Autonics AiC-CL Series User Manual
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Autonics AiC-CL Series User Manual

Closed-loop stepper system
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User Manual
Closed-Loop Stepper System
AiC-CL Series
MMD-AiC-CLU1-V1.1-2004US
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 AiC-CL Series MMD-AiC-CLU1-V1.1-2004US 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 3 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 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.

  • 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 website. We contrived to describe this manual more easily and correctly. However, if there are any ...

  • 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

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

  • Page 8: Cautions During Use

    ④ Connection error with motor ⑤ Inconsistency between the axis of motor output and the center, concentric (eccentric, declination) of the load, etc. This product does not prepare protection function for a motor.  viii © Copyright Reserved Autonics Co., Ltd.
  • Page 9 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 ※ Please refer to the communication manual for CC-Link communication. © Copyright Reserved Autonics Co., Ltd.

  • Page 10: Table Of Contents

    Mounting Direction of Motor ................35 Mounting of Motor ....................36 4.2.1 Frame Size 20 mm ..................36 4.2.2 Frame Size 28 mm ..................36 4.2.3 Frame Size 35 mm ..................36 4.2.4 Frame Size 42 mm ..................37 © Copyright Reserved Autonics Co., Ltd.

  • Page 11: Table Of Contents

    I/O Cable (CO20-MP□-R, standard: AiC-CL TAG) ........51 Control Input/Output ................52 Input ......................... 52 8.1.1 Exclusive Input ..................52 8.1.2 General Input .................... 53 8.1.3 Example of Input Circuit Connection ............58 Output ......................59 © Copyright Reserved Autonics Co., Ltd.
  • Page 12 11.3.1 Limit Operation ..................91 11.3.2 Stop Current ....................92 11.3.3 Stop Current Fix..................92 11.3.4 Speed Filter ....................92 11.3.5 Position Control Gain Setting ..............93 11.3.6 In-Position ....................94 Troubleshooting ..................95 © Copyright Reserved Autonics Co., Ltd.

  • Page 13: Product Overview

    1 Product Overview Product Overview Features AiC-CL Series is 2-phase closed-loop stepper motor driver built-in motion controller function. This unit is stand alone type and it drives through I/O with/without PC. There are settings; PI-Gain, Speed Filter, In-Position and 4 modes.

  • Page 14: Configuration Diagram And Components

    Ai-M Series Instruction manual 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 or the distributor. 1.2.2 Configuration Diagram ※ I/O cable, motor+encoder cable and power cable are sold separately.

  • Page 15: Ordering Information

    ⑦ Comm. Method CC-Link communication ※1. Encoder resolution for frame size 20 mm motors. ※2. Encoder resolution for frame size 28, 35 mm motors. ※3. Encoder resolution for frame size 42, 56, 60 mm motors. © Copyright Reserved Autonics Co., Ltd.
  • Page 16 Long - Frame size 42 mm: 116.3 mm, Frame size 56 mm: 146.1 mm, Frame size 60 mm: 154.6 mm ⑥ Encoder resolution 10,000 PPR (2,500 PPRⅹ4-multiply) ⑦ Brake Built-in Brake type ⑧ Comm. Method CC-Link communication © Copyright Reserved Autonics Co., Ltd.

  • Page 17: Motor

    10,000 PPR (2,500 PPRⅹ4-multiply) ※3 ※1. Encoder resolution for frame size 20 mm motors. ※2. Encoder resolution for frame size 28, 35 mm motors. ※3. Encoder resolution for frame size 42, 56, 60 mm motors. © Copyright Reserved Autonics Co., Ltd.
  • Page 18 Frame size 60 mm: 137.6 mm Long - Frame size 42 mm: 116.3 mm, Frame size 56 mm: 146.1 mm, Frame size 60 mm: 154.6 mm ⑤ Encoder resolution 10,000 PPR (2,500 PPRⅹ4-multiply) ⑥ Brake Built-in Brake type © Copyright Reserved Autonics Co., Ltd.

