Autonics AiCA Series User Manual
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Autonics AiCA Series User Manual

Closed-loop stepper system
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User Manual
Closed-Loop Stepper System
AiCA-D Series
MMD-AiCAU1-V1.1-2008US
Thank you for purchasing an Autonics product.
This user 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 Closed-Loop Stepper System AiCA-D Series MMD-AiCAU1-V1.1-2008US Thank you for purchasing an Autonics product. This user 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 2 © Copyright Reserved Autonics Co., Ltd.

  • Page 3: Preface

    Preface Preface Thank you for purchasing 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: User 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 the website. We contrived to describe this manual more easily and correctly. However, if there are ...

  • Page 5: User 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

    Do not remove the connector during or after operation for a while.  Failure to follow this instruction may result in electric shock or product damage. Emergency stop directly when error occurs. Failure to follow this instruction may result  in personal injury or fire. © Copyright Reserved Autonics Co., Ltd.
  • Page 7 The above specifications, dimensions, etc. are subject to change and some 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: Cautions During Use

    This product does not prepare protection function for a motor.  This unit may be used in the following environments.  ① Indoors (in the environment condition rated in 'Specifications') ② Altitude max. 2,000m ③ Pollution degree 2 ④ Installation category II viii © Copyright Reserved Autonics Co., Ltd.

  • Page 9: Table Of Contents

    4.2.1 Mounting Direction of Motor ..............29 4.2.2 Mounting of Motor ..................30 4.2.3 Connection with Load................31 4.2.4 Installation Conditions ................32 Connection ................33 Characteristics ................34 Frame Size 60mm .................... 34 © Copyright Reserved Autonics Co., Ltd.

  • Page 10: Table Of Contents

    Continuous Mode ..................90 10.2.3 Position Mode .................... 91 10.2.4 Torque Mode ..................... 93 10.2.5 Program Mode ................... 94 10.2.6 Home Search Mode ................... 95 Program Instructions ..............100 11.1 Drive Instruction .................... 101 © Copyright Reserved Autonics Co., Ltd.
  • Page 11 Servo Off ....................122 12.2.6 Initial Angular Direction ................122 12.2.7 Motor Direction ..................122 12.2.8 Position Override ..................123 Protection Function ..............124 13.1 Alarm ......................124 13.2 Warning ......................128 Troubleshooting ............... 129 © Copyright Reserved Autonics Co., Ltd.

  • Page 12: Product Overview

    1 Product Overview Product Overview Features AiCA Series is a closed- loop stepper motor driver with integrated stepping motor driver and motion controller, which is able to control up to 31-axis simultaneously or independently through network communication. In addition, as AC power system, the SMPS is not required for power connection and motor system can maintain higher torque during high speed drive compared to DC type motor.

  • Page 13: Components And Configuration Diagram

    ● Communication protect connector Make sure all of the above components are included with your product package before use. If a component is missing or damaged, please contact Autonics orthe product distributor. ※ I/O cable, motor+encoder cable and power cable are sold separately.

  • Page 14: Configuration Diagram

    ※ In case communication is unstable due to the noise generated by supplied power or peripheral device, use ferrite core at communication line. ※ is sold separately. ※ I/O cable, motor+encoder cable and pwer calbe are sold separately. For more information, refer to ‘7.5 Sold Separately’. © Copyright Reserved Autonics Co., Ltd.
  • Page 15 It may result in product damage. Noise filter for signal line  Connect to wiring to suppress external noise. Depending on frequency, filtered noise may different. Applications Specifications Manufacture Comm. wire 28A2025-0A2 Motor wire 28A5776-0A2 Lairdtech Power wire 28A5131-0A2 © Copyright Reserved Autonics Co., Ltd.

  • Page 16: Ordering Information

    Middle ‒ Frame size 60mm: 48mm, Frame size 86mm: 60mm ⑥ Motor axial length Long ‒ Frame size 60mm: 69mm, Frame size 86mm: 75mm ⑦ Encoder resolution 10,000PPR (2,500PPRⅹ4-multiply) No mark Standard type ⑧ Brake Built-in brake type. © Copyright Reserved Autonics Co., Ltd.

