direction and pulls out of the limit sensor. When the ON edge of the HOME sensor is detected, operation is stopped.
Page 119 Drive profile 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. The return-to-home operation will be completed when the external signal is detected while the HOME sensor is being •...
Page 120 Drive profile z Return-to-home operation sequence of the 2-sensor mode The motor is operated in the "(HOME) Starting speed (4163h)." When the limit sensor is detected, the motor rotates in the reverse direction and pulls out of the limit sensor. After pulling out, the motor is operated according to the value of the "(HOME) Backward steps in 2 sensor home-seeking (4169h)"...
Page 121 Drive profile 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. • VR: Speed during search for switch (6099h-01h) •...
Page 122 Drive profile z One-way rotation mode The motor is operated in the "Speed during search for switch (6099h-01h)." When the HOME sensor is detected, the motor decelerates to a stop and pulls out of the range of the HOME sensor at the "Speed during search for zero (6099h-02h)."...
Page 123 Drive profile 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. • VR: Speed during search for switch (6099h-01h) •...
Page 124 Drive profile z Push-motion mode The motor is operated in the "Speed during search for switch (6099h-01h)." When the motor presses the stopper or others installed in the mechanical end, it rotates in the reverse direction and stops after moving the value set in the "(HOME) Backward steps after first entry in push-home-seeking (416Ch)."...
Page 125 Drive profile 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. • VR: Speed during search for switch (6099h-01h) •...
Page 126: Function
Function Function Touch probe The touch probe is a function to set the external latch input signal (EXT1 input, EXT2input) or output signal (ZSG output, TIM output) as a trigger, and to latch the position for when the trigger is input. For the position to latch, either of the internal command position or feedback position can be selected.
Page 127 Function „ Details of touch probe function The action of the touch probe is set in the "Touch probe function (60B8h)" The action of the touch probe 1 is set in the lower 8 bits, and that of the touch probe 2 is set in the upper 8 bits. Name Value Definition...
Page 128 Function „ Details of touch probe status The status of the touch probe is output by the "Touch probe status (60B9h)." The status of the touch probe 1 is output by the lower 8 bits, and that of the touch probe 2 is output by the upper 8 bits.
Page 129: Resolution
Function „ Operation sequence of the touch probe The operation examples of touch probe 1 are shown below. z If the trigger action is "First trigger action (60B8h: bit1 is 0)" Touch probe 1 permission (60B8h: bit0) Touch probe 1 positive value action (60B8h: bit4) Touch probe 1 permission status (60B9h: bit0)
Page 130: Wrap Function
Function 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 131: Maintenance Commands
Function Maintenance commands Resetting an alarm, the position preset (P-PRESET), batch processing for the non-volatile memory, and others are performed. The maintenance commands include processing in which the memory is operated, such as non- volatile memory batch processing and position preset (P-PRESET). Be careful not to execute them unnecessarily in succession.
Page 132: Assignment Of I/O Function
Function „ Configuration Configuration can be executed when all of the following conditions are satisfied: • An alarm is not present. • The motor is not operating. • I/O test, remote operation and downloading are not executed with the MEXE02. The following table shows the driver status before and after executing the configuration.
Page 133 Function „ Assignment to the output terminals Output signals can be assigned to the output terminals OUT0 to OUT5. For output signals that can be assigned, refer to p.139. Related object Index Name Type Access Save Range Update DOUT0 (Normal) 0 to 255 4860h ...
Page 134 Function „ I/O status The status of the I/O inside the driver can be monitored using the I/O status. Bit arrangements of the internal I/O are as follows. Driver object Description Bit31 Bit30 Bit29 Bit28 Bit27 Bit26 Bit25 Bit24 SLIT HOMES RV-LS FW-LS...
Page 135 Function Driver object Description Bit31 Bit30 Bit29 Bit28 Bit27 Bit26 Bit25 Bit24 − − − − − − − − Bit23 Bit22 Bit21 Bit20 Bit19 Bit18 Bit17 Bit16 − − USR-OUT1 USR-OUT0 − − − − I/O status 6 Bit15 Bit14 Bit13 Bit12...