  • Page 19: Models

    Ai-M-60LA 1.4.2 Built-in Brake Type Driver Motor AiC-42SA-B-CL AiC-D-42SA-B-CL Ai-M-42SA-B AiC-42MA-B-CL AiC-D-42MA-B-CL Ai-M-42MA-B AiC-42LA-B-CL AiC-D-42LA-B-CL Ai-M-42LA-B AiC-56SA-B-CL AiC-D-56SA-B-CL Ai-M-56SA-B AiC-56MA-B-CL AiC-D-56MA-B-CL Ai-M-56MA-B AiC-56LA-B-CL AiC-D-56LA-B-CL Ai-M-56LA-B AiC-60SA-B-CL AiC-D-60SA-B-CL Ai-M-60SA-B AiC-60MA-B-CL AiC-D-60MA-B-CL Ai-M-60MA-B AiC-60LA-B-CL AiC-D-60LA-B-CL Ai-M-60LA-B © Copyright Reserved Autonics Co., Ltd.

  • Page 20: Specification

    I/O voltage level [H]: 5-30 VDCᜡ, [L]: 0-2 VDCᜡ Input Exclusive input: 3, general input: 8 Output General output: 7 External power supply VEX (recommended: 24 VDCᜡ), GEX (GND) Operation mode Jog, Continuous, Index, Program mode © Copyright Reserved Autonics Co., Ltd.
  • Page 21 ※6: □ of model name indicates cable length (010, 020). E.g.) CJ-PW-010: 1 m power cable. ※7: □ of model name indicates cable length (010, 020, 030, 050, 070, 100, 150, 200). E.g.) CO20-MP070-R: 7 m I/O cable. © Copyright Reserved Autonics Co., Ltd.

  • Page 22: Cc-Link Communication

    ※ In CC-Link setting, the communication speed must be same between PLC and the driver. ※ The settable station number is 01 to 64, the station number must not be overlapped. (65 to 99 is not available) © Copyright Reserved Autonics Co., Ltd.

  • Page 23: Motor

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

  • Page 24: Frame Size 42 Mm

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

  • Page 25: Common Specifications

    ※4: Amount of axial shaft displacement when adding a axial load (920g ‒ frame size 20 / 28 / 35mm, 50N ‒ frame size 42 / 56 / 60mm to the shaft. ※Environment resistance is rated at no freezing or condensation. © Copyright Reserved Autonics Co., Ltd.

  • Page 26: Brake

    Max. 10 msec Max. 20 msec ※1: Driver reduces power voltage form 24 VDCᜡ to 11.5 VDCᜡ and control the motor to reduce heat generation in the brake which is connected with the motor. © Copyright Reserved Autonics Co., Ltd.

  • Page 27: Encoder

    Max. 0.5 μs (cable length: 2 m, I sink = 20 mA) Response time (rise, fall) 300 kHz Max. response frequency 5 VDCᜡ ± 5% (ripple P-P: max. 5%) Power supply Max. 50 mA (disconnection of the load) Current consumption © Copyright Reserved Autonics Co., Ltd.

  • Page 28: Dimensions

    3 Dimensions Dimensions Driver Be sure that these figures may differ from the actual units. © Copyright Reserved Autonics Co., Ltd.

  • Page 29: Motor

    3 Dimensions Motor 3.2.1 Standard Type 3.2.1.1 Frame Size 20 mm 3.2.1.2 Frame Size 28 mm 3.2.1.3 Frame Size 35 mm © Copyright Reserved Autonics Co., Ltd.
  • Page 30 3 Dimensions Model Model Model Ai-M-28SB Ai-M-35SB 41.5 Ai-M-20MA 41.2 Ai-M-28MB Ai-M-35MB Ai-M-20LA 53.1 Ai-M-28LB Ai-M-35LB 68.5 © Copyright Reserved Autonics Co., Ltd.
  • Page 31 3 Dimensions 3.2.1.4 Frame Size 42 mm 3.2.1.5 Frame Size 56 mm 3.2.1.6 Frame Size 60 mm © Copyright Reserved Autonics Co., Ltd.
  • Page 32 3 Dimensions Model Model Model Ai-M-42SA 34.1 Ai-M-56SA 43.5 Ai-M-60SA 48.1 Ai-M-42MA 40.1 Ai-M-56MA 56.5 Ai-M-60MA Ai-M-42LA 48.1 Ai-M-56LA 77.5 Ai-M-60LA © Copyright Reserved Autonics Co., Ltd.