  • Page 17: Models

    Standard Type Driver Motor AiCA-60MA AiCA-D-60MA AiA-M-60MA AiCA-60LA AiCA-D-60LA AiA-M-60LA AiCA-86MA AiCA-D-86MA AiA-M-86MA AiCA-86LA AiCA-D-86LA AiA-M-86LA 1.4.2 Built-in Brake Type Driver Motor AiCA-60MA-B AiCA-D-60MA-B AiA-M-60MA-B AiCA-60LA-B AiCA-D-60LA-B AiA-M-60LA-B AiCA-86MA-B AiCA-D-86MA-B AiA-M-86MA-B AiCA-86LA-B AiCA-D-86LA-B AiA-M-86LA-B © Copyright Reserved Autonics Co., Ltd.

  • Page 18: Specifications

    CMP (compare output), TOQ (torque control) Start Power On program auto-start function Home Power On home search auto-start function search RS485 Comm. Comm. speed 9600, 19200, 38400, 57600, 115200 (factory default) bps ※5 Multiaxial control 31-axis © Copyright Reserved Autonics Co., Ltd.
  • Page 19 ※8 □ of model name indicates cable length (1, 2, 3, 5, 7, 10,15, 20). E.g.) C1DF14M-10: 10m moving type motor+encoder cable. ※9 The weight includes packaging. The weight in parenthesis is for unit only. ※Environment resistance is rated at no freezing or condensation. © Copyright Reserved Autonics Co., Ltd.

  • Page 20: Factory Default

    500PPR Speed filter Motor GAIN In-Position Communication speed 115,200bps Communication ID setting switch (ID Sel) Communication ID setting / Communication ID setting (ID) Terminating resistance setting Terminating resistance setting (TERM) DIP switch (ID, TERM) © Copyright Reserved Autonics Co., Ltd.

  • Page 21: Communication Output

    Use twisted pair wire for RS485 communication. 2.1.2.2 Application of System organization It is recommended to use Autonics communication converter; SCM-WF48 (Wi-Fi to RS485·USB wireless communication converter, sold separately), SCM-US48I (USB to RS485 converter, sold separately), SCM-38I (RS232C to RS485 converter, sold separately).

  • Page 22: Motor

    ※2: Max. holding torque is standard torque when supplying the rated current (2-phase holding) and stopping the motor for comparing the specifications of motors. ※3: The weight includes packaging. The weight in parenthesis is for unit only. © Copyright Reserved Autonics Co., Ltd.

  • Page 23: Common Specifications

    ※3: Amount of radial shaft displacement when adding a radial load (25N) to the tip of the motor shaft. ※4: Amount of axial shaft displacement when adding a axial load (50N) to the shaft. ※Environment resistance is rated at no freezing or condensation. © Copyright Reserved Autonics Co., Ltd.

  • Page 24: Encoder

    (12 × 10 kg·m Insulation class B type (130 ℃) B type brake Power ON: brake is released, Power OFF: brake is locked Operating time 30 ms 40 ms Releasing time 10 ms 25 ms © Copyright Reserved Autonics Co., Ltd.

  • Page 25: Dimensions

    3 Dimensions Dimensions Driver (unit: mm) 3.1.1 Panel Cut-out Be sure that these figures may differ from the actual units. © Copyright Reserved Autonics Co., Ltd.

  • Page 26: Motor

    3 Dimensions Motor 3.2.1 Standard Type 3.2.1.1 Frame Size 60 mm 3.2.1.2 Frame Size 86 mm Model Model AiA-M-60MA 47.4 AiA-M-86MA 59.5 AiA-M-60LA 68.3 AiA-M-86LA © Copyright Reserved Autonics Co., Ltd.

  • Page 27: Built-In Brake Type

    3 Dimensions 3.2.2 Built-in Brake Type 3.2.2.1 Frame Size 60 mm 3.2.2.2 Frame Size 86 mm Model Model AiA-M-60MA-B 117.8 AiA-M-86MA-B 134.8 AiA-M-60LA-B 138.8 AiA-M-86LA-B 148.8 © Copyright Reserved Autonics Co., Ltd.

  • Page 28: Installation

    ※ Check the environment of use within the rated specifications and install on the well-heat dissipated area. ※ In case of installing the drivers more than two, keep distance at least 20mm in the horizontal direction and at least 25mm in the vertical direction. © Copyright Reserved Autonics Co., Ltd.

  • Page 29: Installation Of Motor

    Do not apply excessive force on motor cable when mounting motors. Do not forcibly pull or insert the cable. It may cause poor connection or disconnection of the cable. In case of frequent cable movement required application, proper safety countermeasures must be ensured. © Copyright Reserved Autonics Co., Ltd.

  • Page 30: Mounting Of Motor

    When mounting motors, use hexagon socket screws, spring washers and flat washers. Do not draw the wire with over strength 30N after wiring the encoder. © Copyright Reserved Autonics Co., Ltd.

