Page 1 Extended setting for pulse-input type Appendix Thank you for purchasing an Oriental Motor product. This Manual describes product handling procedures and safety precautions. • Please read it thoroughly to ensure safe operation. • Always keep the manual where it is readily available.
Page 2: Table Of Contents
Operation Flow of setting required for positioning operation ............16 Setting of resolution ........................ 17 Stored data (SD) operation ..................... 19 Types of stored data (SD) operation ....................19 Setting of data ............................. 23 Positioning SD operation ......................... 30 Positioning push-motion SD operation ..................... 39 Continuous SD operation ........................
Page 3 I/O signals Overview of I/O signals ......................128 Overview of input signals ........................128 Overview of output signals ........................129 Setting contents of input signals and output signals ..............130 Signal list ..........................136 Input signal list ............................136 Output signal list ............................138 Signal types ..........................144 Direct I/O ..............................144 Network I/O ..............................149 Input signals ..........................151...
Page 4 I/O signal assignment list ......................223 10-1 Input signals ...............................223 10-2 Output signals ............................224 Method of control via Modbus RTU (RS-485 communication) Specification of Modbus RTU ....................228 Communication specifications ......................228 Communication timing ..........................232 Message structure ........................233 Query ................................233 Response ..............................235 Function codes ........................238 Reading from a holding register(s) (03h) ..................238 Writing to a holding register (06h) .....................239 Diagnosis (08h) ............................240...
Page 5 Timing chart ..........................284 12-1 Communication start ..........................284 12-2 Start of operation .............................284 12-3 Operation stop, speed change ......................284 12-4 General signals ............................285 12-5 Configuration .............................285 Detection of communication errors ...................286 13-1 Communication errors ...........................286 13-2 Alarms related to RS-485 communication..................286 Method of control via industrial network Flow of setting required for control via industrial network ...........288 Setting of switches .........................289...
Page 6 Address/code lists Update timing of parameters ....................336 I/O commands .........................337 Group commands ........................339 Protect release commands ....................341 Direct data operation commands ..................342 Simple direct data operation commands ................344 Maintenance commands .......................345 How to execute maintenance commands ..................347 Monitor commands ........................348 Overview of operation data R/W command address arrangement ......361 Overview of direct reference ........................362 Overview of offset reference ........................362...
Page 7 14-15 Network I/O setting parameters ......................405 14-16 Extended input setting parameters ....................408 14-17 Differential output setting parameters ....................408 14-18 Virtual input parameters ........................409 14-19 User output setting parameters ......................410 14-20 Driver mode setting parameters ......................410 14-21 LED status display setting parameters ....................411 14-22 RS-485 communication setting parameters ...................412 14-23 Indirect reference setting parameters ....................414 14-24 Our exclusive parameters for maintenance.
Page 8 Utilization for maintenance of equipment ................451 Cumulative load ............................451 Tripmeter (travel distance) and odometer (cumulative travel distance) ......453 Extended setting for pulse-input type Flow of operation and extended setting ................456 Extended setting with parameters ..................457 Resolution ..............................457 Pulse input mode .............................458 Operating current .............................460 Command filter ............................461 I/O signals related to pulse-input type ................464...
Page 9 Characteristics of the AZ Series Built-in ABZO sensor The ABZO sensor is a small-sized low-cost mechanical multi-rotation absolute sensor that does not require a battery. It can detect the absolute positions for 1800 revolutions of the motor shaft from the reference home position, so the position is never missed.
Page 10 „ No battery is required No battery is required because the position information is maintained by the ABZO sensor. z Reduction of maintenance z Space to replace the battery is not required z The position information is maintained even in long equipment transportation ▌10...
Page 11: Operation
Operations possible with the AZ Series „ Execute operation by setting the motor operating speed, position (travel amount) and other items as operation data Stored data (SD) operation p.19 Positioning operation is performed. Push-motion operation is performed. Continuous operation is performed. Speed Speed Speed...
Page 12 Sensor Speed Torque control Push-motion Continuous Without operation operation push-motion Z-axis Coordinate Absolute positioning operation With push-motion Event jump function p.60 „ Return to the home position The motor returns to the home position at the speed same The motor returns to the home position by using external as normal positioning operation without using an external sensors or the stopper on the machine.
Page 13 OPERATING MANUALS for the AZ Series are listed below. The OPERATING MANUAL Function Edition (this manual) does not come with the product. For details, contact your nearest Oriental Motor sales office or download from Oriental Motor Website Download Page. Always keep the manual where it is readily available.
Page 14 The screens and operation procedures in the MEXE02 Ver. 3.10 and later differ from those in versions earlier than the MEXE02 Ver. 3.10. software MEXE02. Please contact your nearest Oriental Motor branch or sales office for further information. * In this manual, it is referred to as "MEXE02."...
Page 15 Operation This part explains the operation functions and parameters. Table of contents 1 Flow of setting required for High-speed JOG operation ....90 positioning operation ......16 Inching operation ........92 Combined JOG operation ....94 2 Setting of resolution ......17 Continuous operation ......
Page 16: Flow Of Setting Required For Positioning Operation
Flow of setting required for positioning operation Flow of setting required for positioning operation The contents of are explained in this manual. OPERATING MANUAL • Install the motor and the • Inst Driver driver and arrange wiring. driv • Set the home position. •...
Page 17: Setting Of Resolution
Setting of resolution Setting of resolution Set the resolution for combined use with the mechanism such as the geared motor and actuator. When the "Electronic gear A" and "Electronic gear B" parameters are set, the resolution per revolution of the motor output shaft can be set. Note that the calculated value must fall within the setting range specified below: Resolution setting range: 100 to 10000 P/R Related parameters...
Page 18 Setting of resolution „ Calculation of electronic gears A and B Calculation of electronic gears A and B is explained with examples of a ball screw and rotary table. z Calculation example 1: Ball screw • When a ball screw with a lead of 12 mm (0.47 in.) should be moved 0.01 mm (0.00039 in.) per step. •...
Page 19: Stored Data (Sd) Operation
Stored data (SD) operation Stored data (SD) operation Stored data operation is an operation executed by setting the motor operating speed, position (travel amount) and other items as operation data. * Before starting operation, set the position coordinate. Types of stored data (SD) operation Operation types Speed Speed...
Page 20 Stored data (SD) operation „ Operation types Operation types Description By setting the motor operating speed, position (travel amount) and other items as operation data, trapezoidal operation is performed from the present position to Positioning stored data (SD) the target position. The motor is started at the starting speed and accelerates until operation the operating speed is reached.
Page 21 Stored data (SD) operation Operation types Description Continuous stored data (SD) Operation is continued with the set operating speed. operation Operation mode Description The motor is started running at the starting speed and accelerates until the operating speed is reached. When Continuous operation (Position the operating speed is reached, operation is continued control)
Page 22 Stored data (SD) operation z Incremental positioning Set the target position by using the position to which the motor has moved as a start point of the next movement. It is suitable for operation in which the same travel amount is repeatedly used. Example: Setting to move from the present position "100"...
Page 23: Setting Of Data
Stored data (SD) operation Setting of data There are three types of settings concerning stored data operation as shown below. z Operation data The operation type, target position, operating speed, acceleration/deceleration rate, operating current, etc. required for stored data operation are set. z Operation I/O event The condition to generate an event required for the event jump function, the next data and linked method of the operation when an event is generated are set.
Page 24 Stored data (SD) operation Initial MEXE02 tree view Item Description value Sets the acceleration/deceleration rate (acceleration/ deceleration time) for start and change of the speed. Starting/changing rate 1,000,000 Setting range 1 to 1,000,000,000 (1=0.001 kHz/s, 1=0.001 s, or 1=0.001 ms/kHz) Sets the deceleration rate (deceleration time) for stop.
Page 25 Stored data (SD) operation Initial MEXE02 tree view Item Description value Sets the number of the operation I/O event to generate a low event. The condition to generate the event is set in Operation I/O event. (Low) I/O event No. −1 Setting range −1:−(Disable)
Page 26 Stored data (SD) operation For torque limiting in push-motion operation, set with "Operating current" in operation data. Set with the maximum holding torque as 100%. Example) If you want to limit the torque value to 50%, set the operating current to 50%. 100% 100% [Rotation speed]...
Page 27 Stored data (SD) operation „ Operation I/O event Operation I/O event is required for setting of (Low) I/O event No. and (High) I/O event No. of Operation data. Initial MEXE02 tree view Item Description value Sets the linked method after event trigger detection. Setting range 0: No link Link...
Page 28 Stored data (SD) operation „ Selection of operation data number There are three methods to select the operation data number to be started as shown below. • Selection by NET selection number • Direct selection (D-SEL0 to D-SEL7) • Selection using the M0 to M7 inputs The order of the priority is: NET selection number, direct selection , M0 to M7 inputs.
Page 29 Stored data (SD) operation z Selection using the M0 to M7 inputs This is a method in which the operation data number is selected by combining ON/OFF of the M0 to M7 inputs. Operation data number • • • • •...
Page 30: Positioning Sd Operation
Stored data (SD) operation Positioning SD operation Positioning SD operation is an operation executed by setting the motor operating speed, position (travel amount) and other items as operation data. When positioning SD operation is executed, the motor is started running at the starting speed and accelerates until the operating speed is reached. Once the operating speed is reached, that speed is maintained.
Page 31 Stored data (SD) operation „ Absolute positioning Sets the target position on coordinates with the home position as a reference. z Usage example When the motor is operated from the command position 100 to the target position 8600 Setting of operation data Operation image Speed Speed...
Page 32 Stored data (SD) operation „ Incremental positioning (based on command position) Sets the travel amount from the present command position to the target position. z Usage example When the motor is operated from the command position 100 to the target position 8600 Setting of operation data Operation image...
Page 33 Stored data (SD) operation „ Incremental positioning (based on feedback position) Sets the travel amount from the present feedback position to the target position. z Usage example When the motor is operated from the feedback position 100 to the target position 8600 Setting of operation data Operation image...
Page 34 Stored data (SD) operation „ Wrap absolute positioning Sets the target position within the wrap range to the operation data. z Usage example When the motor is operated from the command position 100 to the target position 8600 (Wrap setting range 18 rev, wrap offset ratio 50%) Setting of wrap function For the details of the wrap function, refer to "Wrap function"...
Page 35 Stored data (SD) operation „ Wrap proximity positioning Sets the target position within the wrap range. Positioning SD operation is executed in the rotation direction near to the target position. z Usage example When the motor is operated from the command position 100 to the target position 8600 (Wrap setting range 18 rev, wrap offset ratio 50%) Setting of wrap function Setting of operation data...
Page 36 Stored data (SD) operation „ Wrap forward direction absolute positioning Sets the target position within the wrap range to the operation data. Positioning SD operation is always executed in the forward direction regardless of the target position. z Usage example When the motor is operated from the command position 100 to the target position 8600 (Wrap setting range 18 rev, wrap offset ratio 50%) Setting of wrap function...
Page 37 Stored data (SD) operation „ Wrap reverse direction absolute positioning Sets the target position within the wrap range. Positioning SD operation is always executed in the reverse direction regardless of the target position. z Usage example When the motor is operated from the command position 100 to the target position 8600 (Wrap setting range 18 rev, wrap offset ratio 50%) Setting of wrap function Setting of operation data...
Page 38 Stored data (SD) operation z Orbit comparison of positioning SD operation The wrap setting range should be 1 rev, and the wrap offset ratio should be 50%. ( "Wrap function" on p.115) Initial value → Value set to "Position" of operation data Operation mode 250 →...
Page 39: Positioning Push-Motion Sd Operation
Stored data (SD) operation Positioning push-motion SD operation Positioning push-motion SD operation is an operation executed by setting the motor operating speed, position (travel amount) and other items as operation data. When positioning push-motion SD operation is executed, rectangular operation (drive without acceleration/deceleration time) is executed at an operating speed set in the operation data.
Page 40 Stored data (SD) operation • The travel amount of positioning push-motion SD operation is −2,147,483,648 to +2,147,483,647 steps. When the travel amount of the motor exceeds the maximum travel amount of the upper limit or lower limit, an alarm of operation data error is generated. •...
Page 41 Stored data (SD) operation „ Incremental positioning push-motion (based on feedback position) Sets the travel amount from the present feedback position to the target position. z Usage example When the motor is operated from the feedback position 100 to the target position 8600 Setting of operation data The reference position of the operation based on the feedback position varies depending on the...
Page 42 Stored data (SD) operation „ Wrap reverse direction push-motion Sets the target position within the wrap range. Positioning push-motion SD operation is always executed in the reverse direction regardless of the target position. z Usage example When the motor is operated from the present position to the target position 8600 Setting of operation data ▌42...
Page 43: Continuous Sd Operation
Stored data (SD) operation Continuous SD operation Continuous SD operation is an operation executed by setting the operating speed to the operation data. The motor is continuously operated in the forward direction when a positive operating speed is set, and in the reverse direction when a negative operating speed is set.
Page 44 Stored data (SD) operation „ Continuous operation (Position control) Set the operating speed to the operation data to execute operation. When the operation is executed, the motor is started running at the starting speed and accelerates until the operating speed is reached. When the operating speed is reached, operation is continued with the speed maintained.
Page 45 Stored data (SD) operation „ Continuous operation (Speed control) Sets the operating speed to the operation data to execute operation. When the operation is executed, the motor is started running at the starting speed and accelerates until the operating speed is reached. When the operating speed is reached, operation is continued with the speed maintained.
Page 46 Stored data (SD) operation „ Continuous operation (Push-motion) Set the operating speed to the operation data to execute operation. When the operation is executed, the motor is started running at the starting speed and accelerates until the operating speed is reached. When the operating speed is reached, operation is continued with the speed maintained.
Page 47 Stored data (SD) operation „ Continuous operation (Torque control) Rectangular operation (drive without acceleration/deceleration time) of the motor is executed at the speed set in the operation data, and operation is continued with the speed maintained. When a mechanism installed to the motor presses against a load, pressure is continuously applied to the load. z Usage example Setting of operation data Operation image...
Page 48: Mode For Link Operation Of Operation Data
Stored data (SD) operation Mode for link operation of operation data More than one operation data number are linked. If the base point for the link operation is changed using the M0 to M7 inputs or the D-SEL0 to D-SEL7 inputs, link operation with multiple patterns can be set. It can be used when setting a different operation pattern for each load.
Page 49 Stored data (SD) operation „ No link (single-motion operation) Operation is executed once with one operation data number. Related I/O signals Drive-complete delay time Motor operation START input M0 to M7 input MOVE output READY output IN-POS output SEQ-BSY output OPE-BSY output DELAY-BSY output CRNT output...
Page 50 Stored data (SD) operation „ Manual sequential operation Operation of the operation data number set in "Next data No." is executed whenever the SSTART input is turned ON. This method is convenient when multiple positioning operations must be executed sequentially, because there is no need to repeatedly select each operation data number. •...
Page 51 Stored data (SD) operation Timing chart 1. Check that the READY output is ON. 2. Select the operation data number using the M0 to M7 inputs. 3. Turn the START input ON. The READY output is turned OFF, and the SEQ-BSY output is turned ON. Then, the motor starts operation. 4.
Page 52 Stored data (SD) operation Related I/O signals Motor operation START input SSTART input M0 to M7 input MOVE output READY output IN-POS output SEQ-BSY output OPE-BSY output DELAY-BSY output CRNT output MBC output D-END0 output D-END1 output D-END2 output M-ACT0 to M-ACT7 output M-CHG output AUTO-CD output ▌52...
Page 53 Stored data (SD) operation „ Automatic sequential operation More than one operation are executed automatically and sequentially. After one operation is complete, operation of the operation data number set in "Next data No." is started after stop for the time set in "Drive-complete delay time."...
Page 54 Stored data (SD) operation Related I/O signals Motor operation START input M0 to M7 input MOVE output READY output IN-POS output SEQ-BSY output OPE-BSY output DELAY-BSY output CRNT output MBC output D-END0 output D-END1 output D-END2 output M-ACT0 to M-ACT7 output M-CHG output AUTO-CD output ▌54...
Page 55 Stored data (SD) operation „ Type connection operation Operation of the operation data number set in "Next data No." is executed continuously without stopping the motor. If operation data includes data for which "No link" is set, the motor is stopped after the stored data operation with respect to the "no link"...
Page 56 Stored data (SD) operation Timing chart 1. Check that the READY output is ON. 2. Select the operation data number using the M0 to M7 inputs. 3. Turn the START input ON. The READY output is turned OFF, and the SEQ-BSY output is turned ON. Then, the motor starts operation. 4.
Page 57 Stored data (SD) operation Related I/O signals Motor operation START input M0 to M7 input MOVE output READY output IN-POS output SEQ-BSY output OPE-BSY output DELAY-BSY output CRNT output MBC output D-END0 output D-END1 output D-END2 output D-END3 output M-ACT0 to M-ACT7 output M-CHG output 57▐...
Page 58: Sequence Function
Stored data (SD) operation Sequence function „ Loop function The loop function is a function to repeat the operation of the linked operation data number for the number of times set. Operation is repeated from the operation data number for which "Loop count" is set to the operation data number to which "Loop end No."...
Page 59 Stored data (SD) operation z Usage example When operation from the operation data No.0 to No.1 is repeated three times Setting of operation data Operation image Speed Speed 2000 2000 No.2 1000 1000 No.0 No.0 No.0 2000 5000 Position Time -500 -500 No.1...
Page 60 Stored data (SD) operation • In case of incremental positioning The travel amount to the target position is offset. Operation image Speed Loop o set 1200 1000 1100 1200 Position -500 -1200 „ Event jump function The event jump function is a function to branch operation with ON/OFF of the signal set in "Event trigger I/O"...
Page 61 Stored data (SD) operation Related I/O event Initial MEXE02 tree view Item Description value Sets the link method after event trigger detection. Setting range 0: No link Link 1: Manual sequential 2: Automatic sequential 3: Continuous form connection Sets the next data. Setting range −256: Stop −256...
Page 62 Stored data (SD) operation z Event trigger type ON edge OFF edge Trigger I/O Trigger I/O Trigger count Trigger count Internal timer Internal timer Event Event ON (msec) OFF (msec) Trigger I/O Trigger I/O Trigger count Trigger count Internal timer Internal timer Event Event...