  • Page 33: Built-In Brake Type

    3 Dimensions 3.2.2 Built-in Brake Type 3.2.2.1 Frame Size 42 mm 3.2.2.2 Frame Size 56 mm 3.2.2.3 Frame Size 60 mm © Copyright Reserved Autonics Co., Ltd.
  • Page 34 3 Dimensions Model Model Model Ai-M-42SA-B 33.9 Ai-M-56SA-B 43.3 Ai-M-60SA-B 47.9 Ai-M-42MA-B 39.9 Ai-M-56MA-B 56.3 Ai-M-60MA-B 68.8 Ai-M-42LA-B 47.9 Ai-M-56LA-B 77.3 Ai-M-60LA-B 85.8 © Copyright Reserved Autonics Co., Ltd.

  • Page 35: 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 36: Mounting Of Motor

    4 Installation of Motor Mounting of Motor 4.2.1 Frame Size 20 mm 4.2.2 Frame Size 28 mm 4.2.3 Frame Size 35 mm © Copyright Reserved Autonics Co., Ltd.

  • Page 37: Frame Size 42 Mm

    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 38: Connection With Load

    4.3.3 Load Connection with Gear The motor shaft and the load shaft should be parallel. Connect the motor shaft to the center fo gear teeth side to be interlocked. © Copyright Reserved Autonics Co., Ltd.

  • Page 39: Installation Conditions

    ⑪ 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 40: Connection

    5 Connection Connection Standard Type © Copyright Reserved Autonics Co., Ltd.

  • Page 41: Built-In Brake Type

    5 Connection Built-in Brake Type © Copyright Reserved Autonics Co., Ltd.

  • Page 42: Characteristics

    6 Characteristics Characteristics Standard Type 6.1.1 Frame Size 20 mm 6.1.2 Frame Size 28 mm 6.1.3 Frame Size 35 mm © Copyright Reserved Autonics Co., Ltd.

  • Page 43: Frame Size 42 Mm

    6 Characteristics 6.1.4 Frame Size 42 mm 6.1.5 Frame Size 56 mm 6.1.6 Frame Size 60 mm © Copyright Reserved Autonics Co., Ltd.

  • Page 44: Built-In Brake Type

    6 Characteristics Built-in Brake Type 6.2.1 Frame Size 42 mm 6.2.2 Frame Size 56 mm 6.2.3 Frame Size 60 mm © Copyright Reserved Autonics Co., Ltd.

  • Page 45: Driver Unit Descriptions

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

  • Page 46: Connectors

    Pin no. Function Pin no. Function +5 VDCᜡ Encoder A � Encoder A Encoder B � Encoder B Encoder Z � Encoder Z F.G. Motor A Motor B Motor A � Motor B � © Copyright Reserved Autonics Co., Ltd.

  • Page 47: I/O Connector (Cn3: Signal I/O)

    ※2: It is voltage level to recognize input signal as ON. It is available to set each input. [H]: 5-30 VDCᜡ, [L]: 0-2 VDCᜡ (however, reset is fixed as [L].) © Copyright Reserved Autonics Co., Ltd.

  • Page 48: Rs485 Comm. Connector (Cn4: Rs485)

    2ESDV-05P-OR ※4. CC-Link dedicated cable must be used and performance can not be guaranteed when using other cables. Above connectors are suitable for AiC-D-CL Series. The connectors can be used with equivalent or substitute. © Copyright Reserved Autonics Co., Ltd.