  • Page 31: Connection With Load

    4.2.3.1 Direct Load Connection with Coupling ※ Use Autonics flexible coupling (ERB Series) When connecting a load such as Ball screw or Tm screw directly to the shaft of the motor, use flexible coupling as image showing above.

  • Page 32: Installation Conditions

    The place with less salt content ⑫ The place with less electronic noise occurs by welding machine, motor, etc. ⑬ The place where radioactive substances and magnetic fields does not exist and is not in the vacuum status © Copyright Reserved Autonics Co., Ltd.

  • Page 33: Connection

    5 Connection Connection ※1. Corresponding connector is for built-in brake type only. ※2. Corresponding pin is for built-in brake type only. In case of standard type, only IN8 is available. © Copyright Reserved Autonics Co., Ltd.

  • Page 34: Characteristics

    6 Characteristics Characteristics Frame Size 60mm Frame Size 86mm © Copyright Reserved Autonics Co., Ltd.
  • Page 35 6 Characteristics © Copyright Reserved Autonics Co., Ltd.

  • Page 36: Driver Unit Descriptions

    Dip switch (ID, TERM) 7. Motor+Encoder connector (CN1) 8. Power connector (CN2) 9. Communication cable connector (CN3) 10. I/O connector (CN4) 11. Brake connector (CN5) ※1 ※1: Corresponding connector is for built-in brake type only. © Copyright Reserved Autonics Co., Ltd.

  • Page 37: Driver Status Indicator

    Turns ON when motor is placed at command In-Position INP. Orange position after positioning input. Turns OFF in indicator torque mode. Servo On/Off Turns ON when servo is operating, SERVO Blue indicator turns OFF when servo is not operating. © Copyright Reserved Autonics Co., Ltd.

  • Page 38: Switches

    Set Node ID of the driver. Set to use terminating resistance. Switch position Function ID setting ID: 16 to 31 ID: 1 to 15 Terminating Use terminating Do not use terminating resistance resistance (120Ω) resistance © Copyright Reserved Autonics Co., Ltd.

  • Page 39: Connconnectors

    RS485 DATA+ RxD indicator (yellow): Flashes when data input  TxD indicator (green): Flashes when data output  ※ Although RS485 OUT is disconnected, RxD IN/TxD OUT operates normally, if RS485 In is communicating. © Copyright Reserved Autonics Co., Ltd.

  • Page 40: Cn4: I/O Connector

    Input External input power (24VDC) Input External input GND (0VDC) Input 1.5, 10 msec [L], [H] General input0 Input 1.5, 10 msec [L], [H] General input1 Input 1.5, 10 msec [L], [H] General input2 © Copyright Reserved Autonics Co., Ltd.

  • Page 41: Brake Connector

    [H]: 5-30VDC, [L]: 0-2VDC (however, reset is fixed as [L].) ※3: Brake ON/OFF function can be switched in built-in brake type. 7.3.5 Brake connector Corresponding connector is for built-in brake type only. Pin arrangement Pin no. Function 24 VDCᜡ Brake + Brake - © Copyright Reserved Autonics Co., Ltd.

  • Page 42: Connector Specifications

    Type Connector Manufacture Connector Housing terminal Motor+Encoder 5557-14R 5556T Molex Power 5ESDVM-06P-OR Dinkle Communication RJ45 Protect connector LS-CV-J45BBKZ (EPN.) I/O connector 10150-3000PE 10350-52F0-008 Brake connector ESC250V-S2330704P Dinkle Above connectors are suitable for AiCA-D Series. © Copyright Reserved Autonics Co., Ltd.

  • Page 43: Sold Separately

    Black-3 OUT9 Red-5 □ of model name indicates the cable length (010, 020, 030, 050, 070, 100, 150, 200). For corresponding EMC standard, cable length should be below 2m. E.g.) CO50-MP070-R: 7m I/O cable © Copyright Reserved Autonics Co., Ltd.

  • Page 44: Motor+Encoder Cable (Normal: C1D14M-□/Moving: C1Df14M-□)

    □ of model name indicates cable length (1, 2, 3, 5, 7, 10, 15, 20). E.g.) C1DF14M-10: 10m moving type motor+encoder cable 7.5.3 Communication Converter SCM-WF48 (Wi-Fi to RS485·USB wireless communication converter)  SCM-US48I (USB to RS485 converter)  SCM-38I (RS232C to RS485 converter)  © Copyright Reserved Autonics Co., Ltd.