Page 63 Stored data (SD) operation z Usage example When absolute positioning push-motion operation of an operation data No.0 is executed • Without push-motion: Operation of No.1 is started after completion of operation of No.0. (No event generated) • With push-motion: Operation of No.2 is started after detection of the ON edge of the TLC output. (Low event generated) Setting of operation data Operation I/O event setting...
Page 64: Extended Operation Data Setting
Stored data (SD) operation Extended operation data setting The specification of the operation data can be extended. „ Extended loop function The extended loop function is a function to execute loop operation for a number of times that cannot be set in operation data (256 or more). You can use this function to repeat simple operation as in an endurance test.
Page 65 Stored data (SD) operation Related extended operation data setting Initial MEXE02 tree view Item Description value Sets the operation data number from which extended loop operation is started. Repeat start data No. −1 Setting range −1: Disable 0 to 255: Operation data number Sets the operation data number in which extended loop operation is completed.
Page 66: Stop Operation
Stored data (SD) operation „ Common setting and separate setting of acceleration/deceleration In "Rate selection" of extended operation data setting, the acceleration/deceleration in stored data operation and continuous macro operation can be set as follows. • Common setting: The values set in the "Common acceleration rate or time" and "Common stopping deceleration"...
Page 67 Stored data (SD) operation „ Hardware overtravel Hardware overtravel is a function that limits the range of movement by installing the limit sensors (FW-LS, RV-LS) at the upper and lower limit of the moving range. If the "FW-LS, RV-LS input action" parameter is set, the motor can be stopped when detecting the limit sensors.
Page 68: Base Current And Stop Current
Stored data (SD) operation 3-10 Base current and stop current „ Base current Set the base current rate (%) for the operating current and stop current. The maximum driver output current can be changed using the "Base current" parameter. If the load is small and there is an ample allowance for torque, the motor temperature rise can be suppressed by setting a lower base current.
Page 69: Acceleration/Deceleration Unit
Stored data (SD) operation 3-11 Acceleration/deceleration unit Set the acceleration/deceleration unit using the "Acceleration/deceleration unit" parameter. The settable units are the acceleration/deceleration rate (kHz/s, ms/kHz) and the acceleration/deceleration time (s). Explanation of labels • TVEL: Operating speed • SVEL: Starting speed •...
Page 70: Starting Speed
Stored data (SD) operation 3-12 Starting speed Set the operating speed of the motor at the time of operation start. Rectangular operation (drive without acceleration/deceleration time) is executed at the operating speed if the operating speed is below the starting speed. Related parameters Initial MEXE02 tree view...
Page 71: Return-To-Home Operation
Return-to-home operation Return-to-home operation High-speed return-to-home operation High-speed return-to-home operation is an operation to return to the mechanical home position on the absolute position coordinate set in advance. Since the home position is recognized by the ABZO sensor, return-to-home operation can be executed at the same speed as that of the normal positioning operation without using an external sensor.
Page 72 Return-to-home operation Related parameters Initial MEXE02 tree view Parameter name Description value Sets the operating speed. (ZHOME) Operation speed 5000 Setting range 1 to 4,000,000 Hz Sets the acceleration/deceleration rate or acceleration/deceleration time. (ZHOME) Acceleration/ 1,000,000 Setting range deceleration 1 to 1,000,000,000 (1=0.001 kHz/s, 1=0.001 s, or 1=0.001 ms/kHz) Sets the starting speed.
Page 73: Return-To-Home Operation
Return-to-home operation ZHOME input HOME-END output 2 ms or less IN-POS output 2 ms or less PLS-RDY output 2 ms or less READY output 2 ms or less DCMD-RDY output 2 ms or less MOVE output Excitation Motor excitation Non-excitation Hold Electromagnetic brake Release...
Page 74 Return-to-home operation Item Description Features The motor rotates in the reverse direction when a mechanism installed to the motor presses against a stopper, etc. on the machine. After that, the motor moves according to the value of "(HOME) Backward steps after first entry in push motion home-seeking,"...
Page 75 Return-to-home operation Related parameters Initial MEXE02 tree view Parameter name Description value Sets the mode for return-to-home operation. Setting range (HOME) Home-seeking 0: 2-sensor mode 1: 3-sensor 2: One-way rotation 3: Push-motion Sets the starting direction for home detection. (HOME) Starting direction Setting range 0: Negative side 1: Positive side...
Page 76 Return-to-home operation Initial MEXE02 tree view Parameter name Description value Sets the generation time of the TLC output to judge push-motion completion. (HOME) Pushing time in push motion home-seeking Setting range 1 to 65535 ms Motor and mechanism Sets the backward steps after the position of mechanical end is set in push-motion (HOME) Backward steps return-to-home operation.
Page 77 Return-to-home operation Related parameters Initial MEXE02 tree view Parameter name Description value Sets whether or not to concurrently use the SLIT input for return-to-home operation. (HOME) SLIT detection Setting range 0: Disable 1: Enable Sets whether or not to concurrently use the TIM signal or ZSG signal for return-to-home operation.
Page 78 Return-to-home operation „ Operation sequence z 3-sensor mode When the limit sensor is detected during operation, the motor rotates in the reverse direction and pulls out of the limit sensor. When operation is performed at the return-to-home operation speed and the ON edge of the HOME sensor is detected, operation is stopped.
Page 79 Return-to-home operation When only the HOME sensor is used (rotating mechanism, etc.) If the limit sensor is not used, in case of a rotating mechanism for example, the sequence is as follows. Starting position of Starting direction of return-to-home Starting direction of return-to-home return-to-home operation operation: Positive side operation: Negative side...
Page 80 Return-to-home operation When the SLIT input, TIM signal, and ZSG signal are used concurrently Even after return-to-home operation is complete, operation is continued until an external signal is detected. If an external signal is detected while the HOME sensor is ON, return-to-home operation is complete.
Page 81 Return-to-home operation z 2-sensor mode The motor is operated in the starting direction of return-to-home at the starting speed. When the limit sensor is detected, the motor rotates in the reverse direction and pulls out of the limit sensor at the last speed.
Page 82 Return-to-home operation When the SLIT input and/or TIM signal are used concurrently Even after return-to-home operation is complete, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is complete. Home position Starting direction of return-to-home Starting direction of return-to-home detection signal operation: Positive side...
Page 83 Return-to-home operation z One-way rotation mode The motor is operated in the starting direction of return-to-home at the operating speed and decelerates to a stop when the HOME sensor is detected. After that, it pulls out of the range of the HOME sensor at the last speed, operates according to the value of operating amount in return-to-home at the starting speed after pulling out, and stops.
Page 84 Return-to-home operation When SLIT input and/or TIM signal are used concurrently Even after return-to-home operation is complete, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is complete. Home position Starting direction of return-to-home Starting direction of return-to-home detection signal operation: Positive side...
Page 85 Return-to-home operation z Push mode The motor rotates in the reverse direction when it is operated in the starting direction of return-to-home at the operating speed and a mechanism installed to the motor presses against a stopper, etc. mounted at the mechanical end.
Page 86 Return-to-home operation When the SLIT input, TIM signal, and ZSG signal are used concurrently Even after return-to-home operation is complete, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is complete. Home position Starting direction of return-to-home Starting direction of return-to-home detection signal...
Page 87: Macro Operation
Macro operation Macro operation Macro operation is an operation type in which a specific input signal is turned ON to automatically perform operation corresponding to the signal. The macro operation includes JOG operation, inching operation, continuous operation, etc. The travel amount, operating speed, acceleration/deceleration and stopping decelerations for each operation are set with parameters.
Page 88: Jog Operation
Macro operation With macro operation, link of operation data, loop function, and event jump function cannot be used. If you want to link operation data, use stored data operation. JOG operation With JOG operation, the motor operates continuously in one direction while the FW-JOG input or RV-JOG input is ON.
Page 89 Macro operation „ Timing chart 1. Check that the READY output is ON. 2. Turn the FW-JOG input (or RV-JOG input) ON. The READY output is turned OFF, and the MOVE output is turned ON. Then, the motor starts operation. 3.
Page 90: High-Speed Jog Operation
Macro operation High-speed JOG operation With high-speed JOG operation, the motor operates continuously in one direction at a high speed while the FW-JOG-H input or RV-JOG-H input is ON. If the input signal is turned OFF, the motor decelerates to a stop.
Page 91 Macro operation „ Timing chart 1. Check that the READY output is ON. 2. Turn the FW-JOG-H input (or RV-JOG-H input) ON. The READY output is turned OFF, and the MOVE output is turned ON. Then, the motor starts operation. 3.
Page 92: Inching Operation
Macro operation Inching operation With inching operation, when the FW-JOG-P input or RV-JOG-P input is turned from OFF to ON, positioning operation is executed. After rotating according to the number of the steps set in "(JOG) Travel amount," the motor stops. „...
Page 93 Macro operation „ Timing chart 1. Check that the READY output is ON. 2. Turn the FW-JOG-P input (or RV-JOG-P input) ON. The IN-POS output and the READY output are turned OFF, and the MOVE output is turned ON. Then, the motor starts operation.
Page 94: Combined Jog Operation
Macro operation Combined JOG operation With combined JOG operation, the operation transits in the order of inching operation → JOG operation → high-speed JOG operation while the FW-JOG-C input or RV-JOG-C input is ON. When the FW-JOG-C input or RV-JOG-C input is turned ON, operation is started. When it is turned OFF, the motor decelerates to a stop.
Page 95 Macro operation Initial MEXE02 tree view Parameter name Description value Sets the timing to transit from inching operation to JOG operation in combined JOG-C time from JOG-P to JOG operation. Setting range 1 to 5000 (1=0.001 s) I/O action and function Sets the timing to transit from JOG operation to high-speed JOG operation in JOG-C time from JOG to...
Page 96: Continuous Operation
Macro operation Continuous operation The motor operates continuously at the operating speed of the operation data number selected while the FW-POS input or RV-POS input is ON. When the operation data number is changed while executing continuous operation, the speed is changed. When the FW-POS input or RV-POS input is turned OFF, the motor decelerates to a stop.
Page 97 Macro operation Related parameters MEXE02 tree view Parameter name Description Initial value Sets the starting speed. Base setting Starting speed Setting range 0 to 4,000,000 Hz „ Timing chart 1. Check that the READY output is ON. 2. Turn the FW-POS input (or RV-POS input) ON. The READY output is turned OFF, and the MOVE output is turned ON.
Page 98: Speed Control Operation
Macro operation Speed control operation The motor operates continuously at the operating speed of the operation data number selected while the FW-SPD input or RV-SPD input is ON. When the operation data number is changed while executing speed control operation, the speed is changed. When the FW-SPD input or RV-SPD input is turned OFF, the motor decelerates to a stop.
Page 99 Macro operation Related parameters Parameter Initial MEXE02 tree view Description name value Sets the starting speed. Base setting Starting speed Setting range 0 to 4,000,000 Hz „ Timing chart 1. Check that the READY output is ON. 2. Turn the FW-SPD input (or RV-SPD input) ON. The READY output is turned OFF, and the MOVE output is turned ON.
Page 100: Speed Control Push-Motion Operation
Macro operation Speed control push-motion operation The motor operates continuously at the operating speed of the operation data number selected while the FW-PSH input or RV-PSH input is ON. When the operation data number is changed while executing speed control push-motion operation, the speed is changed. When the FW-PSH input or RV-PSH input is turned OFF, the motor decelerates to a stop.
Page 101 Macro operation Related parameters Parameter Initial MEXE02 tree view Description name value Sets the starting speed. Base setting Starting speed Setting range 0 to 4,000,000 Hz „ Timing chart 1. Check that the READY output is ON. 2. Turn the FW-PSH input (or RV-PSH input) ON. The READY output is turned OFF, and the MOVE output is turned ON.
Page 102: Relationship Between Operation Type And Operation Data And Parameter
Relationship between operation type and operation data and parameter Relationship between operation type and operation data and parameter MEXE02 tree view Parameter name Operation data Operation data ¡ Operation I/O event Operation I/O event ¡ Extended operation data setting Extended operation data setting ¡...
Page 103 Relationship between operation type and operation data and parameter Return-to-home operation Macro operation ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡...
Page 104 Relationship between operation type and operation data and parameter MEXE02 tree view Parameter name (HOME) Acceleration/deceleration rate (HOME) Starting speed (HOME) Operating speed (HOME) Last speed (HOME) SLIT detection (HOME) TIM/ZSG signal detection (HOME) Position offset (HOME) Backward steps in 2 sensor home- Motor and Mechanism seeking (Coordinates/JOG/Home Operation)
Page 105 Relationship between operation type and operation data and parameter Return-to-home operation Macro operation ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡ ¡...
Page 106: 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 absolute encoder). In the ABZO sensor, the present coordinate is recorded mechanically and calculated when the power is turned on.
Page 107 Position coordinate management Example 1: Factory setting of the motor To use coordinates both in forward and reverse directions, 1800 revolutions are divided into positive and negative revolutions, 50% for each direction. Motor output shaft -900 to 900 revolutions -900 rev 900 rev Example 2: Motorized actuators When a motorized actuator is used, setting in the figure is also possible.
Page 108 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 109 Position coordinate management z Relationship between present position and 32 bit counter in driver In case of a motor whose resolution is 1000 P/R, for example, the motor output shaft rotates once in 1000 steps. Then, assume that the wrap function is set as follows. MEXE02 tree view Parameter name Set value...
Page 110: Position Coordinate Origin
Position coordinate management z Setting example of index table The following 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 111: Setting Of Position Coordinate
Position coordinate management „ Electrical home position The electrical home position is the home position that is set in the driver. When the EL-PRST input is turned ON, the electrical home position is set. The motor operates in the coordinate system with the electrical home position as the home position.
Page 112: Parameters Related To Abzo Sensor
Position coordinate management „ Setting of electrical home position The command position when the EL-PRST input is turned from OFF to ON becomes the electrical home position. While the EL-PRST input is ON, operation is performed on coordinates with the electrical home position in the center.
Page 113: Mechanism Settings Parameter
Position coordinate management Initial MEXE02 tree view Parameter name Description value To change the operation parameter, select manual setting. JOG/HOME/ZHOME Motor and mechanism Setting range operation manual setting 0: Encoder setting is prioritized 1: Manual setting „ When the parameter of the wrap function is set z Setting example: When the resolution is set to 1000 P/R and the wrap range to 0 to 100 revolutions 1.
Page 114 Position coordinate management „ Mechanism type The unit system of operation data can be changed according to the mechanism. This parameter is applied only to the MEXE02. Related parameters MEXE02 tree view Parameter name Description Initial value Selects the unit system of the parameter. Setting range 0: Step Motor and mechanism...
Page 115: Gear Ratio
Position coordinate management Gear ratio Sets the gear ratio of the geared motor. Initial coordinate generation & wrap coordinate parameter This is a parameter to be used for generation of the coordinate system. „ Wrap function For the wrap function, refer to p.108. ( p.108) z Related operation type Set the wrap function to perform the following stored data operations.
Page 116 Position coordinate management Value that can be set in the "Initial coordinate generation & wrap setting range" parameter Wrap setting range [rev] 12.0 25.0 72.0 200.0 12.5 30.0 75.0 225.0 14.4 36.0 90.0 300.0 15.0 37.5 100.0 360.0 18.0 40.0 112.5 450.0 20.0...
Page 117 Position coordinate management Example 2: Coordinate when the "Wrap setting range" is 1800 rev and the resolution is 1000 P/R MEXE02 tree view Parameter name Setting Initial coordinate generation & manual wrap setting Manual setting Wrap setting Enable Initial coordinate generation & wrap setting range 1800 rev Motor and mechanism Initial coordinate generation &...
Page 118 Position coordinate management Setting example 1 • Wrap setting range: 100 rev • Resolution: 1000 P/R (Electronic gear A=1, Electronic gear B=1) • Motor: Standard motor (gear ratio 1) 1800 1800 Condition (1) = 18 Wrap setting range Electronic gear B Condition (2) Wrap setting range ×...
Page 119 Position coordinate management „ Wrap offset function The position of the boundary point of the wrap range can be offset by using the mechanical home position as a reference. Wrap offset is set in the "Initial coordinate generation & wrap range offset ratio" parameter and the "Initial coordinate generation &...
Page 120: Mechanism Limit
Position coordinate management „ RND-ZERO output The RND-ZERO output is a signal output for each boundary point of division when the wrap range is divided evenly with the home position as a reference. The number of division can be set in the "The number of the RND-ZERO output in wrap range"...
Page 121: Position Coordinate Information Monitor Function
Position coordinate management 7-10 Position coordinate information monitor function There are two methods to synchronize the coordinate system managed by the ABZO sensor and the coordinate system of the master controller as shown below. • Clear the encoder counter of the master controller to 0 after high-speed return-to-home operation, position preset, or return-to-home operation is complete.
Page 122 Position coordinate management Output example When the motor rotates 700 steps from the mechanical home position, in the forward direction (when the settings of the parameters are as shown in the table below) MEXE02 tree view Parameter name value Electronic gear A Electronic gear B Motor and mechanism Initial coordinate generation &...
Page 123 Position coordinate management z Checksum The checksum is the lower 8 bit obtained by dividing the transmission data by 1 byte and adding them by 1 byte. It is information to check whether the data are output correctly. Output example The feedback position and the alarm code are output while an alarm of hardware overtravel (alarm code: 66h) is generated with the feedback position 300 steps.
Page 124 Position coordinate management „ Pulse request function The pulse request function is a function to transmit the present position (absolute position) to the master controller by using the A-phase and B-phase outputs. When the A-phase and B-phase outputs of the encoder counter of the master controller and driver are connected and the pulse request function is executed, the present position of the driver can be output as A-phase and B-phase pulses.
Page 125 Position coordinate management Do not operate the motor while the position coordinate information is output. If the motor is operated, the present position cannot be synchronized between the ABZO sensor and master controller. 125▐...
Page 126 ▌126...
Page 127 I/O signals This chapter explains input signals and output signals. Table of contents 1 Overview of I/O signals ....128 5 Output signals ........175 Overview of input signals ....128 Management of driver .......175 Overview of output signals ....129 Management of operation ....176 Setting contents of input signals Latch information display ....186 and output signals .......130...
Page 128: Overview Of I/O Signals
Overview of I/O signals Overview of I/O signals Overview of input signals „ Direct input Direct input (DIN) is a method in which a signal is input directly by connecting the I/O cable to the connector. If you use the composite function, one input can turn two signals ON simultaneously, realizing saving of wiring.
Page 129: Overview Of Output Signals
Overview of I/O signals Setting example of the MEXE02: When the TLC output is turned ON, the STOP input is turned ON and motor is stopped Overview of output signals „ Direct output Direct output (DOUT) is a method in which a signal is output directly by connecting the I/O cable to the connector.
Page 130: Setting Contents Of Input Signals And Output Signals
Overview of I/O signals „ User output User output (USR-OUT) is a method in which a signal is output by using the internal I/O. Two types of signals (A and B) are assigned to one user output. When logical combination of A and B has been established, USR-OUT is output.
Page 131 Overview of I/O signals z Change of ON/OFF setting of input signals Initial MEXE02 tree view Parameter name Description value Changes ON/OFF of DIN0 to DIN9. Setting range Direct-IN function Inverting mode 0: Non invert 1: Invert z ON signal dead-time Initial MEXE02 tree view Parameter name...
Page 132 Overview of I/O signals „ Virtual input z Virtual input function selection Parameter Initial MEXE02 tree view Description name value Selects the input signal to be assigned to VIR-IN0 to VIR-IN3. EXT-IN and VIR-IN and Virtual input 0: Not used USR-OUT function function selection Setting range...