  • Page 49: Switches

    156k 625k 2.5M Disable 7.3.3 CC-Link Station Setting Rotary Switch (STATION NO.) Setting Setting Setting Station No. (×10) Setting Station No. (×1) switch switch 0×10 1×10 2×10 3×10 4×10 5×10 ×10 6×10 ×1 Disable © Copyright Reserved Autonics Co., Ltd.

  • Page 50: Driver Status Indicator

    Servo On/Off Turns ON when Servo is operating, SERVO Orange indicator turns off when Servo is not operating L.RUN Green CC-Link status Flashes when CC-Link status is normal L.ERR indicator Flashes when CC-Link is failed © Copyright Reserved Autonics Co., Ltd.

  • Page 51: Sold Separately

    Red-5 Red-5 Black-5 ※□ of model name indicates cable length (010, 020, 030, 050, 070, 100, 150, 200). E.g.) CO20-MP070-R: 7 m I/O cable ※It is recommended to use ferrite core at I/O cable. © Copyright Reserved Autonics Co., Ltd.

  • Page 52: Control Input/Output

    When supplying the ±limit signal over 1.5 ms, it recognizes as ±hardware limit input and it decelerates and stops or stops immediately accoridng to the set parameter. +Limit = CW direction limit sensor signal  -Limit = CCW direction limit sensor signal  © Copyright Reserved Autonics Co., Ltd.

  • Page 53: General Input

    Clear position, set current position as 0 Step 0 Step 1 Step 2 Step number setting Step 3 (the combination of 6 bit, 0 to 5, selectable 0 to 63) Step 4 Step 5 © Copyright Reserved Autonics Co., Ltd.
  • Page 54 During index mode driving, it stops driving and index mode error occurs.  8.1.2.5 EMG (Emergency) Motor stops immediately, emergency stop alarm occurs. The current of motor is not blocked. During motor is stopped, EMG instruction does not run. © Copyright Reserved Autonics Co., Ltd.
  • Page 55 : 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. Must try when the motor is stop. © Copyright Reserved Autonics Co., Ltd.
  • Page 56 If the alarm causes are not removed, the driver does not return to normal status even using alarm reset. 8.1.2.12 SD (Slow Down) When supplying SD signal over 1.5 msec, set the start drive speed decelerates. 8.1.2.13 Clear Pos Set the current position as absolute position 0. © Copyright Reserved Autonics Co., Ltd.
  • Page 57 Program operation mode step address Input signal Input signal Address Address Step 5 Step 4 Step 3 Step 2 Step 1 Step 0 Step 5 Step 4 Step 3 Step 2 Step 1 Step 0 © Copyright Reserved Autonics Co., Ltd.

  • Page 58: Example Of Input Circuit Connection

    In case of using external power over 24 VDCᜡ power, select R value that I (forward current of primary LED) of photocoupler to be around 2.5mA (max. 10 mA). VEX − 1.25V − 10ⅹ10 Ω 0.0025A © Copyright Reserved Autonics Co., Ltd.