  • Page 45: Electromagnetic Brake

    Brake Connection Connect the brake connector (CN5) to motor brake connector and input auxiliary power with 24 VDCᜡ. When connecting the brake, use AWG22 cable or over for connection. © Copyright Reserved Autonics Co., Ltd.

  • Page 46: Brake Operation

    When Servo is On, brake is released automatically.  The brake remains lock inn all status except Servo On status.  ※ Brake lock is manually controllable using the Brake ON/OFF input signal. For more information, refer to ‘9.1.2.16 Brake ON/OFF’. © Copyright Reserved Autonics Co., Ltd.

  • Page 47: Control Input/Output

    Inner signal of all input/output consists of photocoupler. ON: photocoupler power ON OFF: photocoupler power OFF Input 9.1.1 Example of Input Circuit Connection In case of input, use external power (VEX) 24VDCᜡ. N: Input pin number of CN4 © Copyright Reserved Autonics Co., Ltd.

  • Page 48: Exclusive Input

    Pause Pause Servo On/Off Servo On/Off Home Home search Alarm Reset Alarm reset command +Limit + direction limit sensor -Limit - direction limit sensor Home sensor Deceleration (Deceleration stop) signal Brake ON/OFF Brake ON/OFF © Copyright Reserved Autonics Co., Ltd.
  • Page 49 When it pauses by pause instruction during driving with program mode, supplying start  input, it starts drive from the next step of the paused one. © Copyright Reserved Autonics Co., Ltd.
  • Page 50 During program mode driving, it stops after complete the current step.  During home search, it decelerates and stops according to ‘Home Search Deceleration  Time’ parameter setting. In this case, home search mode error (EH) alarm occurs. © Copyright Reserved Autonics Co., Ltd.
  • Page 51 9 Control Input/Output 9.1.2.4 EMG (emergency) Motor stops immediately, emergency stop alarm (EE) occurs. The current of motor is not blocked. During stopping motor, EMG instruction does not run. © Copyright Reserved Autonics Co., Ltd.
  • Page 52 9 Control Input/Output Program drive mode step address  Input signal Input signal Address Address Step5 Step4 Step3 Step2 Step1 Step0 Step5 Step4 Step3 Step2 Step1 Step0 0: OFF, 1: ON  © Copyright Reserved Autonics Co., Ltd.
  • Page 53 (3) ±Jog Accoridng to the set parameter, it drives to CW (+Jog) / CCW (-Jog) direction during ON jog signal. If +Jog signal and ‒Jog signal are supplied at the same time, the motor stops. © Copyright Reserved Autonics Co., Ltd.
  • Page 54 It is available to set the start drive speed of jog mode, continuous mode by 2-digit bit of SSP0, SSP1. SSP1 SSP0 Start speed 1 Start speed 2 Start speed 3 Start speed 4 Start speed 5 is not available. © Copyright Reserved Autonics Co., Ltd.
  • Page 55 It is available to set the max. drive speed of jog mode, continuous mode by 2-digit bit of MSP0, MSP1. MSP1 MSP0 Max speed 1 Max speed 2 Max speed 3 Max speed 4 Max speed 5 is not available. © Copyright Reserved Autonics Co., Ltd.
  • Page 56 (2) HMD0, 1 When home signal is ON, it is available to set the home search mode among 4 types. HMD1 HMD0 Home search Limit home search Zero point home search Torque home search © Copyright Reserved Autonics Co., Ltd.
  • Page 57 When pause signal is ON during program mode drive, it pauses after completing the  current step driving. After start signal is ON, it starts drive from the next step of the paused one. © Copyright Reserved Autonics Co., Ltd.
  • Page 58 : It recognizes as servo on signal and the phase current of motor is supplied and torque is return. Servo On indicator, In-Position Output and the indicator turn ON. Only available when motor is stopped. Make sure the motor completely stop before use. © Copyright Reserved Autonics Co., Ltd.
  • Page 59  : alarm is reset and the alarm indicator and alarm output turns OFF. The driver returns to normal status. If alarm causes are not removed, the driver does not return to normal status. © Copyright Reserved Autonics Co., Ltd.
  • Page 60 During driving as general home search mode, it is used as home sensor input. When suppling ORG signal over 1.5 msec, it recognizes as home sensor. 9.1.2.15 SD (slow down) When supplying SD signal over 1.5 msec, the set the start drive speed decelerates. © Copyright Reserved Autonics Co., Ltd.
  • Page 61 When Brkae ON/OFF signal remains OFF more than 1.5 msec or 10 msec, Brake is  locked. Brake ON/OFF is only available in Servo Off status. When servo is On, this function will be disabled for safety. © Copyright Reserved Autonics Co., Ltd.