Page 133 Overview of I/O signals „ Direct output z (Normal) Output function Parameter MEXE02 tree view Description Initial value name DOUT0 output 144: HOME-END function DOUT1 output 138: IN-POS function DOUT2 output Selects the output signal to be assigned to 133: PLS-RDY function DOUT0 to DOUT5.
Page 134 Overview of I/O signals z Composite Output function MEXE02 tree view Parameter name Description Initial value Selects the output signal for logical operation with the signals of DOUT0 128: to DOUT5. Direct-OUT function Composite output function CONST-OFF Setting range "2-2 Output signal list" on p.138 z Composite Inverting mode Initial MEXE02 tree view...
Page 135 Overview of I/O signals z User output logic link selection Initial MEXE02 tree view Parameter name Description value Sets the logical combination of User output resources A and B. EXT-IN and VIR-IN and User output logic link Setting range USR-OUT function selection 0: AND 1: OR...
Page 136: Signal List
Signal list Signal list Assign input and output signals using the MEXE02 or RS-485 communication. Input signal list To assign signals in the network, use the "Assignment number" in the table instead of the signal names. For details of each signal, refer to "4 Input signals" on p.151. Assignment Signal name Function...
Page 137 Signal list Assignment Signal name Function number NEXT Transit forcibly to the linked operation data number. HOME Execute return-to-home operation. ZHOME Execute high-speed return-to-home operation. D-SEL0 D-SEL1 D-SEL2 D-SEL3 Execute direct positioning operation. D-SEL4 D-SEL5 D-SEL6 D-SEL7 FW-JOG Execute JOG operation in the forward direction. RV-JOG Execute JOG operation in the reverse direction.
Page 138: Output Signal List
Signal list Assignment Signal name Function number General signals. Output signal list To assign signals in the network, use the "Assignment number" in the table instead of the signal names. For details of each signal, refer to "5 Output signals" on p.175. Assignment Signal name Function...
Page 139 Signal list Assignment Signal name Function number PLS-DIS_R T-MODE_R CRNT-LMT_R SPD-LMT_R FW-BLK_R RV-BLK_R FW-LS_R RV-LS_R HOMES_R SLIT_R START_R SSTART_R NEXT_R HOME_R ZHOME_R D-SEL0_R D-SEL1_R D-SEL2_R D-SEL3_R D-SEL4_R Output in response to the input signal. D-SEL5_R D-SEL6_R D-SEL7_R FW-JOG_R RV-JOG_R FW-JOG-H_R RV-JOG-H_R FW-JOG-P_R RV-JOG-P_R...
Page 140 Signal list Assignment Signal name Function number M2_R M3_R M4_R M5_R M6_R M7_R TEACH_R MON-REQ0_R MON-REQ1_R MON-CLK_R PLSM-REQ_R R0_R R1_R R2_R Output in response to the input signal. R3_R R4_R R5_R R6_R R7_R R8_R R9_R R10_R R11_R R12_R R13_R R14_R R15_R CONST-OFF The output function is not used.
Page 141 Signal list Assignment Signal name Function number Output when the operating speed reaches the target speed. CRNT Output while the motor is excited. AUTO-CD Output when the motor is in automatic current cutback status. Output upon completion of high-speed return-to-home operation or return-to- HOME-END home operation and when position preset is executed.
Page 142 Signal list Assignment Signal name Function number PAUSE-BSY Output when the motor is in pause status. SEQ-BSY Output when stored data operation is executed. DELAY-BSY Output when the driver is in waiting status (Drive-complete delay time, Dwell) JUMP0-LAT Output when a low event trigger is detected. JUMP1-LAT Output when a high event trigger is detected.
Page 143 Signal list Assignment Signal name Function number INFO-ZHOME INFO-PR-REQ INFO-EGR-E INFO-RND-E INFO-NET-E INFO-FW-OT INFO-RV-OT Output when corresponding information is generated. INFO-CULD0 For the list of information, refer to p.447. INFO-CULD1 INFO-TRIP INFO-ODO INFO-DSLMTD INFO-IOTEST INFO-CFG INFO-RBT 143▐...
Page 144: Signal Types
Signal types Signal types Direct I/O Direct I/O is I/O accessed via the I/O signal connector. „ Assignment to input terminals Assign the input signals to DIN0 to DIN9 of the input terminals by parameters. For input signals that can be assigned, refer to "2-1 Input signal list" on p.136. Connector Connector Terminal...
Page 145 Signal types „ Assignment of output signals Assign the output signals to DOUT0 to DOUT5 of the output terminals by parameters. For output signals that can be assigned, refer to "2-2 Output signal list" on p.138. Connector Connector Terminal Terminal terminal Initial value terminal...
Page 146 Signal types „ Pin assignments list • AC input driver: CN5 connector • DC input driver: CN4 connector Signal Signal Description * Description * name name Control input 0 (START) Control input 1 (M0) Control input 2 (M1) Control input 3 (M2) Control input 4 Control input 5 (FREE) (ZHOME)
Page 147 Signal types „ Connecting to a current sink output circuit Controller Driver 2.2 kΩ 4.7 kΩ 2.2 kΩ 4.7 kΩ 2.2 kΩ 4.7 kΩ 4.7 kΩ 2.2 kΩ 4.7 kΩ 2.2 kΩ 4.7 kΩ 2.2 kΩ 4.7 kΩ 2.2 kΩ 4.7 kΩ...
Page 148 Signal types „ Connecting to a current source output circuit Controller Driver 24 VDC 4.7 kΩ 2.2 kΩ 4.7 kΩ 2.2 kΩ 4.7 kΩ 2.2 kΩ 4.7 kΩ 2.2 kΩ 4.7 kΩ 2.2 kΩ 4.7 kΩ 2.2 kΩ 4.7 kΩ 2.2 kΩ...
Page 149: Network I/O
Signal types Network I/O Network I/O is I/O accessed via RS-485 communication. „ Assignment to input signals Assign the input signals shown below to the NET-IN0 to NET-IN15 of the network I/O by parameters. For input signals that can be assigned, refer to "2-1 Input signal list" on p.136. See each protocol for the assignment of the NET-IN0 to NET-IN15.
Page 150 Signal types „ Assignment to output signals Assign the output signals shown below to the NET-OUT0 to NET-OUT15 of the network I/O by parameters. For output signals that can be assigned, refer to "2-2 Output signal list" on p.138. See each protocol for the assignments of the NET-OUT0 to NET-OUT15. Network OUT signal name Initial value Network OUT signal name...
Page 151: Input Signals
Input signals Input signals Operation control „ Excitation switching signal This signal is used to switch the motor excitation condition between excitation and non-excitation. z FREE input When the FREE input is turned ON, the motor current is cut off and the motor is not excited. The motor output shaft can be rotated manually since the motor holding torque is lost.
Page 152 Input signals When the motor is not excited 1. When the FREE input is turned ON, the electromagnetic brake is released. 2. When the FREE input is turned OFF, the electromagnetic brake is held. FREE input PLS-RDY output READY output Excitation Motor excitation Non-excitation...
Page 153 Input signals C-ON input 2 ms or less 250 ms or less PLS-RDY output 2 ms or less 250 ms or less READY output 250 ms or less 200 ms or less Excitation Motor excitation Non-excitation 60 ms or less 250 ms or less Hold Electromagnetic brake...
Page 154 Input signals 2 ms or more CLR input 2 ms or less 2 ms or less PLS-RDY output 2 ms or less READY output 2 ms or less MOVE output Excitation Motor excitation Non-excitation Hold Electromagnetic brake Release 5 ms or less Motor operation z STOP-COFF input When the STOP-COFF input is turned ON, the motor stops and is not excited.
Page 155 Input signals When the STOP/STOP-COFF input action is "Deceleration stop" (The motor stops while the STOP-COFF input is ON) 1. When the STOP-COFF input is turned ON during operation, the PLS-RDY output is turned OFF, and the motor starts stop operation. When the motor stops, it is not excited.
Page 156 Input signals When the STOP/STOP-COFF input action is "Deceleration stop" (The motor does not stop while the STOP-COFF input is ON) 1. When the STOP-COFF input is turned ON during operation, the PLS-RDY output is turned OFF, and the motor starts stop operation.
Page 157 Input signals z STOP input When the STOP input is turned ON, the motor stops. Function for each operation Operation types Function Operation is stopped according to the "STOP/STOP-COFF input action" parameter. Pulse-input operation The pulse input is disabled. Stored data operation Operation is stopped according to the "STOP/STOP-COFF input action"...
Page 158 Input signals 2 ms or more STOP input 2 ms or less 2 ms or less PLS-RDY output 2 ms or less READY output MOVE output 2 ms or less Motor operation Excitation Motor excitation Non-excitation Hold Electromagnetic brake Release It varies depending on the driving condition.
Page 159 Input signals When the STOP/STOP-COFF input action is "Immediate stop" 1. When the STOP input is turned ON during operation, the PLS-RDY output is turned OFF. The motor stops at the command position at the time when the ON status of the STOP input was detected. 2.
Page 160 Input signals z PAUSE input When the PAUSE input is turned ON, the motor decelerates to a temporary stop. While push-motion is applied to the load in push-motion operation, the motor stops with the position deviation retained. Function for each operation Operation types Function Pulse-input operation...
Page 161 Input signals In case of stored data operation and direct data operation 1. When the PAUSE input is turned ON during operation, the PLS-RDY output is turned OFF, and the PAUSE-BSY output is turned ON. The motor starts deceleration stop. 2.
Page 162 Input signals In case of stored data operation and direct data operation (The PAUSE input is turned OFF during deceleration stop) 1. When the PAUSE input is turned ON during operation, the PLS-RDY output is turned OFF, and the PAUSE-BSY output is turned ON.
Page 163 Input signals z FW-BLK input and RV-BLK input The motor stops operation in the forward direction when the FW-BLK input is turned ON and stops operation in the reverse direction when the RV-BLK input is turned ON. When each input is ON, the motor does not operate even if the operation start signal in the stopping direction is input.
Page 164 Input signals When the FW-BLK, RV-BLK input action is "Deceleration stop" (The motor stops while the FW-BLK input is ON) 1. When the FW-BLK input is turned ON during operation in the forward direction, the motor starts stop operation. 2. When operation stops, the READY output is turned ON. 3.
Page 165 Input signals When the FW-BLK, RV-BLK input action is "Deceleration stop" (The motor does not stop while the FW-BLK input is ON) 1. When the FW-BLK input is turned ON during operation in the forward direction, the motor starts stop operation. 2.
Page 166 Input signals „ Signals used for stored data operation z BREAK-ATSQ While the BREAK-ATSQ input is ON, Automatic sequential is switched to Manual sequential. z START input When the START input is turned ON after selecting the operation data number, stored data operation is started.
Page 167 Input signals z M0 to M7 inputs Select a desired operation data number for positioning operation or continuous operation based on the combination of ON/OFF status of the M0 to M7. Operation data No. • • • • • • •...
Page 168 Input signals „ Signals used for macro operation z FW-JOG input and RV-JOG input When the FW-JOG input is turned ON, JOG operation is performed in the forward direction, and when the RV-JOG input is turned ON, JOG operation is performed in the reverse direction. z FW-JOG-H input and RV-JOG-H input When the FW-JOG-H input is turned ON, high-speed JOG operation is performed in the forward direction, and when the RV-JOG-H input is turned ON, high-speed JOG operation is performed in the reverse...
Page 169: Position Coordinate Management
Input signals Position coordinate management „ External sensor input signal z FW-LS input and RV-LS input These signals are input signals from the limit sensors. The FW-LS input is from the sensor in the forward direction, and the RV-LS input is from the sensor in the reverse direction. •...
Page 170 Input signals „ Position coordinate preset signal This is a signal to preset the mechanical home position or electrical home position. z P-PRESET input When the P-PRESET input is turned ON, the command position and feedback position are rewritten to the values set in the "Preset position"...
Page 171 Input signals „ Position coordinate information monitor function signal This signal is used in the position coordinate information monitor function. For details of the position coordinate information monitor function, refer to p.121. z MON-REQ0 input and MON-REQ1 input Select information to be output by the I/O position output function. When the MON-REQ input is turned ON, information selected in each parameter is output.
Page 172: Management Of Driver
Input signals Management of driver „ Status releasing signal Signals and status that are not reset automatically are released. z ALM-RST input When an alarm is generated, the motor stops. If the ALM-RST input is turned from OFF to ON at this time, the alarm is reset (the alarm is reset at the ON edge of the ALM-RST input).
Page 173 Input signals „ Driver function change signal z HMI input When the HMI input is turned ON, the function limitation of the MEXE02 is released. When the HMI input is turned OFF, the function limitation is imposed. The following functions are limited. •...
Page 174 Input signals z T-MODE input When the T-MODE input is turned ON, the alarm of overload is disabled. In pulse-input operation, the T-MODE input is turned ON when push-motion is executed. z CRNT-LMT input When the CRNT-LMT input is turned ON, the operating current is limited. Related parameters Initial MEXE02 tree view...
Page 175: Output Signals
Output signals Output signals Management of driver „ Driver status display signal z ALM-A output and ALM-B output When an alarm is generated, the ALM-A output is turned ON, and the ALM-B output is turned OFF. At the same time, the PWR/ALM LED on the driver blinks in red, and the motor stops. When an alarm with which excitation becomes OFF, the motor is not excited after it stops.
Page 176: Management Of Operation
Output signals z MBC output Use this signal to control the electromagnetic brake in the master controller. The MBC output is turned ON when the electromagnetic brake is released and turned OFF when it is held. Detect ON/OFF of the MBC output in the master controller to control the electromagnetic brake. z RG output This signal is output in the driver with regeneration unit connected.
Page 177 Output signals z IN-POS output After completion of positioning operation, when the motor was converged in a position of the "IN-POS positioning completion signal range" parameter against the command position, the IN-POS output is turned ON. Target position Positioning completion signal range IN-POS output Related parameters Initial...
Page 178 Output signals z VA output This signal is turned ON when the operating speed reaches the target speed. The criteria can be set in the "VA mode selection" parameter. When the "VA mode selection" parameter is "Feedback speed attainment (speed at feedback position)"...
Page 179 Output signals z CRNT-LMTD output This signal is enabled when current limiting is executed. When the operating current reaches or exceeds the value set in the "CRNT-LMT operating current limit value" parameter, the CRNT-LMTD output is turned ON. At the same time, the operating current is limited. Related parameters Initial MEXE02 tree view...
Page 180 Output signals z D-END0 to D-END7 outputs These signals are enabled in operations using operation data (pulse-input operation, stored data operation, continuous macro operation). They are turned OFF when operation is started and turned ON when the operation of the specified operation data number is complete.
Page 181 Output signals • Teaching, remote operation, download, and I/O test are not executed in the MEXE02 • Configuration command, data initialization command, batch non-volatile memory read command, and backup read command are not executed via RS-485 communication „ Power removal function signal z ETO-MON output If either HWTO1 or HWTO2 is turned OFF when the "HWTO mode selection"...
Page 182 Output signals z RND-ZERO output If the feedback position of the motor is in the home position of the wrap range when the "Wrap setting" parameter is set to "Enable," the RND-ZERO output is turned ON. When "The number of the RND-ZERO output in wrap range" parameter is used, the wrap range can be evenly divided by an arbitrary division number and output per certain zone.
Page 183 Output signals z MAREA output The MAREA output is turned ON when the motor is inside the set area. Related parameters Parameter Initial MEXE02 tree view Description name value Sets the standard to turn the MAREA output ON and the status of the MAREA output after operation.
Page 184 Output signals z AREA0 to AREA7 outputs The AREA outputs are turned ON when the motor is inside the set area. They are turned ON when the motor is inside the area even if the motor is stopped. Related parameters Initial MEXE02 tree view Parameter name...
Page 185 Output signals When the "AREA range setting mode" parameter is "Offset/width setting from the target position" O set Motor operation Width Width AREA0 to AREA7 outputs z FW-SLS output and RV-SLS output If the command position exceeds the range specified in the "Software limit" parameter when the "Software overtravel"...
Page 186: Latch Information Display
Output signals Latch information display z JUMP0-LAT output and JUMP1-LAT output When a low event trigger is detected, the JUMP0-LAT output is turned ON. When a high event trigger is detected, the JUMP1-LAT output is turned ON. When the LAT-CLR input is turned from OFF to ON, the JUMP0-LAT output and the JUMP1-LAT output are turned OFF.
Page 187: Response Output
Output signals Response output The response output is the output signal that shows the ON/OFF status corresponding to the input signals. The following tables show the correspondence between the input signals and output signals. Input signals Output signals Input signals Output signals Input signals Output signals...
Page 188: Timing Chart
Timing chart Timing chart „ Power supply (AC input driver) 10 sec or more Control power supply 0 sec or more 0 sec or more 10 sec or more Main power supply 1 sec or less 1 sec or less MPS output 1 sec or less 1 sec or less...
Page 189 Timing chart „ Power supply (DC input driver) 10 sec or more Power supply 1 sec or less 1 sec or less MPS output 1 sec or less 1 sec or less SYS-RDY (output is set, and input is enabled) Not set 1.25 sec or less 1 sec or less...
Page 190 Timing chart „ I/O signal (when output is switched according to the ON edge of the input signal) Input signal (ON) Input signal (OFF) 2 ms or less 2 ms or less Output signal „ I/O signal (when output is switched with the ON/OFF edge of the input signal) Input signal 2 ms or less 2 ms or less...
Page 191: Power Removal Function (Eto Function)
Power removal function (ETO function) Power removal function (ETO function) This is a function of the AC input driver. The power removal function (ETO function) is a function that stops +24V power supply of the motor forcibly and turns the output torque of the motor OFF when a signal is input from the external input terminal (HWTO) of CN1.
Page 192: Related I/O Signals
Power removal function (ETO function) Related I/O signals „ HWTO input When either the HWTO1 input or the HWTO2 input is turned OFF, the hardware cuts off power supply to the motor directly without CPU and stops the motor. Then, the PWR/ALM LED blinks in green. The electromagnetic brake holds the position when the electromagnetic brake motor is used.
Page 193: Related Parameters
Power removal function (ETO function) Related parameters The parameters related to the ETO function are as follows. Initial MEXE02 tree view Parameter name Description value Sets the status of the driver when both HWTO1 input and HWTO2 input are turned OFF.
Page 194: Timing Chart
Power removal function (ETO function) Timing chart „ In case of the built-in controller type 1. If both HWTO1 input and HWTO2 input are turned OFF, the EDM output is turned ON. The power supply of the motor is cut off. 2.
Page 195: For Safe Use
Power removal function (ETO function) „ In case of the pulse-input type 1. If both HWTO1 input and HWTO2 input are turned OFF, the EDM output is turned ON. The power supply of the motor is cut off. 2. Stop input of pulse. 3.
Page 196 ▌196...
Page 197 Parameters This part explains the parameters. The parameters are classified based on the window display of the MEXE02. Table of contents 1 Parameter: Base setting ....198 2 Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) ......... 201 3 Parameter: ETO and Alarm and Info ............
Page 198: Parameter: Base Setting
Parameter: Base setting Parameter: Base setting Initial Parameter name Description Setting range value An arbitrary name can be given to the − − Motor user name motor used. An arbitrary name can be given to the − − Driver user name driver used.
Page 199 Parameter: Base setting Initial Parameter name Description Setting range value 0: The automatic current cutback Automatic current cutback Enables the automatic current cutback function is disabled function function. 1: The automatic current cutback function is enabled Sets the time from the stop of motor Automatic current cutback to operation of the automatic current 0 to 1000 ms...
Page 200 Parameter: Base setting Initial Parameter name Description Setting range value −7: Operation data number update −6: Operation type update −5: Position update −4: Speed update Direct data operation Sets the initial value of the trigger used −3: Acceleration/deceleration rate trigger initial value in direct data operation.
Page 201: Parameter: Motor And Mechanism (Coordinates/Jog/Home Operation)
Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) Initial Parameter name Description Setting range value Manual setting of the To change the mechanism settings 0: Encoder setting is prioritized mechanism settings parameter, select manual setting. 1: Manual setting Sets the denominator of electronic Electronic gear A 1 to 65535...
Page 202 Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) Initial Parameter name Description Setting range value Sets the starting speed for JOG macro (JOG) Starting speed [Hz] 0 to 4,000,000 Hz operation. (JOG) Operating speed (high) Sets the operating speed for high- 1 to 4,000,000 Hz 5000 [Hz] speed JOG operation.
Page 203 Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) Initial Parameter name Description Setting range value 0: step This parameter is used for User unit 1: rev Unit of display setting support wizard of the MEXE02. 2: mm 3: deg 0: Motor only This parameter is used for User unit 1: Linear motion Mechanism selection...
Page 204: Parameter: Eto And Alarm And Info
Parameter: ETO and Alarm and Info Parameter: ETO and Alarm and Info Parameter name Description Setting range Initial value Sets the status of the driver when both 0: ETO-mode (power removal HWTO mode selection HWTO1 input and HWTO2 input are status) turned OFF.
Page 205 Parameter: ETO and Alarm and Info Parameter name Description Setting range Initial value Overvoltage information (INFO- Sets the generation condition of the OVOLT) (DC power input type overvoltage information (INFO-OVOLT). 150 to 630 (1=0.1 V) driver) [V] [DC input driver only] Undervoltage information Sets the generation condition of the (INFO-UVOLT) (DC power input...