Page 136 Function „ Driver input command The "Driver input command (403Eh)" is an input command from the EtherCAT master to the driver. Bit arrangements are as follows. Bit0 to bit15 are assigned to the R-IN0 to R-IN15. ( ): Initial value Bit15 Bit14 Bit13...
Page 137 Function „ Driver status The status of the R-OUT0 to R-OUT15 can be checked using the "Driver output status (403Fh)." Bit arrangements are as follows. ( ): Initial value Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 R-OUT15 R-OUT14 R-OUT13 R-OUT12 R-OUT11 R-OUT10...
Page 138 Function „ Input signal list To assign signals via EtherCAT communication, use the "Assignment No." in the table instead of the signal names. Assignment Signal name Function Status Not used Set when the input terminal is not used. − Cut off the current of the motor not to 0: No motion excite it.
Page 139 Function Assignment Signal name Function Status 0: OFF General signals. 1: ON This signal is used to excite the motor. Use 0: Motor non-excitation when pulse-input operation is performed. 1: Motor excitation This is an external latch signal of the touch 0: OFF EXT1 probe 1.
Page 140 Function Assignment Signal name Function Status Output the information status of the 0: Information not present INFO driver. 1: Information present Output when the driver is in internal 0: No internal processed SYS-BSY processing status. 1: During internal processing Output when the motor is in ETO- 0: Normal ETO-MON mode.
Page 141 Function Assignment Signal name Function Status Output when the motor is within the AREA2 AREA2. Output when the motor is within the AREA3 AREA3. Output when the motor is within the AREA4 AREA4. 0: Outside AREA 1: Inside AREA Output when the motor is within the AREA5 AREA5.
Page 142 Function Assignment Signal name Function Status INFO-FW-OT INFO-RV-OT INFO-CULD0 INFO-CULD1 INFO-TRIP Output when corresponding 0: Information not present information is generated. 1: Information present INFO-ODO INFO-DSLMTD INFO-IOTEST INFO-CFG INFO-RBT...
Page 143: 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 144 Position coordinate management z Factory setting example of the motor An example of the motor of the frame size 60 mm (2.36 in.) is shown. To use coordinates both in forward and reverse directions, 1,800 revolutions are divided into positive and negative revolutions, 50% for each direction.
Page 145 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 146 Position coordinate management z Setting example of index table This is an example in which the index table is made rotate once when the motor output shaft rotates 18 times. • Gear ratio of motor: 18 Concept of initial coordinate To allow the index table to rotate in both directions, 18 revolutions are divided into positive and negative rotations, 50% for each direction.
Page 147: Position Coordinate Origin
Position coordinate management The present position of the motor is preset by 180 revolutions, but the 32-bit counter is not preset. The value of the 32-bit counter can be checked by the "Command position 32-bit counter (4091h)." The 32-bit counter goes around between −2,147,483,648 to 2,147,483,647. It shows 2,147,483,647 after -2,147,483,648, and after that it shows in descending order.
Page 148: Parameters Related To Abzo Sensor
Position coordinate management „ Setting of mechanical home position To set the mechanical home position, perform the position preset (P-PRESET) or return-to-home operation. When the mechanical home position coordinate is set, operation is performed on coordinates with the mechanical home position in the center.
Page 149: Mechanism Settings Parameter
Position coordinate management Index Parameter name Description Initial value Disables the ABZO setting of the mechanism protection parameter. Mechanism protection 47F4h Setting range parameter setting 0: Follow ABZO setting 1: Disable To change the parameter for JOG operation and return-to- home operation, select manual setting.
Page 150: Initial Coordinate Generation & Wrap Coordinate Parameter
Position coordinate management Initial coordinate generation & wrap coordinate parameter These are parameters to be used for generation of the coordinate system. „ Wrap function For the wrap function, refer to p.145. z Related operation mode wrap absolute push-motion When the following operations are performed with the profile position mode (PP), set the wrap function. •...