  • Page 62: General Input

    It is used with ICJ, IRD instruction. IN0 to IN7  When supplying over 1.5 msec, it recognizes as input  When supplying over 10 msec or 1.5 msec (set at ‘Input Filter’ parameter), it recognizes as input. © Copyright Reserved Autonics Co., Ltd.

  • Page 63: Output

    In case of output, use external power (VEX) max. 12 to 24VDCᜡ, 10mA When current exceeds 10mA, use an external resistor R to adjust the current value. VEX − 0.7V − ���� ���� 0.01A N: Output pin number of CN4 VF: Photocoupler primary LED forward voltage © Copyright Reserved Autonics Co., Ltd.

  • Page 64: Exclusive Output

    Depending on the alarm type, it displays the alarm number on the alarm / stauts display part and flashes as much as the alarm number on the alarm indicator. In connected communication, Alarm can be displayed in atMotion program. For more information, refer to ‘13 Protection Function’. © Copyright Reserved Autonics Co., Ltd.
  • Page 65 -2,147,483,648 to +2,147,483,647 ※ Setting range of Compare 1 Period, Compare 2 Period: 1 to 2,147,483,648 [pulse] ※ Setting range of Compare 1 Pulse Width, Compare 2 Pulse Width : 1 to 1,000 [msec] © Copyright Reserved Autonics Co., Ltd.
  • Page 66 9 Control Input/Output Compare 1 Mode=1 / Compare 1 Position=5000,  Compare 1 Mode=2 / Compare 1 Position=-2000,  Compare 1 Mode=3,  © Copyright Reserved Autonics Co., Ltd.

  • Page 67: General Output

    It is used with OPC, OPT instruction. By setting the prameter ‘Output Mode (Alarm)’, the output can be maintained or initialized when the alarm occurs. Parameter Setting Description Output Mode Holding Output maintained (Alarm) Reset Output initialized © Copyright Reserved Autonics Co., Ltd.

  • Page 68: Drive

    10 Drive Drive AiCA Series has various drive modes and home search, as table below. It operates each drive mode by I/O input and atMotion. Drive mode name Descriptions Designates and operates the one step among the saved instruction of...

  • Page 69: I/O Signal Control Drive

    When it stops by stop signal input, Index mode error alarm (EG) occurs.  When driving the step which does not have “ABS” or “INC” instruction,  Index mode error alarm (EG) occurs. The specified step operates repeatly if the “Start” signal is input continuously.  © Copyright Reserved Autonics Co., Ltd.
  • Page 70 10 Drive © Copyright Reserved Autonics Co., Ltd.

  • Page 71: Jog Mode

    5th Emergency stop : When “EMG” signal inputs, it stops emergently. It cannot stop by “Stop” signal input.  If the both signal “+Jog” and “-Jog” enter at the same time, the motor stops.  © Copyright Reserved Autonics Co., Ltd.
  • Page 72 10 Drive © Copyright Reserved Autonics Co., Ltd.

  • Page 73: Continuous Mode

    5th Stop: When “STOP” signal inputs or limit signal of the direction inputs, it stops. 6th Emergency stop: When “EMG” signal inputs, it stops emergently. If the both signal “+Run” and “-Run” enter at the same time, the motor stops.  © Copyright Reserved Autonics Co., Ltd.
  • Page 74 10 Drive © Copyright Reserved Autonics Co., Ltd.

  • Page 75: Program Mode

    When “Power On Program Start” parameter is Enable, it operates program mode drive  when resupplying power. For end of program mode, “END” signal must be input.  If there is no “END” instruction input, Program mode error alarm (EF) occurs. © Copyright Reserved Autonics Co., Ltd.
  • Page 76 10 Drive © Copyright Reserved Autonics Co., Ltd.

