Autonics AiC-D-20MA User Manual
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Autonics AiC-D-20MA User Manual

Autonics AiC-D-20MA User Manual

Closed-loop stepper system
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User Manual
Closed-Loop Stepper System
AiC-D Series
MMD-AiCU1-V1.5-2009US
Thank you for purchasing an Autonics product.
This user manual contains information about the product and its proper use,
and should be kept in a place where it will be easy to access.
www.autonics.com

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Summary of Contents for Autonics AiC-D-20MA

  • Page 1 Closed-Loop Stepper System AiC-D Series MMD-AiCU1-V1.5-2009US Thank you for purchasing an Autonics product. This user manual contains information about the product and its proper use, and should be kept in a place where it will be easy to access. www.autonics.com...
  • Page 3 Preface Preface Thank you for purchasing Autonics product. Please familiarize yourself with the information contained in the Safety Considerations section before using this product. This user manual contains information about the product and its proper use, and should be kept in a place where it will be easy to access.

  • Page 4: User Manual Guide

    Visit our website (www.autonics.com) to download a copy.  The manual's content may vary depending on changes to the product's software and other unforeseen developments within Autonics, and is subject to change without prior notice. Upgrade notice is provided through out website. ...

  • Page 5: User Manual Symbols

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

  • Page 6: Safety Considerations

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

  • Page 8: Cautions During Use

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

  • Page 9: Table Of Contents

    4.2.1 Frame Size 20mm ..................36 Frame Size 28mm ..................36 4.2.2 4.2.3 Frame Size 35mm ..................36 Frame Size 42mm ..................37 4.2.4 4.2.5 Frame Size 56mm / Frame Size 60mm ............. 37 © Copyright Reserved Autonics Co., Ltd.

  • Page 10: Table Of Contents

    Exclusive Output (AiC-D: 4, AiC-D-B: 6) ............. 61 8.2.1 8.2.2 General Output (AiC-D: 10, AiC-D-B: 9) ............. 63 Example of Output Circuit Connection ............ 63 8.2.3 8.2.4 Brake Output ..................... 63 Drive ......................64 © Copyright Reserved Autonics Co., Ltd.
  • Page 11 11.2.6 In-Position ....................109 11.2.7 Servo Off ....................110 11.2.8 Motor Direction ..................110 11.2.9 Position Override ..................110 Protection Function ................111 12.1 Alarm ....................... 111 12.2 Warning ......................114 Troubleshooting ..................115 © Copyright Reserved Autonics Co., Ltd.

  • Page 12: Product Overview

    10-stage resolution setting  Various alarm outputs: overcurrent, overspeed, overheating, motor connection error, encoder connection error, etc. (17 alarms)  Supported motor frame sizes: 20 mm, 28 mm, 35 mm, 42 mm, 56 mm, 60 mm © Copyright Reserved Autonics Co., Ltd.

  • Page 13: Configuration Diagram And Components

    1.2.2.2 Motor Ai-M Series Instruction manual Make sure all of the above components are included with your product package before use. If a component is missing or damaged, please contact Autonics or your distributor. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 14: Ordering Information

    Middle - Frame size 20mm: 41.2mm, Frame size 28mm: 59mm, ⑤ Motor length Frame size 35mm: 52mm Long - Frame size 20mm: 53.1mm, Frame size 28mm: 65mm, Frame size 35mm: 68.5mm 4,000PPR (1,000PPRⅹ4-multiply) ⑥ Encoder resolution 16,000PPR (4,000PPRⅹ4-multiply) © Copyright Reserved Autonics Co., Ltd.
  • Page 15 Frame size 56mm: 125.1mm, type Frame size 60mm: 137.6mm Long - Frame size 42mm: 116.3mm, Frame size 56mm: 146.1mm, Frame size 60mm: 154.6mm ⑥ Encoder resolution 10,000PPR (2,500PPRⅹ4-multiply) Standard Type mark ⑦ Brake Built-in Brake type ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 16 Middle - Frame size 20mm: 41.2mm, Frame size 28mm: 59mm ④ Motor length Frame size 35mm: 52mm Long - Frame size 20mm: 53.1mm, Frame size 28mm: 65mm, Frame size 35mm: 68.5mm 4,000PPR (1,000PPRⅹ4-multiply) ⑤ Encoder resolution 16,000PPR (4,000PPRⅹ4-multiply) © Copyright Reserved Autonics Co., Ltd.
  • Page 17 Frame size 56mm: 125.1mm, type Frame size 60mm: 137.6mm Long - Frame size 42mm: 116.3mm, Frame size 56mm: 146.1mm, Frame size 60mm: 154.6mm ⑤ Encoder resolution 10,000PPR (2,500PPRⅹ4-multiply) Standard Type mark ⑥ Brake Built-in Brake type ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 18: Models