  • Page 59: Output

    Signal name Description User Output 0 User Output 1 User Output 2 User Output 3 User output User Output 4 User Output 5 User Output 6 In-Position In-Position output Alarm Alarm output Warning Warning output © Copyright Reserved Autonics Co., Ltd.
  • Page 60 In-Position signal outputs instantly. Accurate Response: When the deviation of the target position and the current position is  smaller than the set value and maintains over 50 msec, In-Position signal outputs. © Copyright Reserved Autonics Co., Ltd.
  • Page 61 ※ Even though warning occurs, it drives as normal status and it may cause damage by fire. It is recommended not to use the unit during warning status. ※ Depending on the alarm/warning type, it flashes for 0.4 sec interval and it turns OFF repeatedly. In case of alarm/warning © Copyright Reserved Autonics Co., Ltd.
  • Page 62 ON change 1. Check the connection status of communication cable Comm. 1. Comm. disconnect with Comm. error 2. Check the station number and failure CC-Link master communication speed in available range © Copyright Reserved Autonics Co., Ltd.
  • Page 63 3. Replace the line driver IC in encoder 3. Burnout of line driver IC in 4. Replace burned parts of the encoder inverter in the driver 4. Burnout of inverter in driver © Copyright Reserved Autonics Co., Ltd.
  • Page 64 2. Increase stop torque as 50% or use after motor the other motor with higher torque stopped When memory Memory error is detected 1. EEPROM error 1. Replace EEPROM parts error as power supplied © Copyright Reserved Autonics Co., Ltd.
  • Page 65 3. When stop command is (CW direction: + Limit, issued during home search CCW direction: -Limit) operation 4. Change the value of the home search torque parameter (torque home search) © Copyright Reserved Autonics Co., Ltd.
  • Page 66 Warning type Descriptions Causes Troubleshooting status When maximum 1. Change operation condition or Overload load is kept 1. Overload reduce load so that sudden load warning connected over fluctuation does not occur 10 sec © Copyright Reserved Autonics Co., Ltd.
  • Page 67 It is used with OPC, OPT instruction. When alarm occurs by Output Mode (Alarm) parameter setting, output can be remained or reset. Parameter Settings Descriptions Holding Output remain Output Mode (Alarm) Reset Output reset © Copyright Reserved Autonics Co., Ltd.

  • Page 68: Example Of Output Circuit Connection

    Then after approx. 0.2 sec, the excitation voltage is decreased to 11.5 VDCᜡ and the released brake power is maintained. ※ While power is supplied to the driver, the brake is kept turning on, except in the Servo On status. © Copyright Reserved Autonics Co., Ltd.

  • Page 69: Drive

    Home search Operates home search Do not operate instructions by I/O during communication between the driver and the PC  (atMotion). (only monitoring is available) It may cause malfunction due to double input.  © Copyright Reserved Autonics Co., Ltd.

  • Page 70: Jog Mode

    1st Drive : It drives to CW or CCW direction while “+Jog” or “-Jog” signal inputs. 2nd Emergency stop : t stops emergently, when “EMG” signal inputs. It cannot stop by “Stop” signal input.  © Copyright Reserved Autonics Co., Ltd.

  • Page 71: Continuous Mode

    : It drives to CW or CCW direction when “+Run” or “-Run” signal inputs. 2nd Stop : It stops when “Stop” signal inputs or limit signal of the direction inputs. 3rd Emergency stop : It stops emergently when “EMG” signal inputs © Copyright Reserved Autonics Co., Ltd.

  • Page 72: Program Mode

    When “Power On Program Start” parameter is enabled, it operates program mode drive when  resupplying power. “END” signal must be input to end the program mode.  If there is no “END” instruction input, no. 15 alarm (program mode error) occurs. © Copyright Reserved Autonics Co., Ltd.

  • Page 73: Index Mode

    When it stops by “Stop” signal input, no. 16 alarm (index mode error) occurs.  When driving the step which does not have “ABS” or “INC” instruction, no. 15 alarm (index  mode error) occurs. © Copyright Reserved Autonics Co., Ltd.

  • Page 74: Home Search

    : It stops when “Stop” signal inputs or limit signal of the direction inputs. 3rd Emergency stop : It stops emergently, when “EMG” signal inputs. When “Power On Home Search” parameter is enabled, it operates home search when  resupplying power. © Copyright Reserved Autonics Co., Ltd.

  • Page 75: Program Instructions

    Absolute position move Drive Incremental position move Home search Input condition jump Input wait Input/Output Output port ON/OFF Output port ON pulse Jump Repeat start Program control Repeat end Program end Position set Other Ready © Copyright Reserved Autonics Co., Ltd.

  • Page 76: Drive Instruction

    : Input the moving position as absolute value. In case of “Present position‒Moving position > 2,147,483,647” or “Present position‒Moving position < -2,147,483,648”, it is out of range to move and program mode error occurs. © Copyright Reserved Autonics Co., Ltd.