  • Page 77: Home Search

    If the “Power On Home Search” parameter is enabled, the home search operates when  the power is applied. If it is set to zero point home search, Home search mode error alarm (EH) occurs. © Copyright Reserved Autonics Co., Ltd.
  • Page 78 6th After stops, it moves home sensor to the reverse direction for the passing distance from home with the set start drive speed at “Home Search Start Speed”, finds home sensor and stops. 7th After finding home, “In-Position” signal outputs and the “INP. indicator (orange)” turns ON. © Copyright Reserved Autonics Co., Ltd.
  • Page 79 ON. At “Home Search Offset”, the other value except 0 is set, it moves for the setting value  with start drive speed, “In-Position” signal outputs, and the “INP. indicator (orange)” turns ON. © Copyright Reserved Autonics Co., Ltd.
  • Page 80 10 Drive For deceleration stop, set the deceleration time shortly. In case of long deceleration  time, it may conflict with the structure. Install the limit sensor with the certain distance from the structure.  © Copyright Reserved Autonics Co., Ltd.
  • Page 81 ON. At “Home Search Offset”, the other value except 0 is set, it moves for the setting value  with start drive speed, “In-Position” signal outputs, and the “INP. indicator (orange)” turns ON. © Copyright Reserved Autonics Co., Ltd.
  • Page 82 10 Drive If the parameter “Power On Home Search” is set as Enable and the power is applied,  Home search mode error alarm (EH) will occur due to unassigned zero point. © Copyright Reserved Autonics Co., Ltd.
  • Page 83 ON. At “Home Search Offset”, the other value except 0 is set, it moves for the setting value  with start drive speed, “In-Position” signal outputs, and the “INP. indicator (orange)” turns ON. © Copyright Reserved Autonics Co., Ltd.
  • Page 84 10 Drive © Copyright Reserved Autonics Co., Ltd.

  • Page 85: Atmotion Control Drive

    1st Visit our website (www.autonics.com) to download and install newest version of ‘atMotion’. 2nd Run ‘atMotion’ which is installed on PC. 3rd On the left side, select ① ‘Supported Device List’ - ② ‘AiCA Series’. © Copyright Reserved Autonics Co., Ltd.
  • Page 86 5th Right click the newly added device on ‘My System’ then click ① ‘Add’. When ② ‘Add Unit’ window displays, double click the device list or click the arrow, placed in the middle of the widnow, to create node number then select ③ ‘OK’. © Copyright Reserved Autonics Co., Ltd.
  • Page 87 6th Select ‘RS-232’ on the right side of the window, set the communication port, and baud rate for the connected device. 7th Click ‘Connect’ on the upper side of the window to connect the communication. © Copyright Reserved Autonics Co., Ltd.
  • Page 88 10 Drive 8th To make sure the communication is connected properly, check the ‘My System’ items on the right side of the window to figure out the device node setting. © Copyright Reserved Autonics Co., Ltd.

  • Page 89: Jog Mode

    3rd Motor begins to operate to designated directon by clicking button. 4th Operation stops by releasing the button. Start Speed, Max Speed, Accel Rate and Decel Rate can be loaded from the saved value  without entering these values. © Copyright Reserved Autonics Co., Ltd.

  • Page 90: Continuous Mode

    4th Operation stops by clicking button or when the designated direction limit signal is applied. Start Speed, Max Speed, Accel Rate and Decel Rate can be loaded from the saved value  without entering these values. © Copyright Reserved Autonics Co., Ltd.

  • Page 91: Position Mode

    Recognize the position when the initial power is entered as the origin. To change the  origin, run home search mode. To specify the current position as the origin, click the ‘Reset Position’ button to set as  the origin. © Copyright Reserved Autonics Co., Ltd.
  • Page 92 If the position override operation is not available properly, the position override  warning occurs and the final target position is reached at the specified starting speed. © Copyright Reserved Autonics Co., Ltd.

  • Page 93: Torque Mode

    3rd Set the desired torque in percentage, and assign the ‘Rise Time’ to reach the output torque. 4th Control the motor torque by clicking the to designated direction. 5th By clicking button to stop the motor. © Copyright Reserved Autonics Co., Ltd.

  • Page 94: Program Mode

    To execute only one step, select the desired step and click the button.  However, executing a step with a command other than ‘ABS’ or ‘INC’, or clicking ‘Stop’ button during the step operation, Index mode error alarm (EG) will occur. © Copyright Reserved Autonics Co., Ltd.

  • Page 95: Home Search Mode

    2nd Set the value of Start Speed, Max Speed, Accel Rate and Decel Rate for Home search mode. 3rd Click button to execute the home search operation. 4th When the home is found, the home search operation is completed. © Copyright Reserved Autonics Co., Ltd.
  • Page 96 0. In normal home search mode, Home search mode error alarm (EH) occurs if the ORG  signal does not input until it reaches the opposite limit sensor past the limit sensor (±Limit). © Copyright Reserved Autonics Co., Ltd.
  • Page 97 If the deceleration time is set long during deceleration and stop, it may collide with the  structure, so the deceleration time should be set short or the limit sensor should be installed from the structure with sufficient margin. © Copyright Reserved Autonics Co., Ltd.
  • Page 98 Position) and lights up in the In-Position indicator to display the status. If a value other than 0 is set in the parameter ‘Home Search Position Set’, the position  specified after finding the origin is set to the set value other than 0. © Copyright Reserved Autonics Co., Ltd.
  • Page 99 If a value other than 0 is set in the parameter ‘Home Search Position Set’, the position  specified after finding the origin is set to the set value other than 0. © Copyright Reserved Autonics Co., Ltd.