Page 206 Parameter: ETO and Alarm and Info Parameter name Description Setting range Initial value INFO action (Wrap setting error information (INFO-RND-E)) INFO action (RS-485 communication error information (INFO-NET-E)) INFO action (Forward operation prohibition information (INFO- FW-OT)) INFO action (Reverse operation prohibition information (INFO- RV-OT)) INFO action (Cumulative load 0 information (INFO-CULD0))
Page 207: Parameter: I/O Action And Function
Parameter: I/O action and function Parameter: I/O action and function Initial Parameter name Description Setting range value 0: Immediate stop for both STOP input and STOP-COFF input 1: Deceleration stop for the STOP input and immediate stop for the STOP- Sets how to stop the motor when the STOP STOP/STOP-COFF input COFF input...
Page 208 Parameter: I/O action and function Initial Parameter name Description Setting range value Sets the speed limit value as a "Ratio." This SPD-LMT speed limit ratio parameter is enabled when the "SPD-LMT 1 to 100% speed limit type selection" parameter is set to "Ratio."...
Page 209 Parameter: I/O action and function Initial Parameter name Description Setting range value Sets the operation data number that is D-SEL0 operation number started when the D-SEL0 input is turned selection Sets the operation data number that is D-SEL1 operation number started when the D-SEL1 input is turned selection Sets the operation data number that is...
Page 210 Parameter: I/O action and function Initial Parameter name Description Setting range value Sets the positive direction position or offset AREA1 positive direction from the target position for the AREA1 −2,147,483,648 to 2,147,483,647 steps position/offset [step] output. AREA1 negative direction Sets the negative direction position or −2,147,483,648 to 2,147,483,647 steps position/detection range distance from the offset position for the...
Page 211 Parameter: I/O action and function Initial Parameter name Description Setting range value Sets the positioning standard of AREA5 0: Based on feedback position AREA5 positioning standard output. 1: Based on command position Sets the positive direction position or offset AREA6 positive direction −2,147,483,648 to 2,147,483,647 steps from the target position for the AREA6 position/offset [step]...
Page 212: Parameter: Direct-In Function
Parameter: Direct-IN function Parameter: Direct-IN function Initial Parameter name Description Setting range value DIN0 input function selection Selects the input signal to be assigned to DIN0. 32: START DIN1 input function selection Selects the input signal to be assigned to DIN1. 64: M0 DIN2 input function selection Selects the input signal to be assigned to DIN2.
Page 213: Parameter: Direct-Out Function
Parameter: Direct-OUT function Parameter: Direct-OUT function Parameter name Description Setting range Initial value DOUT0 output function Selects the output signal to be assigned to DOUT0. 144: HOME-END selection DOUT1 output function Selects the output signal to be assigned to DOUT1. 138: IN-POS selection DOUT2 output function...
Page 214: Parameter: Remote-I/O Function (Rs-485)
Parameter: Remote-I/O function (RS-485) Parameter: Remote-I/O function (RS-485) Parameter name Description Setting range Initial value NET-IN0 input function Selects the input signal to be assigned to NET-IN0. 64: M0 selection NET-IN1 input function Selects the input signal to be assigned to NET-IN1. 65: M1 selection NET-IN2 input function...
Page 215 Parameter: Remote-I/O function (RS-485) Parameter name Description Setting range Initial value NET-OUT0 output Selects the output signal to be assigned to NET- 64: M0_R function selection OUT0. NET-OUT1 output Selects the output signal to be assigned to NET- 65: M1_R function selection OUT1.
Page 216: Parameter: Ext-In And Vir-In And Usr-Out Function (Extend)
Parameter: EXT-IN and VIR-IN and USR-OUT function (Extend) Parameter: EXT-IN and VIR-IN and USR-OUT function (Extend) Initial Parameter name Description Setting range value Extended input (EXT-IN) Selects the input signal to be assigned to the HOME Input signal list 9: P-PRESET function selection PRESET switch.
Page 217 Parameter: EXT-IN and VIR-IN and USR-OUT function (Extend) Initial Parameter name Description Setting range value 0: The 1 shot signal Virtual input (VIR-IN0) 1 shot function is disabled Enables the 1 shot signal function of VIR-IN0. signal mode 1: The 1 shot signal function is enabled Virtual input (VIR-IN1) function Input signal list...
Page 218 Parameter: EXT-IN and VIR-IN and USR-OUT function (Extend) Initial Parameter name Description Setting range value User output (USER-OUT1) Changes ON/OFF of the Output source A of USR- 0: Non invert source A inverting mode OUT1. 1: Invert User output (USER-OUT1) Output signal list 128: Sets the Output source B of USR-OUT1.
Page 219: Parameter: Communication & I/F
Parameter: Communication & I/F Parameter: Communication & I/F Initial Parameter name Description Setting range value −1: Disable 0: The switch setting of the driver is followed. This is enabled with the pulse-input type. 1: 2-pulse input mode PULSE-I/F mode selection Sets the pulse input mode.
Page 220 Parameter: Communication & I/F Initial Parameter name Description Setting range value 0: Even Address-High Word & Big- Endian This is enabled in Modbus communication. 1: Even Address-Low Word & Big- Sets the byte order of 32-bit data. Endian Byte & word order (Modbus) Set it when the arrangement of the 2: Even Address-High Word &...
Page 221 Parameter: Communication & I/F Initial Parameter name Description Setting range value This is enabled in the industrial network. Communication timeout 0: Not monitored Sets the generation condition of (GWv2) [ms] 1 to 10000 ms communication timeout. This is enabled in the industrial network. Communication error When the RS-485 communication error 1 to 10 times...
Page 222 Parameter: Communication & I/F Initial Parameter name Description Setting range value Indirect reference address Sets the ID of the data to be stored in the setting (19) indirect reference address (19). Indirect reference address Sets the ID of the data to be stored in the setting (20) indirect reference address (20).
Page 223: O Signal Assignment List
I/O signal assignment list I/O signal assignment list 10-1 Input signals To assign signals in the network, use the "assignment numbers" in the table instead of the signal names. Assignment Assignment Assignment Signal name Signal name Signal name Not used SSTART FREE NEXT...
Page 224: Output Signals
I/O signal assignment list 10-2 Output signals To assign signals in the network, use the "assignment numbers" in the table instead of the signal names. Assignment Assignment Assignment Signal name Signal name Signal name Not used DSEL3_R R3_R FREE_R DSEL4_R R4_R C-ON_R DSEL5_R...
Page 225 I/O signal assignment list Assignment Assignment Assignment Signal name Signal name Signal name FW-SLS M-CHG INFO-TRIP RV-SLS M-ACT0 INFO-ODO M-ACT1 INFO-DSLMTD RND-ZERO M-ACT2 INFO-IOTEST M-ACT3 INFO-CFG MAREA M-ACT4 INFO-RBT AREA0 M-ACT5 AREA1 M-ACT6 AREA2 M-ACT7 AREA3 D-END0 AREA4 D-END1 AREA5 D-END2 AREA6 D-END3...
Page 226 ▌226...
Page 227 Method of control via Modbus RTU (RS-485 communication) This part explains how to control from the master controller via RS-485 communication. The protocol for the RS-485 communication is the Modbus protocol. Table of contents 1 Specification of Modbus RTU ..228 8 Example of data setting in Modbus RTU mode ...
Page 228: Specification Of Modbus Rtu
Specification of Modbus RTU Specification of Modbus RTU The Modbus protocol is simple and its specification is open to the public, so this protocol is used widely in industrial applications. Modbus communication is based on the single-master/multiple-slave method. Only the master can issue a query (command).
Page 229 Specification of Modbus RTU „ Connection example The figure shows the case of the AC input driver. Master controller Termination resistor Address No.1 Address No.2 Address No.31 RS-485 Termination resistor （TERM.-No.1/No.2）： ON 229▐...
Page 230 Specification of Modbus RTU „ Internal circuit diagram z In case of AC input driver Driver 1 RS-485 TERM. TERM. No.2 1 kΩ No.1 120 Ω 1 kΩ Driver 2 TERM. TERM. 1 kΩ No.2 No.1 120 Ω 1 kΩ Driver 31 TERM.
Page 231 Specification of Modbus RTU z In case of DC input driver Driver 1 RS-485 1 kΩ No.3 No.4 120 Ω 1 kΩ Driver 2 No.3 1 kΩ No.4 120 Ω 1 kΩ Driver 31 1 kΩ No.3 *2 No.4 *2 120 Ω...
Page 232: Communication Timing
Specification of Modbus RTU Communication timing The communication time monitored by the driver and the communication timing of the master are as follows. Tb3 (Broadcast) C3.5 C3.5 C3.5 Master Query Query Slave Response Character Name Description Intervals between received queries are monitored. If no query could be received after the time set in the "Communication Communication timeout (Modbus)"...
Page 233: Message Structure
Message structure Message structure The message format is shown. Query Master Slave Slave address Slave address Response Function code Function code Data Data Error check Error check Query The query message structure is shown. Slave address Function code Data Error check 8 bit 8 bit N x 8 bit...
Page 234 Message structure z Calculation example of CRC-16 The following table is a calculation example when setting the slave address of the first byte to 02h and setting the function code of the second byte to 07h. The result of actual CRC-16 calculation is calculated including the data on and after the third byte. Description Result Bit shifted out...
Page 235: Response
Message structure Response Slave-returned responses are classified into three types: normal response, no response, and exception response. The response message structure is the same as the query message structure. Slave address Function code Data Error check 8 bit 8 bit N ×...
Page 236 Message structure z Function code The function code in the exception response is a sum of the function code in the query and 80h. Function code of query Exception response z Example of exception response Slave address Query Slave address Function code Function code Exception...
Page 237 Message structure z Exception code Indicates why the process cannot be executed. Exception Communication Cause Description code error code The process could not be executed because the function code was invalid. Invalid function • The function code is not supported. •...
Page 238: Function Codes
Function codes Function codes This chapter explains the function codes supported by the AZ Series drivers. Note that the process cannot be executed if function codes other than those introduced here are sent. Reading from a holding register(s) (03h) Read a register (16 bits). Up to 125 successive registers (125 × 16 bits) can be read. Read the upper and lower data at the same time.
Page 239: Writing To A Holding Register (06H)
Function codes z Response Field name Data Description Slave address Same as query Function code Same as query Number of data bytes Twice the number of registers in the query Value read from register address (upper) Value read from register address 1840h Value read from register address (lower) Value read from register address + 1 (upper) Value read from register address 1841h...
Page 240: Diagnosis (08H)
Function codes z Response Field name Data Description Slave address Same as query Function code Same as query Register address (upper) Same as query Register address (lower) Data Value write (upper) Same as query Value write (lower) Error check (lower) Calculation result of CRC-16 Error check (upper) Diagnosis (08h)
Page 241: Writing To Multiple Holding Registers (10H)
Function codes Writing to multiple holding registers (10h) This function code is used to write data to multiple successive registers. Up to 123 registers can be written. Write the data to the upper and lower at the same time. If not, an invalid value may be written. Registers are written in order of register addresses.
Page 242 Function codes z Query Field name Data Description Slave address Slave address 4 Function code Writing to multiple holding registers Register address (upper) Register address to start writing from Register address (lower) Number of registers (upper) Number of registers to be written from the starting register address (6 registers=0006h) Number of registers (lower) Number of bytes...
Page 243: Flow Of Setting Required For Modbus Communication
Flow of setting required for Modbus communication Flow of setting required for Modbus communication The contents of are explained in this manual. OPERATING MANUAL • Install the motor and the • Inst Driver driver and arrange wiring. driv • Set the home position. •...
Page 244: Guidance
Guidance Guidance If you are new to this type, read this section to understand the operating methods along with the operation flow. This is an example how to operate the motor based on the operation data and parameters being set to the driver via the master controller.
Page 245 Guidance STEP 1 Check the installation and connection „ AC input driver MEXE02 +24V CN1 connector *Necessary (PC) Connected to +24 V and 0 V 24 VDC power supply Connected to the encoder Cable for encoder Connected to the motor RS-485 communication cable Cable for motor Connected to CN6 or CN7...
Page 246 Guidance STEP 2 Set the switches Set as shown in the following table with the switches. The status becomes as shown in the following figures after setting. Setting contents Switch Factory setting Protocol: Modbus protocol Turn No.2 of SW1 ON Address number: 1 Turn No.1 of SW1 OFF, set ID to 1 No.1 of SW1: OFF, ID:OFF...
Page 247 Guidance STEP 4 Cycle the power The switches of the driver and the communication parameters are enabled after the power is cycled. STEP 5 Send a message and operate the motor As an example, here is a description how to execute the following positioning operation. Speed 2000 Hz 8500 steps...
Page 248: Setting Of Switches
Setting of switches Setting of switches The following figure shows the status of factory setting. AC input driver DC input driver Function setting switch (SW1) No.3, No.4: Termination Address number setting switch (ID) resistor Transmission rate setting switch No.2: Protocol (BAUD) No.1: Address number →ON...
Page 249: Address Number (Slave Address)
Setting of switches Address number (slave address) Set the address number (slave address) using the ID switch and No.1 of the SW1 switch. Make sure each address number (slave address) you set for each driver is unique. Address number (slave address) 0 is reserved for broadcasting, so do not use this address.
Page 250: Transmission Rate
Setting of switches Transmission rate Set the transmission rate of RS-485 communication with the BAUD switch. The transmission rate to be set should be the same as the transmission rate of the master controller. Factory setting 7 (115,200 bps) BAUD Switch Transmission rate (bps) BAUD switch Transmission rate (bps)
Page 251 Setting of switches „ CN6/CN7 pin assignment Pin No. Signal name Description Not used RS-485 communication signal (+) Not used Not used TR− RS-485 communication signal (-) Not used Not used „ Internal input circuit • AC input driver • DC input driver 2 GND 2 GND 3 TR+...
Page 252: Setting Of Rs-485 Communication
Setting of RS-485 communication Setting of RS-485 communication Set parameters required for RS-485 communication before performing communication. Parameters reflected when turning on the power These are parameters related to sending/receiving via RS-485 communication. Set these parameters using the MEXE02. • They are out of the range of configuration. •...
Page 253: Parameters Reflected Immediately After Rewriting
Setting of RS-485 communication „ Setting example of the "Byte & word order (Modbus)" parameter When 32-bit data "12345678h" is stored at the register addresses 1000h and 1001h, arrangement is changed as follows depending on the setting of parameters. 1000h (even address) 1001h (odd address) Setting of parameters Upper...
Page 254: Forcible Return Of Parameters To Initial Values (Default Function)
Setting of RS-485 communication Forcible return of parameters to initial values (default function) Return some parameters related to RS-485 communication to their initial values. 1. Turn No.2 of the SW1 switch ON. The Modbus protocol is selected. 2. Set the BAUD switch to "7." The default function is enabled, and the following parameters are returned to their initial values.
Page 255: Example Of Data Setting In Modbus Rtu Mode
Example of data setting in Modbus RTU mode Example of data setting in Modbus RTU mode Remote I/O command This is a command related to remote I/O. The set values are stored in RAM. Register address Initial Name Description value Upper Lower NET selection...
Page 256 Example of data setting in Modbus RTU mode z Lower Register Description * address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 NET-IN15 NET-IN14 NET-IN13 NET-IN12 NET-IN11 NET-IN10 NET-IN9 NET-IN8 [RV-POS] [FW-POS] [RV-JOG-P] [FW-JOG-P] [SSTART] [D-SEL2] [D-SEL1] [D-SEL0] (007Dh) bit7 bit6 bit5 bit4...
Page 257: Positioning Operation
Example of data setting in Modbus RTU mode Positioning operation As an example, here is a description how to execute the following positioning operation. z Setting example • Address number (slave address): 1 • Operation data number: 0 • Position (travel amount): 1000 steps •...
Page 258 Example of data setting in Modbus RTU mode 2. Send the following query and turn START ON. Positioning operation is started. Query Field name Data Description Slave address Slave address 1 Function code Writing to a holding register Register address (upper) Register address to which writing is executed =Driver input command (007Dh) Register address (lower)
Page 259 Example of data setting in Modbus RTU mode 3. When positioning operation is started, send the following query and turn START OFF again. Query Field name Data Description Slave address Slave address 1 Function code Writing to a holding register Register address (upper) Register address to which writing is executed =Driver input command (007Dh)
Page 260: Continuous Operation
Example of data setting in Modbus RTU mode Continuous operation As an example, here is a description how to execute the following continuous operation. z Setting example • Address number (slave address): 1 • Operation data number: 0 • Rotation direction: Forward direction •...
Page 261 Example of data setting in Modbus RTU mode 2. Send the following query and turn FW-POS ON. Continuous operation is started. Query Field name Data Description Slave address Slave address 1 Function code Writing to a holding register Register address (upper) Register address to which writing is executed =Driver input command (007Dh) Register address (lower)
Page 262: High-Speed Return-To-Home Operation
Example of data setting in Modbus RTU mode Response Field name Data Description Slave address Same as query Function code Same as query Register address (upper) Same as query Register address (lower) Data Value write (upper) Same as query Value write (lower) Error check (lower) Calculation result of CRC-16 Error check (upper)
Page 263 Example of data setting in Modbus RTU mode Response Field name Data Description Slave address Same as query Function code Same as query Register address (upper) Same as query Register address (lower) Data Value write (upper) Same as query Value write (lower) Error check (lower) Calculation result of CRC-16 Error check (upper)
Page 264: Data Setting Method
Data setting method Data setting method Overview of setting method There are three methods to set data via Modbus communication. The communication specification of Modbus allows reading/writing from/to successive addresses when multiple data pieces are handled. „ When operation data is set Input method Features Direct data operation...
Page 265: Indirect Reference
Data setting method Indirect reference Indirect reference is a method in which data is stored in addresses exclusive for sending (indirect reference addresses) and set. Even if addresses of the data to be set are not successive, multiple data pieces can be sent with one query because the indirect reference addresses are successive.
Page 266 Data setting method Related parameters Initial MEXE02 tree view Name Description value Indirect reference address setting (0) Indirect reference address setting (1) Indirect reference address setting (2) Indirect reference address setting (3) Indirect reference address setting (4) Indirect reference address setting (5) Indirect reference address setting (6) Indirect reference address setting (7) Indirect reference address setting (8)
Page 267 Data setting method z Register addresses of indirect reference addresses Register address Register address Name Name Upper Lower Upper Lower 4864 4865 4896 4897 Indirect reference address setting (0) Indirect reference address setting (16) (1300h) (1301h) (1320h) (1321h) 4866 4867 4898 4899 Indirect reference address setting (1)
Page 268 Data setting method z Register addresses of indirect reference areas Register address Register address Name Name Upper Lower Upper Lower 4928 4929 4960 4961 Indirect reference area 0 Indirect reference area 16 (1340h) (1341h) (1360h) (1361h) 4930 4931 4962 4963 Indirect reference area 1 Indirect reference area 17 (1342h)
Page 269 Data setting method „ Setting example The following is an example of sending/receiving of data to/from the address number 1 using indirect reference. z STEP 1: Registration in indirect reference addresses Set data Register address Indirect reference Data to be sent address Upper Lower...
Page 270 Data setting method z STEP 2: Writing to indirect reference areas Set data Register address Indirect reference area Data to be sent Setting value Upper Lower ← Indirect reference area 0 1340h 1341h Position of operation data No.1 1500 (5DCh) Stopping deceleration of Indirect reference area 1 1342h...
Page 271 Data setting method z STEP 3: Reading from indirect reference areas Send the following query and read the data written in the indirect reference areas. Query Field name Data Description Slave address Slave address 1 Function code Reading from holding registers Register address (upper) Register address to start reading from =Indirect reference area 0 (1340h)
Page 272: Direct Data Operation
Direct data operation Direct data operation 10-1 Overview of direct data operation Direct data operation is a mode that allows rewriting of data and start of operation to be executed at the same time. It is suitable to frequently change operation data such as the position (travel amount) and operating speed or to fine-tune the position.
Page 273: Guidance
Direct data operation 10-2 Guidance STEP 1 Installation and connection  STEP 2 Setting of switches  STEP 3 Power-on and check of communication parameters  Communication parameters are STEP 4 Power cycle enabled after the power is cycled.  STEP 5 Operation of motor z Example of operating condition Here, the motor is assumed to be operated...