  • Page 77: Inc (Incremental Position Move)

    Set the deceleration time 1 to 5 according to purpose. When selecting ‘User Value’, it is available to set as the desired value. Position  : Input the moving position as absolute value. Available moving range is -2,147,483,648 to 2,147,483,647. © Copyright Reserved Autonics Co., Ltd.

  • Page 78: Hom (Home Search)

    Home mode: Select home search mode operation setting.  For more information, refer to the ‘11.2 Home Search’. 0: General Home Search  1: Limit Home Search  2: Zero Home Search  3: Torque Home Search  © Copyright Reserved Autonics Co., Ltd.

  • Page 79: Input/Output Instruction

     For more information of output port number, refer to ‘8.2.1 General Output’ . ON/OFF: Set the output port ON/OFF status.  Turn OFF when 0 is set. Turn ON when 1 is set. © Copyright Reserved Autonics Co., Ltd.

  • Page 80: Opt (Output Port On Pulse)

    OFF: It turns the set output port ON during the set On Time. After the time, it moves  to the next step. On Time: Set the ON time for output port.  Setting range is 1 to 10,000 msec. © Copyright Reserved Autonics Co., Ltd.

  • Page 81: 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 82: Rpe (Repeat End)

     10.4 Others 10.4.1 TIM (Ready) It is ready instruction for the set time. Instruction DATA Instruction Delay Time Delay Time: Set the wait time as msec. Setting range is 1 to 10,000 msec. © Copyright Reserved Autonics Co., Ltd.

  • Page 83: Driver Function

    Absolute position moves drives from home to position of specified distance.  This is only for ABS instruction in program mode. Incremental position move sets a distance to drive from present coordinates.  INC instruction is corresponding to this program mode. © Copyright Reserved Autonics Co., Ltd.
  • Page 84 Deceleratoin stop and immediate stop are in stop instruction. Deceleration 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 85: Speed Curve

    Time 1”, “Deceleration Time 1”. When it does not arrive with 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 86 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 87: Home Search

    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 (yellow)” turns ON. © Copyright Reserved Autonics Co., Ltd.

  • Page 88: Limit Home Search (Home Search Method = 1)

    “In-Position” signal outputs, and the “INP. indicator (yellow)” turns ON. 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 89: Zero Home Search (Home Search Method = 2)

    6th After finding home, “In-Position” signal outputs and the “INP. indicator (yellow)” turns 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 (yellow)” turns ON. © Copyright Reserved Autonics Co., Ltd.

  • Page 90: Torque Home Search (Home Search Method = 3)

    6th After finding home, “In-Position” signal outputs and the “INP. Indicator (yellow)” turns 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 (yellow)” turns ON. © Copyright Reserved Autonics Co., Ltd.

  • Page 91: Other Functions

    100,000 range. When it is out ouf 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 92: Stop Current

    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 8 (factory default) © Copyright Reserved Autonics Co., Ltd.

  • Page 93: Position Control Gain Setting

    The set value is the ratio between P and I. When GAIN = 15  each GAIN value can be set by using atMotion. Parameter Setting range Unit P GAIN 0 to 7 0.001 I GAIN 0 to 4 0.001 © Copyright Reserved Autonics Co., Ltd.

  • Page 94: In-Position

    In reverse, when the gap is over in-position setting value, in-position output turns to [L] and the in-position indicator turns OFF. For moere accurate control, check the in-position output before operating the next step. For more information, refer to ‘8.2.1.1 In-Position’. © Copyright Reserved Autonics Co., Ltd.

  • Page 95: Troubleshooting

    Connection between motor and Check the Motor+Encoder connection cable. When motor encoder is unstable. drive is unstable Position control gain value is not Change the P Gain or I Gain parameter as the correct. certain value. © Copyright Reserved Autonics Co., Ltd.
  • Page 96 * Dimensions or specifications on this manual are subject to change and some models may be discontinued without notice.

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