Page 151 Position coordinate management Value that can be set in the "Initial coordinate generation & wrap setting range (41C9h)" (1=0.1 rev) Since the internal coordinate of the ABZO sensor is 1,800 rev (or 900 rev), select a value from the table, and set in the "Initial coordinate generation &...
Page 152 Position coordinate management Example 2: Coordinate when the wrap setting range is 1,800 rev and the resolution is 10,000 P/R Index Parameter name Setting value Electronic gear A 6091h Electronic gear B 47F2h Initial coordinate generation & wrap coordinate setting 1: Manual setting 41C7h Wrap setting...
Page 153 Position coordinate management Setting example 2 • Wrap setting range: 14.4 rev • Resolution: 3,333.333··· P/R (electronic gear A=3, electronic gear B=1) • Motor: TS geared type (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 154 Position coordinate management z Wrap range offset value setting For the coordinate system offset in the "Initial coordinate generation & wrap range offset ratio (41CBh)," the coordinate can be shifted by step. When the coordinate is set in the "Initial coordinate generation & wrap range offset value (41CCh)," information of wrap setting error is generated if the home position is not included in the coordinate.
Page 155 Position coordinate management Related parameter Index 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-ZERO 41CDh output in wrap range Setting range 1 to 536,870,911 divisions...
Page 156: Save Of Parameters
Save of parameters Save of parameters The parameters are saved in RAM or non-volatile memory of the driver. The parameters saved in RAM are erased once the control power supply is cut off, however, the parameters saved in the non-volatile memory are saved even if the control power supply is cut off.
Page 157: Object Dictionary
Object dictionary Object dictionary This chapter explains the details of objects. Composition of the object dictionary Objects are constructed as follows. Index (Hex) Object Overview 1000h to 1FFFh CoE Communication Area CoE Communication Area 2000h to 3FFFh Not used 4000h to 4FFFh Manufacturer Specific Area Driver object 5000h to 5FFFh...
Page 158: Objects Of The Coe Communication Area
Object dictionary Objects of the CoE communication area These are objects to set about EtherCAT communication or to indicate the status. z Device type (1000h) Indicates the device profile. Index Name Type Access Save Range Update 1000h Device type − 0004 0192h −...
Page 159 Object dictionary z Receive PDO mapping 1 (1600h) Sets the receive PDO mapping 1. Index Name Type Access Save Range Update Number of entries − 0 to 16 (Initial value: 3) 0000 0000h to FFFF FFFFh Mapping entry 1 − (Initial value: 6040 0010h) 0000 0000h to FFFF FFFFh Mapping entry 2...
Page 160 Object dictionary z Transmit PDO mapping 1 (1A00h) Sets the transmit PDO mapping 1. Index Name Type Access Save Range Update Number of entries − 0 to 16 (Initial value: 3) 0000 0000h to FFFF FFFFh Mapping entry 1 − (Initial value: 6041 0010h) 0000 0000h to FFFF FFFFh Mapping entry 2...
Page 161 Object dictionary z Sync manager communication type (1C00h) Sets the communication type of sync manager (SM). Index Name Type Access Save Range Update Number of entries − − Communication type 1: Mailbox output − − sync manager 0 (EtherCAT master to driver) Communication type 2: Mailbox input −...
Page 162 Object dictionary Details of sync manager 2 synchronization object Name Description 00h: Free run mode (asynchronous) Synchronization type 01h: Sync manager 2 event synchronization mode 02h: DC mode (SYNC0 event synchronization) Cycle time [ns] Indicates the cycle time of the SYNC0 event. Shift time [ns] The shift time is not supported.
Page 163: Objects Of The Profile Area
Object dictionary Objects of the profile area Objects in the profile area are defined by the CiA402 drive profile. Operations of the driver are set, and the status is indicated. z Error code (603Fh) Indicates the error code being generated in the driver. Index Name Type...
Page 164 Object dictionary z Statusword (6041h) Indicates the status of the drive state machine and the operation status of the driver. Index Name Type Access Save Range Update 6041h Statusword TxPDO − − − Details of range Name Description Ready to switch on Switched on Operation enabled Indicates the status of the drive state machine.
Page 165 Object dictionary z Shutdown option code (605Bh) Sets the operation for when moving from "Operation enabled" to "Ready to switch on." Index Name Type Access Save Range Update 605Bh Shutdown option code INT16 0, 1 (Initial value)  Details of range Setting value Description Current off...