Page 274 Direct data operation STEP 1 Check the installation and connection „ AC input driver MEXE02 +24V CN1 connector *Necessary (PC) Connected to +24 V and 0 V 24 VDC power supply Connected to the encoder Cable for encoder Connected to the motor RS-485 communication cable Cable for motor Connected to CN6 or CN7...
Page 275 Direct data operation STEP 2 Set the switches Set as shown in the following table with the switches. The status becomes as shown in the figures below after setting. Setting contents Switch Factory setting Protocol: Modbus protocol Turn No.2 of SW1 ON Address number: 1 Turn No.1 of SW1 OFF, set ID to 1 No.1 of SW1: OFF, ID:OFF...
Page 276 Direct data operation STEP 4 Cycle the power The switches of the driver and the communication parameters are enabled after the power is cycled. STEP 5 Operate the motor As an example, here is a description how to execute the following positioning operation. The trigger is the one for collective rewriting.
Page 277: Commands Required For Direct Data Operation
Direct data operation STEP 6 Could you operate the motor? How did it go? Were you able to operate the motor properly? If the motor does not function, check the following points: • Is any alarm present? • Are the power supply, motor and RS-485 communication cable connected securely? •...
Page 278 Direct data operation Register address Initial Name Description value Upper Lower Sets the stopping deceleration or stop time for direct data operation. Direct data operation 1,000,000 Setting range (0062h) (0063h) stopping deceleration 1 to 1,000,000,000 (1=0.001 kHz/s, 1=0.001 s, or 1=0.001 ms/kHz) Sets the operating current for direct data operation.
Page 279 Direct data operation z Timing chart 1. Check that the DCMD-RDY output is ON. 2. Send a query (including the trigger and data) to execute direct data operation. 3. When the master receives the query, the READY output is turned OFF, and operation is started. 4.
Page 280 Direct data operation „ Data destination Select the stored area when the next direct data is transmitted during direct data operation. Set value Linked method 0000 0000h Execution memory 0000 0001h Buffer memory z When the data destination is set to "Execution memory" When the trigger is written, the data in operation is rewritten to the next direct data.
Page 281 Direct data operation Related parameters Initial MEXE02 tree view Parameter name Description value Selects the action when "0" is written for operating speed. Direct data operation zero speed command Setting range action 0: Deceleration stop 1: Speed zero command Sets the initial value of the trigger. Setting range −7: Operation data number update −6: Operation type update...
Page 282: Group Send
Group send Group send Multiple slaves are made into a group and a query is sent to these group at once. „ Group composition A group consists of one parent slave and child slaves, and only the parent slave returns a response. „...
Page 283 Group send z Related parameters Since the set value of the "Group ID" command is stored in RAM, the initial value is returned when the power is turned off, and the group is released. Therefore, the group should be always reset after power-on. On the other hand, since the "Initial group ID"...
Page 284: Timing Chart
Timing chart Timing chart 12-1 Communication start Power-on 1 s or more Master Query Communication Response Slave Tb2 (transmission waiting time) + C3.5 (silent interval) + Tb4 (command processing time) 12-2 Start of operation Master Query *1 Communication Response Slave MOVE output *1 A message including a query to start operation via RS-485 communication.
Page 285: General Signals
Timing chart 12-4 General signals Master Query *1 Communication Slave Response General signals *1 A message including a query for remote output via RS-485 communication. *2 Tb2 (transmission waiting time) + C3.5 (silent interval) + Tb4 (command processing time) *3 C3.5 (silent interval) + Tb4 (command processing time) + 2 ms or less 12-5 Configuration Master...
Page 286: Detection Of Communication Errors
Detection of communication errors Detection of communication errors This is a function to detect abnormalities that may occur during RS-485 communication, including two types: communication errors and alarms. 13-1 Communication errors When the communication error with error code 84h occurs, the C-DAT/C-ERR LED of the driver is lit in red. In addition, the red color and green color on the PWR/ALM LED (POWER/ALARM LED) blink twice at the same time.
Page 287 Method of control via industrial network This part explains how to control via industrial network. This product can be controlled via CC-Link communication or MECHATROLINK communication in combination with a network converter (sold separately). Table of contents 1 Flow of setting required for Basic operation procedure ....315 control via industrial network ..
Page 288: Flow Of Setting Required For Control Via Industrial Network
Flow of setting required for control via industrial network Flow of setting required for control via industrial network The contents of are explained in this manual. OPERATING MANUAL • Install the motor and the • Inst Driver driver and arrange wiring. driv •...
Page 289: Setting Of Switches
Setting of switches Setting of switches The following figure shows the status of factory setting. AC input driver DC input driver Function setting switch (SW1) No.3, No.4: Termination Address number setting switch (ID) resistor Transmission rate setting switch No.2: Protocol (BAUD) No.1: Address number →ON...
Page 290: Address Number (Slave Address)
Setting of switches Address number (slave address) Set the address number (slave address) using the ID switch and No.1 of the SW1 switch. Make sure each address number (slave address) you set for each driver is unique. Factory setting ID switch: 0, No.1 of SW1 switch: OFF (slave address 0) „...
Page 291: Termination Resistor
Setting of switches Termination resistor For the driver that is most distant from the network converter (termination), set the termination register (120 Ω ) of RS-485 communication. For the AC input driver, turn both No.1 and No. 2 of the TERM switch ON. For the DC input driver, turn both No.
Page 292: Method Of Control Via Cc-Link Communication
Method of control via CC-Link communication Method of control via CC-Link communication Guidance If you are new to this type, read this section to understand the operating methods along with the operation flow. This section explains how to control via CC-Link communication in combination with the network converter.
Page 293 Method of control via CC-Link communication STEP 1 Check the installation and connection „ AC input driver +24V CN1 connector *Necessary Connected to +24 V and 0 V 24 VDC power supply MEXE02 (PC) Connected to the ENCODER Cable for encoder Connected to the MOTOR Connected to CN6 or CN7 Cable for motor...
Page 294 Method of control via CC-Link communication STEP 2 Set the parameters and switches of the network converter Refer to the separate NETC01-CC USER MANUAL and set the parameters and switches of the network converter. „ Setting of parameters 1. Start the MEXE02 and select the network converter. 2.
Page 295 Method of control via CC-Link communication „ Setting of switches Set the following with the switches of the network converter. For the termination resistor, select "ON" (with termination resistor). • CC-Link station number • RS-485 transmission rate • CC-Link transmission rate •...
Page 296 Method of control via CC-Link communication STEP 4 Cycle the power and check the LED Check that the LED of the driver and network converter are as shown in the figure. AC input driver DC input driver Network converter Green lit Green lit Green lit Green lit...
Page 297: Basic Operation Procedure
Method of control via CC-Link communication Basic operation procedure This section explains the execution methods of positioning operation and monitor function as a basic operation procedure. As an example, here is an introduction of a procedure to control via CC-Link communication using the NETC01-CC.
Page 298 Method of control via CC-Link communication 2. Send the following remote I/O and turn the command execution request "D-REQ" ON. The data set to the remote register is written. When writing is complete, D-END is turned ON. (Response) Remote I/O of the NETC01-CC Command RY (Master to NETC01-CC) Device No.
Page 299 Method of control via CC-Link communication „ Monitor function In CC-Link communication, six types of data can be monitored at the same time. z Setting example • Address number (slave address): 0 • Monitor item: Feedback position [step] z Operation procedure 1.
Page 300 Method of control via CC-Link communication Monitoring of the feedback position of the address number 0 is started. Monitoring is continued while M-REQ0 is ON. The read value is reflected to the response area of the remote register. Remote register of the NETC01-CC RWr (NETC01-CC to Master) Output Address No.
Page 301: Remote Register List Of The Netc01-Cc
Method of control via CC-Link communication Remote register list of the NETC01-CC The remote registers are common to the 6 axes connection mode and the 12 axes connection mode. By using the remote registers, execute monitoring of the drivers and NETC01-CC, reading and writing of parameters, and maintenance commands.
Page 302: Assignment Of Remote I/O Of 6 Axes Connection Mode
Method of control via CC-Link communication Assignment of remote I/O of 6 axes connection mode This section shows driver remote I/O assignments. "n" indicates the address assigned to the master station via CC-Link station-number setting. For 6 axes connection mode, refer to the NETC01-CC USER MANUAL. „...
Page 303 Method of control via CC-Link communication „ Remote I/O input and output z Remote I/O input Driver address Driver address Driver address number 0 number 1 number 5 NETC01-CC Address number "0" RYnF to RYn0 Address number "0" remote I/O input remote I/O input Address number "1"...
Page 304 Method of control via CC-Link communication „ Details of remote I/O assignment [ ]: Initial value Command RY (Master to NETC01-CC) Response RX (NETC01-CC to Master) Signal Signal Device No. Description Device No. Description name name RY (n) 0 NET-IN0 [M0] RX (n) 0 NET-OUT0...
Page 305 Method of control via CC-Link communication Command RY (Master to NETC01-CC) Response RX (NETC01-CC to Master) Signal Signal Device No. Description Device No. Description name name Monitoring in RY (n+6) 0 M-REQ0 Monitor request 0 RX (n+6) 0 M-DAT0 progress 0 Monitoring in RY (n+6) 1 M-REQ1...
Page 306: Assignment Of Remote I/O Of 12 Axes Connection Mode
Method of control via CC-Link communication Assignment of remote I/O of 12 axes connection mode This section shows driver remote I/O assignments. "n" indicates the address assigned to the master station via CC-Link station-number setting. For 12 axes connection mode, refer to the NETC01-CC USER MANUAL.
Page 307 Method of control via CC-Link communication „ Remote I/O input and output z Remote I/O input Driver address Driver address Driver address number 0 number 1 number 11 NETC01-CC Address number "0" RYn7 to RYn0 Address number "0" remote I/O input remote I/O input Address number "1"...
Page 308 Method of control via CC-Link communication „ Details of remote I/O assignment [ ]: Initial value Command RY (Master to NETC01-CC) Response RX (NETC01-CC to Master) Signal Signal Device No. Description Device No. Description name name RY (n) 0 NET-IN0 [M0] RX (n) 0 NET-OUT0...
Page 309 Method of control via CC-Link communication Command RY (Master to NETC01-CC) Response RX (NETC01-CC to Master) Signal Signal Device No. Description Device No. Description name name RY (n+5) 8 NET-IN0 RX (n+5) 8 NET-OUT0 Address number Same as address Same as address "11"...
Page 310: Method Of Control Via Mechatrolink Communication
Method of control via MECHATROLINK communication Method of control via MECHATROLINK communication Guidance If you are new to this type, read this section to understand the operating methods along with the operation flow. This section explains how to control via MECHATROLINK-II communication in combination with the network converter NETC01-M2.
Page 311 Method of control via MECHATROLINK communication STEP 1 Check the installation and connection „ AC input driver CN1 connector *Necessary +24V Connected to +24 V and 0 V 24 VDC power supply Connected to the ENCODER Cable for encoder Connected to the motor Connected to CN6 or CN7 Cable for MOTOR RS-485...
Page 312 Method of control via MECHATROLINK communication STEP 2 Set the parameters and switches of the network converter Refer to the separate NETC01-M2 USER MANUAL and set the parameters and switches of the network converter. „ Setting of parameters 1. Start the MEXE02 and select the network converter. 2.
Page 313 Method of control via MECHATROLINK communication „ Setting of switches Set the following with the switches of the network converter. • MECHATROLINK-II station address • RS-485 transmission rate • Remote I/O occupancy size • Number of transmission bytes For the setting method of the network converter, refer to the separate NETC01-M2 USER MANUAL.
Page 314 Method of control via MECHATROLINK communication STEP 4 Cycle the power and check the LED Check that the LED of the driver and network converter are as shown in the figure. AC input driver DC input driver Network converter Green lit Green lit Green lit Green lit...
Page 315: Basic Operation Procedure
Method of control via MECHATROLINK communication Basic operation procedure This section explains the execution methods of positioning operation and monitor function as a basic operation procedure. As an example, here is an introduction of a procedure to control via MECHATROLINK-II communication using the NETC01-M2.
Page 316 Method of control via MECHATROLINK communication 2. Check that TRIG_R is turned ON, then send the following remote register and turn TRIG OFF again. Remote register of the NETC01-M2 Input Byte Part Type Command Description example Remote Command code + Data field Turn TRIG OFF register...
Page 317 Method of control via MECHATROLINK communication „ Monitor function z Setting example • Address number (slave address): 0 • Monitor item: Feedback speed [r/min] z Operation procedure 1. Send the following remote register and monitor the feedback speed of the address number 0. Monitoring of the feedback speed of the address number 0 is started.
Page 318 Method of control via MECHATROLINK communication Monitoring of the feedback speed is continued while TRIG is ON. The read value is reflected to the response area of the remote register. Remote register of the NETC01-M2 Output Byte Part Type Response Description example Register address...
Page 319: Field Map Of The Netc01-M2
Method of control via MECHATROLINK communication Field map of the NETC01-M2 Update (asynchronous) of the remote I/O data is performed with the "DATA_RWA" command (50h). When the remote I/O occupancy size is 16 bit mode and the number of transmission bytes is 32 bytes (factory setting), the I/O field map is as follows.
Page 320: Field Map Of The Netc01-M3
Method of control via MECHATROLINK communication Field map of the NETC01-M3 Update (asynchronous) of the remote I/O data is performed with the "DATA_RWA" command (20h). When the remote I/O occupancy size is 16 bit mode and the number of transmission bytes is 32 bytes (factory setting), the I/O field map is as follows.
Page 321: Communication Formats
Method of control via MECHATROLINK communication Communication formats The following are communication formats between the driver and network converter. „ Remote I/O input Details of remote I/O "3-2 Network I/O" on p.149 z In case of 8 axes connection mode [16 bit mode] [ ]: Initial value bit15 bit14...
Page 322 Method of control via MECHATROLINK communication „ Remote register input z Command [NETC01-M2 (NETC01-M3) to driver] The blanks are for command codes. bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 − TRIG bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 z Description Name Description...
Page 323: Group Function
Group function Group function Multiple slaves are made into a group and a query is sent to these group at once. With the AZ Series, groups can be set for each remote I/O. This function allows to control certain remote I/ O by group and to control another remote I/O by driver.
Page 324: Group Address
Group function Group address A group consists of one parent slave and child slaves. When forming a group, set a group address (address number of the parent slave) to the child slaves to be included in the group. The child slaves to which the group address has been set can receive remote I/O sent to the parent slave.
Page 325 Group function Related parameters Command code Initial Name Description value READ WRITE This is enabled when setting a group. Sets the input method of remote I/O. Specify the remote I/O to be input to the group by bit. (Details of bit arrangement p.326) 4121 NET-IN Group action mode (for...
Page 326 Group function z Bit arrangement of NET-IN Group action mode (NETC) bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 NET-IN15 NET-IN14 NET-IN13 NET-IN12 NET-IN11 NET-IN10 NET-IN9 NET-IN8 bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 NET-IN7 NET-IN6 NET-IN5 NET-IN4 NET-IN3 NET-IN2 NET-IN1 NET-IN0...
Page 327: Simple Direct Data Operation
Simple direct data operation Simple direct data operation Simple direct data operation is a function to start operation only by writing the "Target position" and the "Operating speed." At the same time, the current position and operating speed can be monitored by using the response function.
Page 328: How To Use Simple Direct Data Operation Monitor 0
Simple direct data operation How to use simple direct data operation monitor 0 As an example, write "8500" to the "Position" of the operation data No.1. „ Setting example of operation data No.1 In simple direct data operation, the setting items in the following table are used. Items not shown in the table, such as Drive-complete delay time and Link are disabled even if they are set.
Page 329 Simple direct data operation z In case of CC-Link communication Operation is started at the same time as D-REQ of remote I/O is turned ON and the target position is written. The data of response is continuously updated while D-REQ is ON. RWw (Master to NETC01-CC) RWr (NETC01-CC to Master) Address No.
Page 330: How To Use Simple Direct Data Operation Monitor 1
Simple direct data operation How to use simple direct data operation monitor 1 As an example, write "2000" to the "Operating speed" of the operation data No.1. „ Setting example of operation data No.1 In simple direct data operation, the setting items in the following table are used. Items not shown in the table, such as Drive-complete delay time and Link are disabled even if they are set.
Page 331 Simple direct data operation z In case of CC-Link communication Operation is started at the same time as D-REQ of remote I/O is turned ON and the operating speed is written. The data of response is continuously updated while D-REQ is ON. RWw (Master to NETC01-CC) RWr (NETC01-CC to Master) Address No.
Page 332: Detection Of Communication Errors
Detection of communication errors Detection of communication errors This is a function to detect abnormalities that occurred in communication with the network converter and the industrial network. It includes two types of detection: communication errors and alarms. Communication errors When the communication error with error code 84h occurs, the C-DAT/C-ERR LED of the driver is lit in red. In addition, the red color and green color on the PWR/ALM LED (POWER/ALARM LED) blink twice at the same time.
Page 333: Alarms
Detection of communication errors Alarms When an alarm is generated, the ALM-A output is turned OFF, and the motor stops. At the same time, the PWR/ALM LED (or POWER/ALARM LED) blinks in red. „ List of alarms related to communication Alarm Alarm type Cause...
Page 334 ▌334...
Page 335 Address/code lists This part provides lists of addresses/codes used for Modbus communication and industrial network control. Table of contents 1 Update timing of parameters ..336 14 Parameter R/W commands ..... 386 14-1 Driver action simulation setting parameter ...386 2 I/O commands ........337 14-2 Base setting parameters ....386 3 Group commands ......
Page 336: Update Timing Of Parameters
Update timing of parameters Update timing of parameters All data used by the driver is 32-bit wide. Since the register for the Modbus protocol is 16-bit wide, one data is described by two registers. The parameters are saved in RAM or non-volatile memory. The parameters saved in RAM are erased once the 24 VDC power supply is cut off, however, the parameters saved in the non-volatile memory are saved even if the 24 VDC power supply is cut off.
Page 337: O Commands
I/O commands I/O commands These are commands related to I/O. The set values are stored in RAM. They are not used in the industrial network. The industrial network uses an area exclusive for I/O. Register address Initial Name Description value Upper Lower NET selection...
Page 338 I/O commands „ Driver output status These are the driver output signals that can be accessed via Modbus communication. They can be accessed by one register (16 bit). z Upper Register Description address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 −...
Page 339: Group Commands
Group commands Group commands These are commands related to group send. The set values are stored in RAM. Modbus Industrial communication network Initial Name Description register address command code value Upper Lower READ WRITE Sets a group address. *1 Setting range 4120 −1: No group specification Group ID...
Page 340 Group commands z Setting example Setting contents When all bits are set to "0." 0000h All of NET-IN0 to NET-IN15 are input to each driver. (Initial state) When only bit 0 is set to "1," and others are set to "0." 0001h NET-IN0 is input to the group.
Page 341: Protect Release Commands
Protect release commands Protect release commands The key codes for reading/writing of data from/to the backup area and the key codes for release of function limitation by the HMI input are set. Modbus Industrial communication network Initial register address Name Description command code value...
Page 342: Direct Data Operation Commands
Direct data operation commands Direct data operation commands These are commands to use when performing direct data operation. The set values are stored in RAM. Modbus Industrial communication network Initial Name Description register address command code value Upper Lower READ WRITE Sets the operation data number to be Direct data operation...
Page 343 Direct data operation commands Modbus Industrial communication network Initial Name Description register address command code value Upper Lower READ WRITE Sets the operating current for direct data operation. Direct data operation 4146 1000 (0064h) (0065h) operating current (0032h) (1032h) Setting range 0 to 1000 (1=0.1%) Sets the trigger for direct data operation.
Page 344: Simple Direct Data Operation Commands