    Ai-M-60LA 1.4.2 Built-in Brake Type Driver Motor AiC-42SA-B AiC-D-42SA-B Ai-M-42SA-B AiC-42MA-B AiC-D-42MA-B Ai-M-42MA-B AiC-42LA-B AiC-D-42LA-B Ai-M-42LA-B AiC-56SA-B AiC-D-56SA-B Ai-M-56SA-B AiC-56MA-B AiC-D-56MA-B Ai-M-56MA-B AiC-56LA-B AiC-D-56LA-B Ai-M-56LA-B AiC-60SA-B AiC-D-60SA-B Ai-M-60SA-B AiC-60MA-B AiC-D-60MA-B Ai-M-60MA-B AiC-60LA-B AiC-D-60LA-B Ai-M-60LA-B © Copyright Reserved Autonics Co., Ltd.
  • Page 19 1 Product Overview ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 20: Specifications

    END (end program), POS (position set), TIM (timer), CMP (compare output) functio Start Power ON program start function Home Power ON home search function search Home search mode Home, limit home, zero home, torque home © Copyright Reserved Autonics Co., Ltd.

  • Page 21: Factory Default

    500 PPR Speed filter Motor GAIN 60 ms In-Position Communication speed 115,200 bps Communication ID setting switch (ID Sel) Communication ID setting / Terminating resistance setting Communication ID setting (ID) DIP switch (ID, TERM) ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 22: Motor

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

  • Page 23: Frame Size 42Mm

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

  • Page 24: Common Specifications

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

  • Page 25: Brake

    Max. 30ms Releasing time Max. 10ms Max. 20ms ※1: Driver reduces power voltage from 24VDC to 11.5VDC and control the motor to reduce heat generation in the brake which is connected with the motor. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 26: Encoder

    Output voltage: max. 2.5VDCᜡ Response time Max. 0.5μs (cable length: 2m, I sink=20mA) (rise, fall) Max. response 300kHz frequency Power supply 5VDCᜡ ±5% (ripple P-P: max. 5%) Current consumption Max. 50mA (disconnection of the load) © Copyright Reserved Autonics Co., Ltd.

  • Page 27: Dimensions

    3 Dimensions Dimensions Driver (unit: mm) Be sure that these figures may differ from the actual units. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 28: Motor

    3 Dimensions Motor 3.2.1 Standard Type 3.2.1.1 Frame Size 20mm 3.2.1.2 Frame Size 28mm 3.2.1.3 Frame Size 35mm © Copyright Reserved Autonics Co., Ltd.
  • Page 29 3 Dimensions Model Model Model Ai-M-28SB Ai-M-35SB 41.5 Ai-M-20MA 41.2 Ai-M-28MB Ai-M-35MB Ai-M-20LA 53.1 Ai-M-28LB Ai-M-35LB 68.5 ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 30 3 Dimensions 3.2.1.4 Frame Size 42mm 3.2.1.5 Frame Size 56mm 3.2.1.6 Frame Size 60mm © Copyright Reserved Autonics Co., Ltd.
  • Page 31 3 Dimensions Model Model Model Ai-M-42SA 34.1 Ai-M-56SA 43.5 Ai-M-60SA 48.1 Ai-M-42MA 40.1 Ai-M-56MA 56.5 Ai-M-60MA Ai-M-42LA 48.1 Ai-M-56LA 77.5 Ai-M-60LA ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 32: Built-In Brake Type

    3 Dimensions 3.2.2 Built-in Brake Type 3.2.2.1 Frame Size 42mm 3.2.2.2 Frame Size 56mm 3.2.2.3 Frame Size 60mm © Copyright Reserved Autonics Co., Ltd.
  • Page 33 3 Dimensions Model Model Model Ai-M-42SA-B Ai-M-56SA-B Ai-M-60SA-B 33.9 43.3 47.9 Ai-M-42MA-B Ai-M-56MA-B Ai-M-60MA-B 39.9 56.3 68.8 Ai-M-42LA-B Ai-M-56LA-B Ai-M-60LA-B 47.9 77.3 85.8 ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 34 3 Dimensions © Copyright Reserved Autonics Co., Ltd.