Page 166 Object dictionary z Modes of operation display (6061h) Indicates the operation mode that is enabled actually. The range is the same as "Modes of operation (6060h)." Index Name Type Access Save Range Update 6061h Modes of operation display INT8 TxPDO −...
Page 167 Object dictionary z Home offset (607Ch) Offsets the home position after completing return-to-home operation in the homing mode. The command position and the actual position after completing return-to-home will be the value set in the home offset. Since the offset value is written to the same register as the "Preset position (41C6h)," if the "Home offset (607Ch)" is changed, the "Preset position (41C6h)"...
Page 168 Object dictionary z Gear ratio (6091h) Sets the electronic gear. The electronic gear A is the denominator of the electronic gear, and the electronic gear B is the numerator of the electronic gear. If the electronic gear is set, the resolution per revolution of the motor output shaft can be changed. Refer to "4-2 Resolution"...
Page 169 Object dictionary z Touch probe function (60B8h) Sets the action of the touch probe. Refer to p.127 for details. Index Name Type Access Save Range Update 0000h to FFFFh 60B8h Touch probe function RxPDO − (Initial value: 0000h) Details of range Name Value Definition...
Page 170 Object dictionary Name Value Definition Has not latch on the negative value of the touch probe 1. Touch probe 1 negative value latch Latched on the negative value of the touch probe 1. 3 to 7 Reserved Reserved Touch probe 2 is disabled. Touch probe 2 permission status Touch probe 2 is enabled.
Page 171 Object dictionary Details of range Setting value Description Return-to-home by the limit sensor (FW-LS/RV-LS), starts in the negative direction Return-to-home by the limit sensor (FW-LS/RV-LS), starts in the positive direction Return-to-home by the home position sensor (HOMES), starts in the positive direction Return-to-home by the home position sensor (HOMES), starts in the negative direction 35, 37 * Home position preset...
Page 172 Object dictionary z Digital outputs (60FEh) Controls the electromagnetic brake. Index Name Type Access Save Range Update Number of entries − − 0000 0000h to FFFF FFFFh Physical outputs RxPDO − 60FEh (Initial value: 0000 0000h) 0000 0000h to FFFF FFFFh Bit mask −...
Page 173: Objects Of The Manufacturer-Specific Area
Object dictionary z Device profile number (67FFh) Indicates the device type and profile number. Index Name Type Access Save Range Update 67FFh Device profile number − 0004 0192h − Details of range Name Description 0 to 15 Device profile 0192h: DS402 16 to 31 Device type 0004h: Stepping motor...
Page 174 Object dictionary z Non-excitation mode selection (413Dh) Selects whether to enable the dynamic brake status or the free-run status when the motor is in a non-excitation state. In the dynamic brake status, the motor windings will be in a state of being short-circuited inside the driver, and the braking torque will generate.
Page 175 Object dictionary z Touch probe 1 latch position (44B0h) Sets the position to latch by the external latch input (EXT1). The changed value is updated when the "Touch probe 1 permission (60B8h: bit0)" is changed from 0 to 1. Index Name Type Access...
Page 176 Object dictionary z Driver CPU number (4642h) Indicates the CPU number of the software of the driver. Index Name Type Access Save Range Update 4642h Driver CPU number − − − z Driver software version (4643h) Indicates the software version of the driver. 0100h is indicated when the version is 1.00. Index Name Type...
Page 177 Object list This part describes the lists of the objects supported by the driver.  Table of contents Objects of the CoE communication area ............179 Objects of the profile area ....181 Objects of the manufacturer-specific area ............183...
Page 178 „ Update timing of parameters When a parameter is changed, the timing to update the new value varies depending on the parameter. In this part, each update timing is represented in an alphabet. A: Update immediately B: Update after operation stop C: Update after executing the configuration, or update after executing write batch non-volatile memory and cycling the control power supply D: Update after executing write batch non-volatile memory and cycling the control power...
Page 179: Objects Of The Coe Communication Area
Objects of the CoE communication area Objects of the CoE communication area These are objects to set about EtherCAT communication or to indicate the status. Index Name Type Access Save initial value Range Update 1000h Device type − 0004 0192h −...