Simple direct data operation commands Simple direct data operation commands These are commands to use when performing simple direct data operation. The set values are stored in RAM. The simple direct data operation commands are exclusive for the industrial network. Industrial network Initial...
Page 345: Maintenance Commands
Maintenance commands Maintenance commands Release of alarms, clearing of latches and batch processing of the non-volatile memory are executed. The maintenance commands include processing in which the memory is operated, such as non- volatile memory batch processing and P-PRESET. Be careful not to execute them unnecessarily in succession.
Page 346 Maintenance commands Modbus Industrial communication network Name Description register address command code [WRITE] Upper Lower Clear information Clears information. 12499 (30D3h) (01A6h) (01A7h) Clear information records Clears information records. 12500 (30D4h) (01A8h) (01A9h) When a record number (1 to 10) is written to this command and the monitor command "Alarm Alarm record details 12501 (30D5h)
Page 347: How To Execute Maintenance Commands
Maintenance commands How to execute maintenance commands „ Via Modbus communication Reading/writing of data can be executed. Use the following two methods in accordance with your purpose. z Writing 1 to data (recommended) When data is changed from 0 to 1 after 1 is written to it, the command is executed. To execute the same command again, restore the data to 0 and then write 1.
Page 348: Monitor Commands
Monitor commands Monitor commands These commands are used to monitor the command position, command speed, alarm and information records, etc. All commands can be read (READ). Modbus Industrial communication network Name Description register address command code Upper Lower 8256 Present alarm Shows the present alarm code.
Page 349 Monitor commands Modbus Industrial communication network Name Description register address command code Upper Lower Communication error 8286 (00BCh) (00BDh) record 8 (205Eh) Shows communication error code records. Communication error 8287 (00BEh) (00BFh) record 9 (205Fh) 8288 Communication error Shows the oldest communication error code record. (00C0h) (00C1h) record 10...
Page 350 Monitor commands Modbus Industrial communication network Name Description register address command code Upper Lower Shows the operation data number specified in "Next data No." of the operation data in operation. The value 8304 Next No is latched also after the operation is complete. When (00E0h) (00E1h) (2070h)
Page 351 Monitor commands Modbus Industrial communication network Name Description register address command code Upper Lower Shows the travel distance of the motor with the 8319 Tripmeter number of revolutions. (1=0.1 kRev) (00FEh) (00FFh) (207Fh) It can be cleared by the user. Shows the record of operation data numbers executed previously.
Page 352 Monitor commands Modbus Industrial communication network Name Description register address command code Upper Lower Shows the current number of times of loop in loop 8339 Loop count buffer operation (extended loop operation). The value is (0126h) (0127h) (2093h) retained until the operation start signal is turned ON. Shows the number of times when the main power 8352 Main power supply count...
Page 353 Monitor commands Modbus Industrial communication network Name Description register address command code Upper Lower 2560 2561 Alarm record details 9472 (0A00h) (0A01h) (Alarm code) (2500h) 2562 2563 Alarm record details 9473 (0A02h) (0A03h) (Sub code) (2501h) 2564 2565 Alarm record details 9474 (0A04h) (0A05h)
Page 354 Monitor commands Modbus Industrial communication network Name Description register address command code Upper Lower 2612 2613 9498 Information record 11 (0A34h) (0A35h) (251Ah) 2614 2615 9499 Information record 12 (0A36h) (0A37h) (251Bh) 2616 2617 9500 Information record 13 Shows the information record. (0A38h) (0A39h) (251Ch)
Page 355 Monitor commands Modbus Industrial communication network Name Description register address command code Upper Lower 2944 2945 Latch monitor status (NEXT) 9664(25C0h) (0B80h) (0B81h) 2946 2947 Latch monitor command 9665(25C1h) (0B82h) (0B83h) position (NEXT) 2948 2949 Latch monitor feedback 9666(25C2h) (0B84h) (0B85h) position (NEXT) 2950...
Page 356 Monitor commands Modbus Industrial communication network Name Description register address command code Upper Lower 2996 2997 Latch monitor feedback 9690(25DAh) (0BB4h) (0BB5h) position (STOP) 2998 2999 Latch monitor target Latches the first information in which the event in ( ) 9691(25DBh) (0BB6h) (0BB7h)
Page 357 Monitor commands Information code 32 bit display Information name 20000000h 0010 0000 0000 0000 0000 0000 0000 0000 I/O test mode 40000000h 0100 0000 0000 0000 0000 0000 0000 0000 Configuration request 80000000h 1000 0000 0000 0000 0000 0000 0000 0000 Reboot request „...
Page 358 Monitor commands Industrial Modbus network communication Description command register code address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 − − RV-PSH FW-PSH RV-SPD FW-SPD RV-POS FW-POS (0172h) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 RV-JOG-C FW-JOG-C RV-JOG-P FW-JOG-P RV-JOG-H FW-JOG-H RV-JOG FW-JOG 8377...
Page 359 Monitor commands z Output signals Industrial Modbus network communication Description command register code address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 RND- MAREA − RV-SLS FW-SLS RND-OVF ZERO (0178h) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 ORGN- PRST- ELPRST- HOME- PRST-DIS...
Page 360 Monitor commands Industrial Modbus network communication Description command register code address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 INFO- INFO- INFO-RBT INFO-CFG − − − − IOTEST DSLMTD (017Eh) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 INFO- INFO- INFO- INFO-RV- INFO-FW-...
Page 361: Overview Of Operation Data R/W Command Address Arrangement
Overview of operation data R/W command address arrangement Overview of operation data R/W command address arrangement With the operation data R/W commands, operation data is set. There are two methods to set the operation data: "direct reference" and "offset reference." The stored areas are the same even if the addresses are different.
Page 362: Overview Of Direct Reference
Overview of operation data R/W command address arrangement Overview of direct reference Direct reference is a method in which the register address (base address) of the base operation data number is specified to input data. Use direct reference in Modbus communication. (Details of addresses p.363) Base data number Base address...
Page 363: Operation Data R/W Commands
Operation data R/W commands Operation data R/W commands These are a method in which input is made by operation data number. To input all the setting items included in operation data in succession, use the following addresses. 10-1 Direct reference (Modbus communication) Direct reference is a method in which the register address (base address) of the base operation data number is specified to input data.
Page 364 Operation data R/W commands Modbus Modbus Modbus Modbus Communication Communication Communication Communication Operation Operation Operation Operation Base address Base address Base address Base address data No. data No. data No. data No. 13312 3400 No.112 15616 3D00 No.148 17920 4600 No.184 20224 4F00...
Page 365 Operation data R/W commands „ Register address The setting items of operation data are set with the operation data R/W command. The register addresses of the setting items are arranged based on the base addresses of the operation data numbers. (Base address p.363) For example, in the case of the setting item "Position,"...
Page 366 Operation data R/W commands Modbus communication Initial Name Setting range Effective register address value Base address + 20 (upper) −1: Disable Area width −1 0 to 4,194,303: Set by 1 step Base address + 21 (lower) Base address + 22 (upper) 0: None (−) Loop count 2 to 255: Number of loop...
Page 367 Operation data R/W commands z Setting of operation data No.1 From the table on p.363, we can find that the base address of the operation data No.1 is "6208 (1840h)." Based on this base address, the register addresses of the setting items are calculated from the table on p.365. Modbus communication register address Base address Setting...
Page 368: Offset Reference (Modbus Communication)
Operation data R/W commands 10-2 Offset reference (Modbus communication) With Modbus communication, offset reference is not necessary because up to the operation data No.255 can be directly input. However, offset reference can be used conveniently also in Modbus communication because the addresses of the setting items do not need to be changed if just the starting data number is changed.
Page 369 Operation data R/W commands „ Base command codes The following are the command codes (base command codes) of the base operation data numbers in setting with offset reference. The base command codes are fixed. The base command codes of the starting data number are always "READ: 3072 (C00h), WRITE: 7168 (1C00h)."...
Page 370 Operation data R/W commands „ Command codes The setting items of operation data are set with the operation data R/W command. The command codes of setting items are arranged based on the base command code. (Base command code p.369) For example, in the case of the setting item "Position," if 1 is added to the base address, it becomes a command code.
Page 371 Operation data R/W commands Industrial network Initial Name Setting range Effective base command code value −1: None (−) (Low) I/O event Base command code + 14 0 to 31: Operation I/O event number −1 (0 to 31) −1: None (−) (High) I/O event −1 Base command code + 15...
Page 372 Operation data R/W commands Base address Offset=1 Offset=31 (operation (operation (operation data No.0) data No.1) data No.31) Industrial Industrial Industrial network network network Calculation Setting item command code command code command code method READ WRITE READ WRITE READ WRITE Area 3081 7177 3113...
Page 373 Operation data R/W commands z When the "DATA offset reference origin" parameter is 32 (starting operation data No.32) Set the operation data No.32 as the starting point with the "DATA offset reference origin" parameter. Then, data from the operation data No.32 to No.63 can be specified. From the table on p.369, we can find that the base command codes of the operation data No.32 are "READ: 3072 (C00h), WRITE: 7168 (1C00h)."...
Page 374 Operation data R/W commands z When the "DATA offset reference origin" parameter is 255 (starting operation data No.255) Set the operation data No.255 as the starting point with the "DATA offset reference origin" parameter. When offset 1 is added to the operation data No.255, the operation data No.0 is accessed. Base address Offset=1 Offset=31...
Page 375 Operation data R/W commands „ Setting example As an example, here is a description how to set the following operation data to the operation data No.0 to No.2. Setting item Operation data No.0 Operation data No.1 Operation data No.2 Incremental positioning (based Incremental positioning (based Operation type Absolute positioning...
Page 376 Operation data R/W commands z Setting of operation data No.2 From the table on p.369, we can find that the base command code of the operation data No.2 is "READ: 3136 (0C40h)." Based on this base command code, calculate the command code of each item from the table on p.370.
Page 377: Operation Data R/W Commands (Compatible)
Operation data R/W commands (compatible) Operation data R/W commands (compatible) These commands include addresses grouped by setting items such as type, position, and operating speed. Use these addresses when our existing product has been replaced with the AZ Series or to input to a certain setting item in succession.
Page 378 Operation data R/W commands (compatible) Modbus communication Initial Name Setting range Effective base address value Upper Lower 1280 1281 1: Absolute positioning Type No.0 (0500h) (0501h) 2: Incremental positioning (based on command position) 1282 1283 3: Incremental positioning (based on feedback Type No.1 (0502h) (0503h)
Page 379: Direct Reference (Industrial Network)
Operation data R/W commands (compatible) 11-2 Direct reference (industrial network) Industrial network Initial Name Setting range Effective command code value READ WRITE 4608 Position No.0 (0200h) (1200h) 4609 Position No.1 (0201h) (1201h) −2,147,483,648 to 2,147,483,647 steps 4671 Position No.63 (023Fh) (123Fh) 4672 Operating speed...
Page 380 Operation data R/W commands (compatible) Industrial network Initial Name Setting range Effective command code value READ WRITE 4928 Stop No.0 (0340h) (1340h) 4929 Stop No.1 1 to 1,000,000,000 (0341h) (1341h) 1,000,000 (1=0.001 kHz/s, 1=0.001 s, or 1=0.001 ms/kHz) 4991 Stop No.63 (037Fh) (137Fh) 4992...
Page 381: Operation I/O Event R/W Commands
Operation I/O event R/W commands Operation I/O event R/W commands If a specified event (ON/OFF of I/O) is generated during operation of the motor, another operation can be started. This is called operation I/O event. This chapter explains the addresses to execute operation I/O events.
Page 382 Operation I/O event R/W commands Industrial network Industrial network Modbus Operation Modbus Operation base command code base command code communication communication base address event No. base address event No. READ WRITE READ WRITE 2720 6816 2768 6864 5440 (1540h) 5536 (15A0h) (AA0h) (1AA0h) (AD0h)
Page 383: Offset Reference
Operation I/O event R/W commands 12-3 Offset reference Offset reference is a method in which the I/O event number of the starting point (starting event number) is set and the offset from the starting event number is specified to access the event. The starting event number is set with the "Event offset reference origin"...
Page 384 Operation I/O event R/W commands „ Setting example As examples, here is a description of set addresses when event No.0, No.1, and No.10 are set to the starting events. In offset reference, the addresses of the setting items do not need to be changed if just the event number of the starting point is changed.
Page 385: Extended Operation Data Setting R/W Commands
Extended operation data setting R/W commands Extended operation data setting R/W commands Parameters for extended operation data setting can be set. Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE Common acceleration 4416 1 to 1,000,000,000 (0280h)
Page 386: Parameter R/W Commands
Parameter R/W commands Parameter R/W commands These commands are used to write or read parameters. All commands can be read/write (READ/WRITE). (Details of parameters p.197) 14-1 Driver action simulation setting parameter Modbus Industrial communication network Initial Name Description Effective register address command code value Upper...
Page 387: Position Coordinate Parameters
Parameter R/W commands Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE Servo emulation (SVE) 4398 0 to 1000 (1=0.1%) 1000 (025Ch) (025Dh) ratio (012Eh) (112Eh) 4399 SVE position loop gain 1 to 50 (025Eh) (025Fh)
Page 388: Operation Parameters
Parameter R/W commands 14-4 Operation parameters Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE 4418 Starting speed 0 to 4,000,000 Hz (0284h) (0285h) (0142h) (1142h) 0: kHz/s Acceleration/deceleration 4423 1: s (028Eh) (028Fh) unit...
Page 389: Encoder Parameter Manual Setting Parameters
Parameter R/W commands 14-6 Encoder parameter manual setting parameters Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE 4064 4065 Manual setting of the 0: Encoder setting is prioritized 2032 6128 (0FE0h) (0FE1h) mechanism settings...
Page 390: Initial Coordinate Generation & Wrap Coordinate Parameters
Parameter R/W commands 14-8 Initial coordinate generation & wrap coordinate parameters Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE 0: Disable 4551 Wrap setting (038Eh) (038Fh) 1: Enable (01C7h) (11C7h) Initial coordinate 4553 generation &...
Page 391 Parameter R/W commands Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE 0: 2-sensor (HOME) Home- 1: 3-sensor 4448 (02C0h) (02C1h) seeking mode 2: One-way rotation (0160h) (1160h) 3: Push-motion (HOME) Starting 0: Negative side 4449 (02C2h)
Page 392: 14-10 Power Removal Function Setting Parameters
Parameter R/W commands 14-10 Power removal function setting parameters Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE 0: ETO-mode (power 4496 HWTO mode selection removal status) (0320h) (0321h) (0190h) (1190h) 1: Alarm generation HWTO delay time of 0 to 10: Disable...
Page 393 Parameter R/W commands Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE Overspeed information 0: Disable 4514 4500 (0344h) (0345h) (INFO-SPD) 1 to 12000 r/min (01A2h) (11A2h) Position deviation 1 to 30000 4517 information (INFO- (034Ah)
Page 394 Parameter R/W commands Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE 0: Disable (not turned OFF automatically) 4543 Information auto clear (037Eh) (037Fh) 1: Enable (turned OFF (01BFh) (11BFh) automatically) INFO action (Assigned 3904 3905...
Page 395 Parameter R/W commands Modbus Industrial network communication Initial command code Name Setting range Effective register address value Upper Lower READ WRITE INFO action (RS-485 3934 3935 communication error 1967 6063 (0F5Eh) (0F5Fh) information (INFO- (07AFh) (17AFh) NET-E)) INFO action (Forward 3936 3937 operation prohibition...
Page 396: 14-13 I/O Parameter
Parameter R/W commands 14-13 I/O parameter Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE 0: Immediate stop for both STOP input and STOP-COFF input 1: Deceleration stop for the STOP input and immediate 3584 3585 STOP/STOP-COFF...
Page 397 Parameter R/W commands Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE 3612 3613 SPD-LMT speed limit 0: Ratio 1806 5902 (0E1Ch) (0E1Dh) type selection 1: Value (070Eh) (170Eh) 3614 3615 SPD-LMT speed limit 1807 5903...
Page 398 Parameter R/W commands Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE AREA0 positive 3712 3713 1856 5952 direction position/ (0E80h) (0E81h) (0740h) (1740h) offset AREA0 negative 3714 3715 1857 5953 direction position/ (0741h) (1741h)
Page 399 Parameter R/W commands Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE 3744 3745 AREA0 range setting 1872 5968 (0EA0h) (0EA1h) mode (0750h) (1750h) 3746 3747 AREA1 range setting 1873 5969 (0EA2h) (0EA3h) mode...
Page 400 Parameter R/W commands Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE 3792 3793 D-END0 operation 1896 5992 (0ED0h) (0ED1h) number selection (0768h) (1768h) 3794 3795 D-END1 operation 1897 5993 (0ED2h) (0ED3h) number selection (0769h)
Page 401: 14-14 Direct I/O Setting Parameters
Parameter R/W commands 14-14 Direct I/O setting parameters Modbus Industrial communication network Name Setting range Initial value Effective register address command code Upper Lower READ WRITE 4224 4225 DIN0 input function 2112 6208 32: START (1080h) (1081h) selection (0840h) (1840h) 4226 4227 DIN1 input function...
Page 402 Parameter R/W commands Modbus Industrial communication network Name Setting range Initial value Effective register address command code Upper Lower READ WRITE 4288 4289 DOUT0 (Normal) Output 2144 6240 144: HOME-END (10C0h) (10C1h) function (0860h) (1860h) 4290 4291 DOUT1 (Normal) Output 2145 6241 138: IN-POS...
Page 403 Parameter R/W commands Modbus Industrial communication network Name Setting range Initial value Effective register address command code Upper Lower READ WRITE 4384 4385 DOUT0 composite 2192 6288 128: CONST-OFF (1120h) (1121h) output function (0890h) (1890h) 4386 4387 DOUT1 composite 2193 6289 128: CONST-OFF (1122h)
Page 404 Parameter R/W commands Modbus Industrial communication network Name Setting range Initial value Effective register address command code Upper Lower READ WRITE 4488 4489 DIN4 ON signal dead- 2244 6340 (1188h) (1189h) time (08C4h) (18C4h) 4490 4491 DIN5 ON signal dead- 2245 6341 (118Ah)
Page 405: 14-15 Network I/O Setting Parameters
Parameter R/W commands 14-15 Network I/O setting parameters Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE 4608 4609 NET-IN0 input function 2304 6400 64: M0 (1200h) (1201h) selection (0900h) (1900h) 4610 4611 NET-IN1 input function...
Page 406 Parameter R/W commands Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE 4652 4653 NET-OUT6 output function 2326 6422 135: INFO (122Ch) (122Dh) selection (0916h) (1916h) 4654 4655 NET-OUT7 output function 2327 6423 129: ALM-A...
Page 407 Parameter R/W commands Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE NET-IN13 group action 4698 4699 2349 6445 mode initial state (for NETC/ (125Ah) (125Bh) (092Dh) (192Dh) GWv2) NET-IN14 group action 4700 4701 2350...
Page 408: 14-16 Extended Input Setting Parameters
Parameter R/W commands 14-16 Extended input setting parameters Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE 4832 4833 Extended input (EXT-IN) 2416 6512 Input signal list p.416 9: P-PRESET (12E0h) (12E1h) function selection (0970h)
Page 409: 14-18 Virtual Input Parameters
Parameter R/W commands 14-18 Virtual input parameters Modbus Industrial communication network Name Setting range Initial value Effective register address command code Upper Lower READ WRITE 4736 4737 Virtual input (VIR-IN0) 2368 6464 0: Not used (1280h) (1281h) function selection (0940h) (1940h) 4738 4739...
Page 410: 14-19 User Output Setting Parameters
Parameter R/W commands 14-19 User output setting parameters Modbus Industrial communication network Name Setting range Initial value Effective register address command code Upper Lower READ WRITE 4800 4801 User output (USER-OUT0) 128: 2400 6496 (12C0h) (12C1h) source A function selection Output signal CONST-OFF (0960h) (1960h)
Page 411: 14-21 Led Status Display Setting Parameters
Parameter R/W commands Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower 5110 5111 2555 6651 USB-PID 0 to 31 (13F6h) (13F7h) (9FBh) (19FBh) 14-21 LED status display setting parameters Modbus Industrial communication network Name Setting range...
Page 412: 14-22 Rs-485 Communication Setting Parameters
Parameter R/W commands 14-22 RS-485 communication setting parameters Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower −1: The switch setting of the driver 4992 4993 Slave address is followed 2496 6592 −1 (1380h) (1381h) (Modbus)
Page 413 Parameter R/W commands Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower −1: Disable 5026 5027 Initial group ID 2513 6609 −1 (13A2h) (13A3h) (NETC) 0 to 31: Address of group (09D1h) (19D1h) −1: The switch setting of the driver is followed 0: 9600 bps...
Page 414: 14-23 Indirect Reference Setting Parameters
Parameter R/W commands 14-23 Indirect reference setting parameters Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE 4864 4865 2432 6528 Indirect reference address setting (0) (1300h) (1301h) (0980h) (1980h) 4866 4867 2433 6529...
Page 415: 14-24 Our Exclusive Parameters For Maintenance
Parameter R/W commands Modbus Industrial communication network Initial Name Setting range Effective register address command code value Upper Lower READ WRITE 4908 4909 2454 6550 Indirect reference address setting (22) (132Ch) (132Dh) (0996h) (1996h) 4910 4911 2455 6551 Indirect reference address setting (23) (132Eh) (132Fh) (0997h)