  • Page 35: Installation Of Motor

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

  • Page 36: Mounting Of Motor

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

  • Page 37: Frame Size 42Mm

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

  • Page 38: Connection With Load

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

  • Page 39: Installation Conditions

    ⑪ The place with less salt content ⑫ The place with less electronic noise occurs by welding machine, motor, etc. ⑬ The place where radioactive substances and magnetic fields does not exist and is not in the vacuum status ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 40: Connection

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

  • Page 41: Built-In Brake Type

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

  • Page 42: Characteristics

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

  • Page 43: Frame Size 42Mm

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

  • Page 44: Built-In Brake Type

    6 Characteristics Built-in Brake Type 6.2.1 Frame Size 42mm 6.2.2 Frame Size 56mm 6.2.3 Frame Size 60mm © Copyright Reserved Autonics Co., Ltd.
  • Page 45 6 Characteristics ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 46: Driver Unit Descriptions

    5. In-Position indicator (INP., Yellow) 6. Power/Alarm indicator (PWR/AL, Green/Red) 7. Communication ID setting rotary switch (ID Selection SW1) 8. RS485 Communication connector (CN4: RS485 OUT / RS485 IN) 9. Communication ID setting/Terminating resistance setting DIP switch (SW2) © Copyright Reserved Autonics Co., Ltd.

  • Page 47: Connectors

    Connects the motor and the encoder to the driver. Pin arrangement Function Function +5VDC Encoder A ̅ Encoder A Encoder B ̅ Encoder B Encoder Z ̅ Encoder Z F.G. Motor A Motor B Motor A ̅ Motor B ̅ ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 48: Cn3: I/O Connector

    [L], [H] General input8, Brake ON/OFF Brake ON/OFF Input External input power (24VDC) Input External input GND (0VDC) Output Alarm Alarm output Output Compare1 Comparison output1 Output Compare2 Comparison output2 Output OUT0 General output0 © Copyright Reserved Autonics Co., Ltd.

  • Page 49: Cn4: Rs485 Communication Cable Connector

    ※3: N.C for standard type motor. ※4: Brake ON/OFF function can be switched in built-in brake type. ※5: N.C for built-in brake type motor. 7.1.4 CN4: RS485 Communication Cable Connector Input/Output Function Input/Output RS485 DATA+ Input/Output RS485 DATA- ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 50: Connector Specifications

    ※Set Node ID of the driver. ※Depending on the 1 switch setting of the SW2, it is possible to connect max. 31-axis. ※ID setting value is applied when motor is stopped or excitation is released. © Copyright Reserved Autonics Co., Ltd.

  • Page 51: Sw2: Id Setting/Terminating Resistance Dip Switch

    RS485 Data I/O Flashes when receiving data. Right side TXD OUT ※1 Green display Flashes when sending data. ※1: Although RS485 OUT is disconnected, RXD IN/TXD OUT operates normally, if RS485 IN is communicating. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 52: Sold Separately

    ※2: N.C for built-in brake type motor. ※□ of model name indicates cable length (010, 020, 030, 050, 070, 100, 150, 200). E.g.) CO50-MP070-R: 7m I/O cable ※It is recommended to use ferrite core at I/O cable. © Copyright Reserved Autonics Co., Ltd.

  • Page 53: Power Cable (Cj-Pw-□)

    Motor+Encoder Cable (normal: C1D14M-□/moving: C1DF14M-□) ※□ of model name indicates cable length (1, 2, 3, 5, 7, 10, 15, 20). E.g.)C1DF14M-10: 10m moving type motor+encoder cable ※It is recommended to use ferrite core at Motor+Encoder cable. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 54: Control Input/Output