Page 180 Objects of the CoE communication area Index Name Type Access Save initial value Range Update Sync manager communication type Number of entries − − − Communication type sync − 1: Mailbox output (EtherCAT master to driver) − manager 0 Communication type sync 1C00h −...
Page 181: Objects Of The Profile Area
Objects of the profile area Objects of the profile area Objects in the profile area are defined by the CiA402 drive profile. Operations of the driver are set, and the status is indicated. Index Name Type Access Save Initial value Range Update 603Fh...
Page 182 Objects of the profile area Index Name Type Access Save Initial value Range Update Supported homing methods Number of entries − − − 1st supported homing method − − − 2nd supported homing method − − − 60E3h 3rd supported homing method −...
Page 183: Objects Of The Manufacturer-Specific Area
Objects of the manufacturer-specific area Objects of the manufacturer-specific area These are our specific objects. Refer to the OPERATING MANUAL AZ Series Function Edition for details of each object. When checking the OPERATING MANUAL AZ Series Function Edition, use the object name instead of the Index. Index Name Type...
Page 184 Objects of the manufacturer-specific area Index Name Type Access Save Initial value Range Update 0: Not executed. 1: A command is executed when the data changes from 0 to 1. 40C0h Alarm reset − − 2: A command is executed. It will automatically return to 1 after executing.
Page 185 Objects of the manufacturer-specific area Index Name Type Access Save Initial value Range Update 0: Wrap absolute positioning 1: Wrap proximity 414Fh Wrap positioning mode RxPDO  2: Wrap forward direction 3: Wrap reverse direction 4151h (JOG) Operating speed INT32 10,000 1 to 4,000,000 Hz ...
Page 186 Objects of the manufacturer-specific area Index Name Type Access Save Initial value Range Update Overvoltage information 41A9h (INFO-OVOLT) INT16 RxPDO 120 to 450 V  [AC power input type driver] Undervoltage information 41AAh (INFO-UVOLT) INT16 RxPDO 120 to 280 V ...
Page 187 Objects of the manufacturer-specific area Index Name Type Access Save Initial value Range Update 0: Use real motor 1: Virtual motor (when ABZO not connected=no ABZO information) 41FFh Drive simulation mode 2: Virtual motor (when ABZO not  connected=1,800 rev wrap enable) 3: Virtual motor (when ABZO not connected=900 rev wrap enable) 44B0h...
Page 188 Objects of the manufacturer-specific area Index Name Type Access Save Initial value Range Update 470Ah MOVE minimum ON time 0 to 255 ms  PLS-XMODE pulse multiplying 470Ch INT8 2 to 30 times  factor CRNT-LMT operating current limit 470Dh INT16 0 to 1,000 (1=0.1%) ...
Page 189 Objects of the manufacturer-specific area Index Name Type Access Save Initial value Range Update 475Ch AREA4 positioning standard  475Dh AREA5 positioning standard  0: Based on feedback position 1: Based on command position 475Eh AREA6 positioning standard  475Fh AREA7 positioning standard ...
Page 190 Objects of the manufacturer-specific area Index Name Type Access Save Initial value Range Update 4840h DIN0 input function  4841h DIN1 input function  4842h DIN2 input function  Input signal list p.138 4843h DIN3 input function  4844h DIN4 input function ...
Page 191 Objects of the manufacturer-specific area Index Name Type Access Save Initial value Range Update 48C4h DIN4 ON signal dead-time  0 to 250 ms 48C5h DIN5 ON signal dead-time  48D0h DIN0 1 shot signal  48D1h DIN1 1 shot signal ...
Page 192 Objects of the manufacturer-specific area Index Name Type Access Save Initial value Range Update 493Ah R-OUT10 OFF delay time  493Bh R-OUT11 OFF delay time  493Ch R-OUT12 OFF delay time  0 to 250 ms 493Dh R-OUT13 OFF delay time ...
Page 193 Objects of the manufacturer-specific area Index Name Type Access Save Initial value Range Update Extended input (EXT-IN) inverting 0: Non invert 4971h  mode 1: Invert Extended input (EXT-IN) interlock 0: Disable 4972h INT8  releasing time 1 to 50 (1=0.1s) Extended input (EXT-IN) interlock 4973h INT8...
Page 195 Troubleshooting This part describes alarm and information functions.  Table of contents Alarms ............196 1-1 Alarm reset ............196 1-2 Alarm history ..........196 1-3 Generation condition of alarms ....196 1-4 Alarm list ............197 1-5 Timing chart ...........203 Informations .........205 2-1 Information history ........207 2-2 Information list ..........207 Troubleshooting and remedial actions ...........211...