Page 416: O Signal Assignment List
I/O signal assignment list I/O signal assignment list 15-1 Input signals To assign signals in the network, use the "Assignment No." in the table instead of the signal names. Assignment Assignment Assignment Signal name Signal name Signal name Not used SSTART FREE NEXT...
Page 417: Output Signals
I/O signal assignment list 15-2 Output signals To assign signals in the network, use the "Assignment No." in the table instead of the signal names. Assignment Assignment Assignment Signal name Signal name Signal name Not used DSEL4_R R5_R FREE_R DSEL5_R R6_R C-ON_R DSEL6_R...
Page 418 I/O signal assignment list Assignment Assignment Signal name Signal name RND-ZERO M-ACT4 M-ACT5 MAREA M-ACT6 AREA0 M-ACT7 AREA1 D-END0 AREA2 D-END1 AREA3 D-END2 AREA4 D-END3 AREA5 D-END4 AREA6 D-END5 AREA7 D-END6 D-END7 INFO-USRIO INFO-POSERR INFO-DRVTMP HWTOIN-MON INFO-MTRTMP MON-OUT INFO-OVOLT PLS-OUTR INFO-UVOLT USR-OUT0 INFO-OLTIME...
Page 419 Measures for various cases Table of contents 1 Vibration suppression ..... 420 LPF (speed filter) and moving average filter ..........420 Smooth drive function .......421 Electronic damper ........422 Resonance suppression .....423 2 Suppression of heat generation and noise ........... 424 Current cutback function ....424 Current control mode ......424 Ramp up/ramp down rate of operating current .........426...
Page 420: Vibration Suppression
Vibration suppression Vibration suppression LPF (speed filter) and moving average filter If the command filter to adjust the response of the motor is used, the vibration of the motor can be suppressed. There are two types of command filters: LPF (speed filter) and moving average filter. Related parameters Initial MEXE02 tree view...
Page 421: Smooth Drive Function
Vibration suppression „ Moving average filter Select "Moving average filter" in the "Command filter setting" parameter and set the "Command filter time constant" parameter. The motor response can be adjusted. The positioning time can be shortened by suppressing the residual vibration for positioning operation. Optimum value for the "Command filter time constant"...
Page 422: Electronic Damper
If vibration is generated when the motor of the AZ Series and your linear mechanism are combined, consider using custom setting. Contact the Oriental Motor sales office for details. • Custom codes other than the one prepared by Oriental Motor cannot be used. • Custom setting supports Driver Ver.3.00 and later. ▌422...
Page 423: Resonance Suppression
Vibration suppression Resonance suppression Set a filter to suppress resonance. Related parameters Initial MEXE02 tree view Parameter name Description value Sets the frequency of the vibration to be controlled. Resonance Setting range suppression control 1000 100 to 2000 Hz frequency (With the MEXE02, a value less than 100 Hz can be input.
Page 424: Suppression Of Heat Generation And Noise
Suppression of heat generation and noise Suppression of heat generation and noise Current cutback function The current cutback function is a method in which heat generation of the motor is suppressed by automatically decreasing the motor current to the stop current at the time of stop. When operation is restarted, the current automatically increases to the operating current.
Page 425 Suppression of heat generation and noise • About CCM input When the "Current control mode" parameter is set to "The setting of the CCM input is followed," select the current control mode with the CCM input. When the CCM input is turned ON, the mode is switched to the servo emulation mode.
Page 426: Ramp Up/Ramp Down Rate Of Operating Current
Suppression of heat generation and noise Ramp up/ramp down rate of operating current Set the rate when the operating current is changed. It is applied when the operating current is changed due to change of the operation data number, etc. However, it is not applied to change of the current due to the current cutback function.
Page 427: Backup Of Data Of Mexe02 In Driver
Backup of data of MEXE02 in driver Backup of data of MEXE02 in driver When you use the backup function of the MEXE02, data opened in the MEXE02 can be stored in the backup area of the driver. The data stored by the backup function can be read using the restore function. For the operation procedures of the backup function and restore function, refer to the OPERATING MANUAL of the MEXE02.
Page 428: Check Of Product Information
Check of product information Check of product information The MEXE02 is equipped with the unit information monitor. This monitor function allows you to check product information such as product name, serial number, and settings of switches. The set values of parameters can be also checked. „...
Page 429 Check of product information „ Verification of parameters The parameters currently used are displayed in the "Active" column. 429▐...
Page 430: Monitoring Of Load Factor
Monitoring of load factor Monitoring of load factor The load factor can be monitored on the status monitor of the MEXE02. There are two methods to display the load factor as shown below. • Torque: The current torque ratio against the maximum holding torque being 100% is displayed. •...
Page 431 Alarm and information This chapter explains the alarm function and the information function. It also explains functions that help maintenance of the equipment. Table of contents 1 Alarms ..........432 Alarm reset ..........432 Alarm records ........432 Alarm generation conditions ...432 Alarm list ..........433 Monitor of alarm records ....440 Timing charts .........442...
Page 432: Alarms
Alarms Alarms The driver is equipped with an alarm function that protects it from temperature rise, connection failure, erroneous operation, etc. When an alarm is generated, the ALM-A output is turned ON and the ALM-B output OFF, and the motor stops.
Page 433: Alarm List
Alarms Alarm list Number Reset using Alarm Alarm Motor of LED Cause Remedial action the ALM- code type excitation * blinks RST input • The deviation between the command position and detection position exceeded the value • Decrease the load. set in the "excessive •...
Page 434 Alarms Number Reset using Alarm Alarm Motor of LED Cause Remedial action the ALM- code type excitation * blinks RST input The main power supply Main power Check if the main power Non- was shut off while Possible supply OFF supply is applied normally.
Page 435 Alarms Number Reset using Alarm Alarm Motor of LED Cause Remedial action the ALM- code type excitation * blinks RST input Adjust the status of the load and make sure The motor was rotating Rotation error at the motor output shaft Non- when the power was Not possible...
Page 436 Alarms Number Reset using Alarm Alarm Motor of LED Cause Remedial action the ALM- code type excitation * blinks RST input When the "FW-LS, RV-LS input action" parameter is set to "Immediate Check the sensor logic ±LS both sides stop with alarm" or and the "inverting mode"...
Page 437 Alarms Number Reset using Alarm Alarm Motor of LED Cause Remedial action the ALM- code type excitation * blinks RST input • Review the connection status of the load and the position of the HOMES sensor so that these signals should be None of the TIM output, ON while the HOMES ZSG output, or SLIT input...
Page 438 Alarms Number Reset using Alarm Alarm Motor of LED Cause Remedial action the ALM- code type excitation * blinks RST input • Stored data operation was performed with data whose operating speed was 0. • Wrap operation was executed when wrap •...
Page 439 Alarms Number Reset using Alarm Alarm Motor of LED Cause Remedial action the ALM- code type excitation * blinks RST input Network An alarm was generated Check the alarm code of Non- Possible converter error in the network converter. the network converter. excitation −...
Page 440: Monitor Of Alarm Records
Alarms Monitor of alarm records The MEXE02 is equipped with an alarm monitor window. The alarm monitor window allows you to check alarm records. The operation executed when the alarm was generated and the status of I/O signal are also recorded. Window in which alarm records are scrolled to the right ▌440...
Page 441 Alarms „ Items that can be checked in alarm records Item Description Code The alarm code. Alarm message The description of the alarm. Sub code Our code for checking. Driver temperature The driver temperature when the alarm was generated. Motor temperature The motor temperature when the alarm was generated.
Page 442: Timing Charts
Alarms Timing charts „ When the motor remains excited even if an alarm is generated 1. When an error occurs, the ALM-B output, MOVE output, and PLS-RDY output are turned OFF. At the same time, the motor stops immediately. 2. When you release the alarm, stop the pulse input. When the alarm is released while inputting pulses, the motor is started suddenly, causing injury or damage to the equipment.
Page 443 Alarms „ When the motor is not excited after an alarm is generated 1. When an error occurs, the ALM-B output, MOVE output, and PLS-RDY output are turned OFF. At the same time, the motor stops immediately. 2. When you release the alarm, stop the pulse input. When the alarm is released while inputting pulses, the motor is started suddenly, causing injury or damage to the equipment.
Page 444: Information
Information Information The driver is equipped with a function to generate information output before an alarm is generated. Setting of appropriate values to the parameter of each information will be a help for periodic maintenance of the equipment. For example, a failure of the equipment or production stop due to motor overheat can be prevented by using the "motor temperature information"...
Page 445 Information Initial MEXE02 tree view Parameter name Description value Sets the generation condition of the driver Driver temperature temperature information (INFO-DRVTMP). information (INFO- Setting range DRVTMP) 40 to 85 °C (104 to 185 °F) Sets the generation condition of the motor Motor temperature temperature information (INFO-MTRTMP).
Page 446 Information Initial MEXE02 tree view Parameter name Description value Sets the generation condition of the odometer information (INFO-ODO). Odometer information Setting range (INFO-ODO) 0: Disable 1 to 2,147,483,647 (1=0.1 kRev) INFO action (Assigned I/O status information (INFO- USRIO)) INFO action (Position deviation information (INFO-POSERR)) INFO action (Driver...
Page 447: Information Records
Information Initial MEXE02 tree view Parameter name Description value INFO action (Tripmeter information (INFO-TRIP)) INFO action (Odometer information (INFO-ODO)) INFO action (Start operation Setting range restricted mode information 0: When information is generated, only the bit output (INFO-DSLMTD)) ETO and Alarm and Info of the corresponding information is turned ON.
Page 448 Information Information Contents of bit output Cause Releasing condition information signal • The power supply voltage exceeded the The power supply voltage value set in the "overvoltage information" became lower than the value set parameter. Overvoltage INFO-OVOLT in the "overvoltage information" •...
Page 449 Information Information Contents of bit output Cause Releasing condition information signal The cumulative load became The cumulative load exceeded the value set in lower than the value set in the Cumulative load 1 INFO-CULD1 the "cumulative load 1 information" parameter. "cumulative load 1 information"...
Page 450: Monitor Of Information Function
Information Monitor of information function When you use the information monitor of the MEXE02, you can check the status and records of the information function. The status monitor window of the MEXE02 displays the operation status. Use it as a reference for checking operation or planning maintenance of the equipment.
Page 451: Utilization For Maintenance Of Equipment
Utilization for maintenance of equipment Utilization for maintenance of equipment Various functions of the AZ Series are also helpful for maintenance of the equipment. Cumulative load The load factor in the operation pattern of the motor can be grasped with the area. When the cumulative area (load) exceeds a certain value, it can be notified with information.
Page 452 Utilization for maintenance of equipment 2. Set the maximum value decided in step 1 for information. 3. When operation of the equipment is started and the cumulative load of the motor increases to reach "5000," information is generated. Perform maintenance of the equipment. „...
Page 453: Tripmeter (Travel Distance) And Odometer (Cumulative Travel Distance)
Utilization for maintenance of equipment Tripmeter (travel distance) and odometer (cumulative travel distance) The travel distance and cumulative travel distance of the motor can be utilized for equipment maintenance. Check the values of the tripmeter (travel distance) and odometer (cumulative travel distance) in the status monitor window of the MEXE02.
Page 454 ▌454...
Page 455 Extended setting for pulse- input type This part explains how to extend the function of the pulse-input type. Table of contents 1 Flow of operation and extended setting ..........456 2 Extended setting with parameters ........457 Resolution ..........457 Pulse input mode .........458 Operating current ........460 Command filter ........461 3 I/O signals related to pulse-input...
Page 456: Flow Of Operation And Extended Setting
Flow of operation and extended setting Flow of operation and extended setting The contents of are explained in this manual. OPERATING MANUAL • Install the motor and the • Inst Driver driver and arrange wiring. driv • Set the home position. •...
Page 457: Extended Setting With Parameters
Extended setting with parameters Extended setting with parameters Resolution Set the resolution per revolution of the motor output shaft. Set with SW1 or parameters. „ When setting with the SW1 switch Set with No.1 of SW1. OFF: 1000 P/R (factory setting) ON: 10000 P/R AC input driver DC input driver...
Page 458: Pulse Input Mode
Extended setting with parameters Pulse input mode Set a desired pulse input mode of the driver according to the pulse output mode of the controller used with the driver. Set with SW1 or parameters. „ Pulse input mode types There are three types of pulse input modes: 1-pulse input mode, 2-pulse input mode, and phase difference input mode.
Page 459 Extended setting with parameters „ When setting with the SW1 switch Set with No.2 of SW1. OFF: 1-pulse input mode ON: 2-pulse input mode (factory setting) AC input driver DC input driver No.2 No.2 OFF←→ON OFF←→ON Be sure to turn off the driver power before setting the switches. If the switches are set while the power is still on, the new setting will not become effective.
Page 460: Operating Current
Extended setting with parameters Operating current Set the operating current with the CURRENT switch or the parameter. Related parameters Initial MEXE02 tree view Parameter name Description value Selects the setting method of the base current. Base current setting source Setting range Base setting (Only PULSE-I/F type) 0: The parameter setting is followed...
Page 461: Command Filter
Extended setting with parameters „ When setting with parameters Operating current = "Base current" parameter set value × "Operating current" value set for the operation data number Related parameters Parameter Initial MEXE02 tree view Description name value Sets the maximum output current of the motor as a percentage of the rated current, based on the rated current being 100%.
Page 462 Extended setting with parameters „ When setting with parameters There are two types of command filters: LPF (speed filter) and moving average filter. Related parameters Initial MEXE02 tree view Parameter name Description value Sets the filter to adjust the motor response. Command filter Setting range setting...
Page 463 Extended setting with parameters z Moving average filter Select "Moving average filter" in the "Command filter setting" parameter and set the "Command filter time constant" parameter. The motor response can be adjusted. The positioning time can be shortened by suppressing the residual vibration for positioning operation.
Page 464: O Signals Related To Pulse-Input Type
I/O signals related to pulse-input type I/O signals related to pulse-input type z READY LED When preparation of operation is complete, the READY output is turned ON, and the READY LED of the driver is lit in green at the same time. Input the pulse or operation start signal to the driver after the READY output is turned ON.
Page 465: Output Signal
I/O signals related to pulse-input type z PLSM-REQ input The position coordinate information to be sent by the pulse request function is set. Related parameters Initial MEXE02 tree view Parameter name Description value Selects the information to be output by the pulse request function.
Page 466: Monitor Function
Monitor function Monitor function There are two methods to synchronize the coordinate system managed by the ABZO sensor and the coordinate system of the master controller as shown below. • Clear the encoder counter of the master controller to 0 after high-speed return-to-home operation, position preset, or return-to-home operation is complete.
Page 467 Monitor function z Command position (32 bit counter) The command position of the driver is output. Regardless of the "Wrap setting" parameter, the value when the wrap setting is disabled is displayed. z Output example: When the motor rotates 700 steps from the mechanical home position, in the forward direction (when the settings of the parameters are as shown in the table below) MEXE02 tree view...
Page 468 Monitor function „ Checksum The checksum is the lower 8 bit obtained by dividing the transmission data by 1 byte and adding them by 1 byte. It is information to check whether the data are output correctly. z Output example The feedback position and the alarm code are output while an alarm of hardware overtravel (alarm code: 66h) is generated with the feedback position 300 steps.
Page 469: Pulse Request Function
Monitor function Pulse request function The pulse request function is a function to transmit the present position (absolute position) to the master controller by using the A-phase and B-phase outputs. When the A-phase and B-phase outputs of the encoder counter of the master controller and driver are connected and the pulse request function is executed, the present position of the driver can be output as A-phase and B-phase pulses.
Page 470 Monitor function Do not operate the motor while the position coordinate information is output. If the motor is operated, the present position cannot be synchronized between the ABZO sensor and master controller. ▌470...
Page 471 Appendix Table of contents 1 Change of function of HOME PRESET switch ........472 2 Change of assignments of A-phase/B-phase outputs ....473 3 Change of lighting condition of LED ............475 4 Simulation of operation of driver ... 476 5 Use of general signals .....
Page 472: Change Of Function Of Home Preset Switch
Change of function of HOME PRESET switch Change of function of HOME PRESET switch In the AZ Series, the function of the P-PRESET input is assigned to the HOME PRESET switch. Therefore, just by pressing the HOME PRESET switch, the present position can be set as the home position. However, once the home position is set, the function of the HOME PRESET switch can be disabled so that the home position should not be preset even if the HOME PRESET switch is pressed by mistake.
Page 473: Change Of Assignments Of A-Phase/B-Phase Outputs
Change of assignments of A-phase/ B-phase outputs Change of assignments of A-phase/ B-phase outputs To the I/O connector of the driver, the A-phase (ASG) output and the B-phase (BSG) output are assigned at the time of factory shipment. The ASG output and the BSG output are signals output from the ABZO sensor.
Page 474 Change of assignments of A-phase/B-phase outputs When "A-phase/B-phase output" is selected in the "Differential output mode selection" parameter, the present feedback position is output as phase difference. The resolution of the pulse depends on the resolution of the motor set with the electronic gear A/B. ▌474...
Page 475: Change Of Lighting Condition Of Led
Change of lighting condition of LED Change of lighting condition of LED The front panel of the driver has two types of LED: PWR/ALM LED (or POWER/ALARM LED) and C-DAT/ C-ERR LED. Normally, the C-DAT/C-ERR LED indicates the status of RS-485 communication. When the communication is normal, it is lit in green.
Page 476: Simulation Of Operation Of Driver
Simulation of operation of driver Simulation of operation of driver When the function of the driver operation simulation is used, the status of the coordinate and I/O can be simulated without connecting the motor or power supply. During simulation, the PWR/ALM LED (or POWER/ALARM LED) blinks repeatedly in the following way. •...
Page 477 Simulation of operation of driver „ Operation procedure The following is a simulation method using the MEXE02. 1. Set the "Driver simulation mode" parameter to "Virtual motor." Set value Description Simulation is executed with a virtual motor without Virtual motor (when EC is not connected: no EC connecting the motor.
Page 478: Use Of General Signals
Use of general signals Use of general signals The R0 to R15 inputs are general signals. Using the R0 to R15 inputs, I/O signals for the external device can be controlled by the master controller via the driver. Direct I/O of the driver can be used as an I/O unit. „...
Page 479 Use of general signals Parameter Initial MEXE02 tree view Description name value Selects the input signal to be assigned to remote I/O. Varies Input function depending Setting range on input Input signal list p.480 Remote-I/O function selection Selects the output signal to be assigned to remote I/O. Varies Output function depending...
Page 480: O Signal Assignment List
I/O signal assignment list I/O signal assignment list Assign I/O signals in the MEXE02 or RS-485 communication. Input signal list To assign signals in the network, use the "Assignment No." in the table instead of the signal names. Assignment Assignment Assignment Signal name Signal name...
Page 481: Output Signal List
I/O signal assignment list Output signal list To assign signals in the network, use the "Assignment No." in the table instead of the signal names. Assignment Assignment Assignment Signal name Signal name Signal name Not used DSEL4_R R5_R FREE_R DSEL5_R R6_R C-ON_R DSEL6_R...
Page 482 I/O signal assignment list Assignment Assignment Signal name Signal name RND-ZERO M-ACT6 M-ACT7 MAREA D-END0 AREA0 D-END1 AREA1 D-END2 AREA2 D-END3 AREA3 D-END4 AREA4 D-END5 AREA5 D-END6 AREA6 D-END7 AREA7 INFO-USRIO INFO-POSERR INFO-DRVTMP INFO-MTRTMP INFO-OVOLT HWTOIN-MON INFO-UVOLT MON-OUT INFO-OLTIME PLS-OUTR INFO-SPD USR-OUT0 INFO-START...
Page 483 483▐...
Page 484 If a new copy is required to replace an original manual that has been damaged or lost, please contact your nearest Oriental Motor branch or sales office. • Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use of any information, circuit, equipment or device provided or referenced in this manual.