    Pause Pause Servo On/Off Servo On/Off Home Home search Alarm Reset Alarm reset command +Limit + direction limit sensor -Limit - direction limit sensor Home sensor Deceleration (Deceleration stop) signal Brake ON/OFF Brake ON/OFF © Copyright Reserved Autonics Co., Ltd.
  • Page 55 The current of motor is not blocked. During stopping motor, EMG instruction does not run.  When emergency stop alarm occurs, all drive stops and all output turn OFF regardless of the output remain setting. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 56 It is available to set the start drive speed of jog mode, continuous mode by 2-digit bit of SSP0, SSP1. SSP1 SSP0 Start speed 1 Start speed 2 Start speed 3 Start speed 4 Start speed 5 is not available. © Copyright Reserved Autonics Co., Ltd.
  • Page 57 Program mode (2) HMD0, 1 When home signal is ON, it is available to set the home search mode among 4 types. HMD1 HMD0 Home search Limit home search Zero home search Torque home search ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 58 When alarm reset signal is [H], : alarm is reset and the alarm indicator and alarm output turn OFF. The driver returns to normal status. If alarm causes are not removed, the driver does not return to normal status. © Copyright Reserved Autonics Co., Ltd.
  • Page 59 When Brkae ON/OFF signal remains OFF more than 1.5 msec or 10 msec, Brake is locked. Brake ON/OFF is only available in Servo Off status. When servo is On, this function will be disabled for safety. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 60: General Input (9)

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

  • Page 61: Output

    Depending on the alarm type, it flashes as much as the alarm number on the alarm indicator. In connected communication, Alarm can be displayed in atMotion program. For more information, refer to ‘12 Protection Function’. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 62 ※Setting range of Compare 1 Pulse Width, Compare 2 Pulse Width : 1 to 1,000 [ms]  Compare 1 Mode=1 / Compare 1 Position=5000,  Compare 1 Mode=2 / Compare 1 Position=-2000,  Compare 1 Mode=3, © Copyright Reserved Autonics Co., Ltd.

  • Page 63: General Output (Aic-D: 10, Aic-D-B: 9)

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

  • Page 64: Drive

    : When “Start” input signal turns ON, the designated one step operates. 4th Emergency stop : When “EMG” signal inputs, it stops emergently.  For index mode drive by I/O control, “MD0/HMD0”, “MD1/HMD1” are turn OFF and it selects index drive. © Copyright Reserved Autonics Co., Ltd.
  • Page 65 When it stops by stop signal input, Index drive error occurs.  When driving the step which does not have “ABS” or “INC” instruction, Index drive error occurs.  The specified step operates repeatly if the “Start” signal is input continuously. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 66: Jog Drive

    : It is available to set the max. drive speed combining with “MSP0”, ”MSP1”. 4th Drive: It drives to CW direction or CCW direction while “+Jog” or “–Jog” signal inputs. 5th Emergency stop : When “EMG” signal inputs, it stops emergently. © Copyright Reserved Autonics Co., Ltd.
  • Page 67 9 Drive  For jog mode drive by I/O control, “MD0/HMD0” turns ON, “MD1/HMD1” turns OFF and it selects jog drive.  It cannot stop by “Stop” signal input. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 68: Continuous Drive

    4th Drive: When “+Run” or “–Run” signal inputs, it drives to CW direction or CCW direction. 5th Stop: When “STOP” signal inputs or limit signal of the direction inputs, it stops. 6th Emergency stop: When “EMG” signal inputs, it stops emergently. © Copyright Reserved Autonics Co., Ltd.
  • Page 69 9 Drive For continuous mode drive by I/O control, “MD0/HMD0” turns OFF, “MD1/HMD1” turns ON, and it selects continuous drive. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 70: Program Drive

    : When “HOME” signal inputs, it operates home search according to the set mode. 3rd Stop : When “STOP” signal inputs or limit signal of the direction inputs, it stops. 4th Emergency stop : When “EMG” signal inputs, it stops emergently. © Copyright Reserved Autonics Co., Ltd.
  • Page 71 “Home Search Start Speed”, finds home sensor and stops when ORG (home sensor) isgnal is OFF. 7th After finding home, “In-Position” signal outputs and the “INP. indicator (orange)” turns ON. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 72 “Home Search Start Speed”, finds home sensor and stops when ORG (home sensor) isgnal is ON. 7th After finding home, “In-Position” signal outputs and the “INP. indicator (orange)” turns ON. © Copyright Reserved Autonics Co., Ltd.
  • Page 73 ON.  For deceleration stop, set the deceleration time shortly. In case of long deceleration time, it may conflict with the structure.  Install the limit sensor with the certain distance from the structure. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 74 Home Search Offset value is set instead of 0.  If the parameter “Power On Home Search” is set as Enable and the power is applied, Home search mode error alarm will occur due to unassigned zero point. © Copyright Reserved Autonics Co., Ltd.
  • Page 75 At “Home Search Offset”, the other value except 0 is set, it moves for the setting value with start drive speed, “In-Position” signal outputs, and the “INP. indicator (orange)” turns ON. ※ is for the condition which Home Search Offset value is set instead of 0. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 76: Atmotion Control Drive