  • Page 100: Program Instructions

    Home search Input condition jump Input wait Input/Output Output port ON/OFF Output port ON pulse Compare output Jump Repeat start Repeat end Program control Program end Position set Ready Torque mode Torque mode drive © Copyright Reserved Autonics Co., Ltd.

  • Page 101: Drive Instruction

    S Curve enable  : Set use/not use of S-curve acceleration/deceleration. Enable=Use S-curve acceleration/deceleration  Disable=Not use S-curve acceleration/deceleration  S Curve Acc/Dec Time  : When using S curve, set the S-curve acceleration/deceleration time. © Copyright Reserved Autonics Co., Ltd.
  • Page 102 5,000 10,000 1,000 10,000 20,000 1,000 7,000 20,000 1,000 7,000 For the step with acceleration, set deceleration time as 0 msec.  For the step with deceleration, set acceleration time as 0 msec.  © Copyright Reserved Autonics Co., Ltd.

  • Page 103: Inc (Relative Position Move)

    S Curve enable  : Set use/not use of S-curve acceleration/deceleration. Enable=Use S-curve acceleration/deceleration  Disable=Not use S-curve acceleration/deceleration  S Curve Acc/Dec Time  : When using S curve, set the S-curve acceleration/deceleration time. © Copyright Reserved Autonics Co., Ltd.
  • Page 104 5,000 10,000 1,000 10,000 20,000 1,000 7,000 20,000 1,000 7,000 For the step with acceleration, set deceleration time as 0 msec.  For the step with deceleration, set acceleration time as 0 msec.  © Copyright Reserved Autonics Co., Ltd.

  • Page 105: Hom (Home Search)

    Torque Home Search ‒ when a certain torque is output by contacting a specific  object, it is set in the opposite direction and ends the operation by recognizing as Home. For more information, refer to ‘9.5 Home search’. © Copyright Reserved Autonics Co., Ltd.

  • Page 106: Input/Output Instruction

    Output port: Select the output port number.  For more information of output port number, refer to ‘9.2.3 General Output’. ON/OFF: When setting as Enable, it turns ON. When setting as Disable, it turns OFF.  © Copyright Reserved Autonics Co., Ltd.

  • Page 107: Opt (Output Port On Pulse)

    Applied when compare mode is 3. Setting range is 1 to 10,000 msec. Pulse Period  : Set the output pulse period. Applied when compare mode is 3. Setting range is 1 to 2,147,483,647. © Copyright Reserved Autonics Co., Ltd.

  • Page 108: Program Control Instruction

    : Set the repeat times. Setting range is 1 to 255. RPE (repeat end) instruction should be below (higher step number) of the REP (repeat start) instruction. The lower nested loops are available up to 3. © Copyright Reserved Autonics Co., Ltd.

  • Page 109: Rpe (Repeat End)

    Delay Time level  : Set the wait time as msec. Set the Delay Time level from 1 to 5. When selecting Delay Time level as 6, it is available to set as the desired value. © Copyright Reserved Autonics Co., Ltd.

  • Page 110: Torque Mode Command

    Setting range is -100 to 100%. Operates CCW direction in ‒sign and CW direction in +sign. Torque Acc Time  : Set the rise time until motor torque is output. Setting range is 0 to 5,000 msec. © Copyright Reserved Autonics Co., Ltd.

  • Page 111: Driver Function

    It ends drive when it finishes generating pulse, as shown in the image below. Absolute position movement and relative position movement  : There are absolute position movement and relative position movement. These are fixed pulse drive. © Copyright Reserved Autonics Co., Ltd.
  • Page 112 Decelerating stop and immediate stop are in stop instruction. Slow stop is applied in almost every case except when drive speed is lower than initial speed, reset and emergency stop. © Copyright Reserved Autonics Co., Ltd.