Page 196: Alarms
Alarms Alarms This driver has the alarm function to protect from temperature rise, poor connection, error in operation, and others. If an alarm is generated, the ALM-A output is turned ON and the ALM-B output is turned OFF to stop the motor. At the same time, the PWR/ALM LED blinks in red.
Page 197: Alarm List
Contact your nearest Oriental Motor sales office. The internal temperature of the Any of Main circuit Reconsider the ventilation driver reached the upper limit...
Page 198 Alarms Number Alarm of times How to Alarm type Cause Remedial action code reset blinks • Check the heat radiation The detection temperature of Any of condition of the motor. the ABZO sensor reached the Motor overheat reset upper limit of the specification •...
Page 199 Execute either of the following operations. If the same alarm is still generated, the ABZO sensor has been damaged. Contact your Turn on nearest Oriental Motor sales the control office. Encoder EEPROM The data stored in the ABZO power error sensor was damaged.
Page 200 Alarms Number Alarm of times How to Alarm type Cause Remedial action code reset blinks When the “FW-LS/RV-LS input action (4701h)” is set to “2: Immediate stop with alarm” or Check the sensor logic installed Any of ±LS both sides “3: Deceleration stop with and the “Inverting mode”...
Page 201 Alarms Number Alarm of times How to Alarm type Cause Remedial action code reset blinks • Reconsider the operation data. • After resetting the alarm, When the “Software overtravel operate the motor in the (41C3h)” is set to “2: Immediate opposite direction to escape Any of stop with alarm”...
Page 202 Alarms Number Alarm of times How to Alarm type Cause Remedial action code reset blinks Turn on the control Network module An error was detected in the Turn on the control power supply power error network module. again. supply again Turn on the control Turn on the control power supply...
Page 203: Timing Chart
Alarms Timing chart 1. If an error occurs, the ALM-B output, the MOVE output, and the DCMD-RDY output (PLS-RDY output in pulse-input operation) are turned OFF. At the same time, the motor stops immediately and the motor excitation is cut off. 2.
Page 204 Alarms 0 s or more Alarm factor Error status 1 s or more 2 ms or more ALM-RST input 2 ms or less 250 ms or less DCMD-RDY output 2 ms or less 250 ms or less PLS-RDY output (In pulse-input operation) 250 ms or less READY output 2 ms or less...
Page 205: Informations
Informations Informations The driver is equipped with a function to generate information output before an alarm is generated. This function can be utilized for periodic maintenance of equipment by setting a suitable value in the parameter of each information. For example, utilizing the “Motor temperature information (41A8h)” can prevent equipment malfunction or production stoppage due to motor overheat.
Page 206 Informations Index Name Type Access Save Initial value Range Update Output signals list 41BCh INFO-USRIO output selection  p.139 0: Not invert 41BDh INFO-USRIO output inversion  1: Invert 0: Disable 41BEh Information LED condition  1: Enable 0: Disable 41BFh Information auto clear ...
Page 207: Information History
Informations Information history Up to 16 generated information items are saved in the RAM in order of the latest to oldest. Information items stored as the information history are the information code, generation time, and contents of information. The information history can be read and cleared when one of the following items is performed. •...
Page 208 Informations Information bit Information item Cause Reset condition output signal • An operation in the direction being stopped by the FW-BLK input or the RV-BLK input was started. • An operation in the direction being stopped by the FW-LS input or the RV-LS input was started.
Page 209 Informations Information bit Information item Cause Reset condition output signal • Configuration was executed. • Configuration was complete. • “Remote operation” was executed using the MEXE02. • Remote operation was canceled. Operation start INFO-DSLMTD • Data was written to the driver from the •...
Page 210 Informations „ Monitor of information Information in details can be checked by the “Information (407Bh). ” The read information code is indicated in 8-digit hexadecimal number. It can also be read in 32 bits. If multiple information is generated, the logical add (OR) of the information code is indicated. Information code 32 bits indication Information name...
Page 211: Troubleshooting And Remedial Actions