This manual is also suitable for:

A step az series

Oriental motor Alpha Step AZ Series Manual

Operation

Flow of Setting Required for Positioning Operation

Setting of Resolution

Stored Data (SD) Operation

Return-To-Home Operation

Macro Operation

Relationship between Operation Type and Operation Data and Parameter

Position Coordinate Management

2 I/O Signals

Overview of I/O Signals

Signal List

Signal Types

Input Signals

Output Signals

Timing Chart

Power Removal Function (ETO Function)

3 Parameters

Parameter: Base Setting

Parameter: Motor and Mechanism (Coordinates/Jog/Home Operation)

Parameter: ETO and Alarm and Info

Parameter: I/O Action and Function

Parameter: Direct-IN Function

Parameter: Direct-OUT Function

Parameter: Remote-I/O Function (RS-485)

Parameter: EXT-IN and VIR-IN and USR-OUT Function (Extend)

Parameter: Communication & I/F

O Signal Assignment List

4 Method of Control Via Modbus RTU (RS-485 Communication)

Specification of Modbus RTU

Message Structure

Function Codes

Flow of Setting Required for Modbus Communication

Guidance

Setting of Switches

Setting of RS-485 Communication

Example of Data Setting in Modbus RTU Mode

Data Setting Method

Direct Data Operation

Group Send

Timing Chart

Detection of Communication Errors

5 Method of Control Via Industrial Network

Flow of Setting Required for Control Via Industrial Network

Setting of Switches

Method of Control Via CC-Link Communication

Method of Control Via MECHATROLINK Communication

Group Function

Simple Direct Data Operation

Detection of Communication Errors

6 Address/Code Lists

Update Timing of Parameters

O Commands

Group Commands

Protect Release Commands

Direct Data Operation Commands

Simple Direct Data Operation Commands

Maintenance Commands

Monitor Commands

Overview of Operation Data R/W Command Address Arrangement

Operation Data R/W Commands

Operation Data R/W Commands (Compatible)

Operation I/O Event R/W Commands

Extended Operation Data Setting R/W Commands

Parameter R/W Commands

O Signal Assignment List

7 Measures for Various Cases

Vibration Suppression

Suppression of Heat Generation and Noise

Backup of Data of MEXE02 in Driver

Check of Product Information

Monitoring of Load Factor

8 Alarm and Information

Alarms

Information

Utilization for Maintenance of Equipment

9 Extended Setting for Pulse-Input Type

Flow of Operation and Extended Setting

Extended Setting with Parameters

O Signals Related to Pulse-Input Type