  • Page 113: Speed Curve

    “Acceleration Time 1”, “Deceleration Time 1”. When it arrives with not the max. drive speed at the target position due to long  acceleration time and short command position, acceleration time may be changed. © Copyright Reserved Autonics Co., Ltd.
  • Page 114 In this case, it operates asymmetric trapezoidal acceleration/deceleration drive. When deceleration speed is higher than acceleration speed,  When acceleration speed is higher than deceleration speed,  © Copyright Reserved Autonics Co., Ltd.
  • Page 115 During S curve operation, acceleration/deceleration time should be set as same.  If it is set differently, deceleration time is set same as acceleration time. © Copyright Reserved Autonics Co., Ltd.
  • Page 116 For S-curve drive without trapezoidal, S Curve Time (S-curve 2000 msec it should be set the half of acceleration/deceleration time) acceleration/deceleration time. Start Speed (start drive speed) 0 pps Max Speed (max. drive speed) 40000 pps © Copyright Reserved Autonics Co., Ltd.
  • Page 117 On the other hand, S curve smoothly increases acceleration at the start point and decreases it smoothly at the end point. Therefore S curve acceleration/deceleration is recommended for sensitive systems. © Copyright Reserved Autonics Co., Ltd.

  • Page 118: Other Functions

    100,000 range. When it is out of the range, the drive decelerates and stops. Hardware limit operates independently regardless of the software limit settings, and only hardware limit except limit home search is operated during home search. © Copyright Reserved Autonics Co., Ltd.

  • Page 119: Motor Gain

    P Gain: In case of use as friction load, improve motor response by controlling Gain.  I Gain: In case of use as inertial load, improve motor response by controlling Gain.  Parameter Setting range Unit P Gain 0.000 to 32.000 0.001 I Gain 0.000 to 32.000 0.001 © Copyright Reserved Autonics Co., Ltd.

  • Page 120: In-Position

    Fast response Accurate response Setting Value Setting Value ±1 ±1 ±2 ±2 ±3 ±3 ±4 ±4 ±5 ±5 ±6 ±6 ±7 ±7 For accurate control, check the in-position output before the next drive. © Copyright Reserved Autonics Co., Ltd.

  • Page 121: Speed Filter

    Set the speed filter value for time delay between the command position and motor. It is able to drive softly even though load changing or disturbance occurs. Parameter Setting Value (msec) Disable Speed Filter © Copyright Reserved Autonics Co., Ltd.

  • Page 122: Servo Off

    Even when the power is applied again, the motor will rotates in the direction set in the parameter “Motor Dir”. DIR setting +Jog/+Run -Jog/-Run Forward Rotates to CW direction Rotates to CCW direction Backward Rotates to CCW direction Rotates to CW direction © Copyright Reserved Autonics Co., Ltd.

  • Page 123: Position Override

    If the position override operation is not available properly, the position override  warning occurs and the final target position is reached at the specified starting speed. For more information of operation refer to ‘10.2.3.1 Position Override’.  © Copyright Reserved Autonics Co., Ltd.

  • Page 124: Protection Function

    2. Check motor connector and tracking error and current 3. Burnout of line driver IC cable connection. position value is in encoder 3. Replace the line driver IC in over 90° encoder. © Copyright Reserved Autonics Co., Ltd.
  • Page 125 (max. 3,000rpm Input pulse When input pulse 1. Enter error of user 11 (EB) input) error is input befor command speed input 2. Enter the speed value (PPS) by initial motor checking the resolution. alignment © Copyright Reserved Autonics Co., Ltd.
  • Page 126 2. Increase stop torque as 50% or after motor use the other motor with higher stopped. torque. When memory 13 (ED) Memory error error is detected 1. EEPROM error 1. Replace EEPROM parts. as power supplied © Copyright Reserved Autonics Co., Ltd.
  • Page 127 1. Check auxiliary power power applied When brake failed 2. Check brake connector and 18 (EJ) Brake error 2. Brake connector or to operate cable cable connection error 3. Replace brake motor 3. Brake is damaged © Copyright Reserved Autonics Co., Ltd.

  • Page 128: Warning

    1. Change operation condition to override operate position cannot be operated is avoid sudden position change. override entered ※ Other warning can be occurred during Overload warning, and the motor does not stop. © Copyright Reserved Autonics Co., Ltd.

  • Page 129: Troubleshooting

    Connection between motor and Check the Motor+Encoder connection cable. When motor drive is encoder is unstable. unstable Change the Motor Gain parameter as the Motor gain value is not correct. certain value. © Copyright Reserved Autonics Co., Ltd.
  • Page 130 14 Troubleshooting © Copyright Reserved Autonics Co., Ltd.
  • Page 131 * Dimensions or specifications on this manual are subject to change and some models may be discontinued without notice.

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