When the motor cannot be operated properly, refer to the contents provided in this chapter and take an appropriate remedial action. If the problem persists, contact your nearest Oriental Motor sales office. This chapter describes problems that may occur in operation other than the initial settings.
Page 213 Test operation using pulses  Table of contents To execute operation by inputting pulses .............214 1-1 Operation flow ..........214...
Page 214: To Execute Operation By Inputting Pulses
To execute operation by inputting pulses To execute operation by inputting pulses This part explains the flow to execute pulse-input operation. Pulse-input operation can be used for test operation to check the motor movement. The dedicated excitation signal (CON) is used to excite the motor. Operation flow 1.
Page 215 Reference materials  Table of contents Timing chart .........216 Specifications ........217 2-1 General specifications .........217 2-2 Product specifications .........218 Regulations and standards ....220 3-1 UL Standards (AC power input driver only) ....220 3-2 EU Directives...........220 3-3 RoHS Directive ..........221...
Page 216: Timing Chart
Timing chart Timing chart „ Power ON 10 s or more Control power supply 2 s or less 1 s or less SYS-RDY Ready (ready to read output, ready to accept input) Not ready 3 s or less 1 s or less Completed EtherCAT communication preparation Not completed...
Page 217: Specifications
Specifications Specifications General specifications „ AC power input driver Degree of protection IP10 Ambient 0 to +55 °C (+32 to +131 °F) * (non-freezing) temperature Humidity 85% or less (non-condensing) Operating environment Altitude Up to 1,000 m (3,300 ft.) above sea level Surrounding No corrosive gas, dust, water, or oil.
Page 218: Product Specifications
Specifications Product specifications „ AC power input driver Driver model AZD-AED AZD-CED • Single-phase 200-240 VAC −15 to +6% 50/60 Hz Single-phase 100-120 VAC Input voltage −15 to +6% 50/60 Hz • Three-phase 200-240 VAC Main power −15 to +6% 50/60 Hz supply Single-phase: 1.6 to 3.9 A *1 Input current...
Page 219 Specifications „ DC power input driver Driver model AZD-KED • 24 VDC±5% Input voltage Main power • 48 VDC±5% supply Input current 0.4 to 3.3 A *1 Input voltage 24 VDC±5% *2 Control power supply Input current 0.15 A (0.4 A) *3 •...
Page 220: Regulations And Standards
Regulations and standards Regulations and standards UL Standards (AC power input driver only) Check the "APPENDIX UL Standards for AZ Series AC power input type" for recognition information about UL Standards. EU Directives „ CE Marking (AC power input driver) This product is affixed the CE Marking under the Low Voltage Directive and EMC Directive.
Page 221: Rohs Directive
Regulations and standards „ CE Marking (DC power input driver) This product is affixed the CE Marking under the EMC Directive. z Low Voltage Directive The input power supply voltage of this product is 24 VDC/48 VDC. Therefore this product is not subject to the Low Voltage Directive, but install and connect it as follows.
Page 222 If a new copy is required to replace an original manual that has been damaged or lost, please contact your nearest Oriental Motor 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.

This manual is also suitable for:

Astep azm46ac Astep azm66ac-ts10

Oriental motor Astep AZ Series User Manual

Before Using the Product

Operating Manuals

Overview of the Product

Safety Precautions

Precautions for Use

System Configuration

Preparation

Installation

Connection

Setting of Node Address

Power Removable Function (ETO Function: External Torque off Function)

Inspection and Maintenance

Cables

Accessories

System Configuration

Preparation

Installation

Connection

Setting of Node Address

Power Removable Function (ETO Function: External Torque off Function)

Inspection and Maintenance

Cables

Accessories

Guidance

Communications Specifications

Drive Profile

Function

Position Coordinate Management

Save of Parameters

Object Dictionary

Objects of the Coe Communication Area

Objects of the Profile Area

Objects of the Manufacturer-Specific Area

Alarms

Informations

Troubleshooting and Remedial Actions

To Execute Operation by Inputting Pulses

Timing Chart

Specifications

Regulations and Standards

Quick Links

Need help?

Questions and answers

Related Manuals for Oriental motor Astep AZ Series

Summary of Contents for Oriental motor Astep AZ Series

This manual is also suitable for:

Table of Contents