    Control Drive  atMotion run and setting 1st Visit our website (www.autonics.com) to download and install newest version of ‘atMotion’. 2nd Run ‘atMotion’ which is installed on PC. 3rd On the left side, select ① ‘Supported Device List’ - ② ‘AiC Series’.
  • Page 77 5th Right click the newly added device on ‘My System’ then click ① ‘Add’. When ② ‘Add Unit’ window displays, double click the device list or click the arrow, placed in the middle of the widnow, to create node number then select ③ ‘OK’. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 78 6th Select ‘RS-232’ on the right side of the window, set the communication port, and baud rate for the connected device. 7th Click ‘Connect’ on the upper side of the window to connect the communication. © Copyright Reserved Autonics Co., Ltd.
  • Page 79 9 Drive 8th To make sure the communication is connected properly, check the ‘My System’ items on the right side of the window to figure out the device node setting. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 80: Jog Mode

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

  • Page 81: Continuous Mode

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

  • Page 82: Position Mode

    Recognize the position when the initial power is entered as the origin. To change the origin, run home search mode.  To specify the current position as the origin, click the ‘Reset Position’ button to set as the origin. © Copyright Reserved Autonics Co., Ltd.
  • Page 83  If the position override operation is not available properly, the position override warning occurs and the final target position is reached at the specified starting speed. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 84: Program Mode

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

  • Page 85: Home Search Mode

    2nd Set the value of Start Speed, Max Speed, Accel Rate and Decel Rate for Home search mode. 3rd Click button to execute the home search operation. 4th When the home is found, the home search operation is completed. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 86 0.  In normal home search mode, Home search mode error alarm occurs if the ORG signal does not input until it reaches the opposite limit sensor past the limit sensor (±Limit). © Copyright Reserved Autonics Co., Ltd.
  • Page 87 If the deceleration time is set long during deceleration and stop, it may collide with the structure, so the deceleration time should be set short or the limit sensor should be installed from the structure with sufficient margin. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 88 Position) and lights up in the In-Position indicator to display the status.  If a value other than 0 is set in the parameter ‘Home Search Position Set’, the position specified after finding the origin is set to the set value other than 0. © Copyright Reserved Autonics Co., Ltd.
  • Page 89  If a value other than 0 is set in the parameter ‘Home Search Position Set’, the position specified after finding the origin is set to the set value other than 0. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 90: Program Instructions

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

  • Page 91: Drive Instruction

     S Curve : Set use/not use of S-curve acceleration/deceleration.  Enable=Use S-curve acceleration/deceleration  Disable=Not use S-curve acceleration/deceleration  S Curve Time : When using S curve, set the S-curve acceleration/deceleration time. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 92 5,000 1,000 5,000 10,000 1,000 10,000 20,000 1,000 7,000 20,000 1,000 7,000  For the step with acceleration, set deceleration time as 0ms.  For the step with deceleration, set acceleration time as 0ms. © Copyright Reserved Autonics Co., Ltd.

  • Page 93: Inc (Relative Position Move)

    Moving range for input is -2,147,483,648 to 2,147,483,647.  S Curve : Set use/not use of S-curve acceleration/deceleration.  Enable=Use S-curve acceleration/deceleration  Disable=Not use S-curve acceleration/deceleration  S Curve Time : When using S curve, set the S-curve acceleration/deceleration time. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 94: Hom (Home Search)

    For the step with deceleration, set acceleration time as 0ms. 10.1.3 HOM (home search) It is for home search according to the set parameter of Home Search Mode (Home search mode). Instruction DATA instruction For more information, refer to the ‘9.5Home search’ . © Copyright Reserved Autonics Co., Ltd.

  • Page 95: Input/Output Instruction

    Output port: Select the output port number. For more information of output port number, refer to ‘8.2.2General Output (AiC-D: 10, AiC-D-B: 9)’.  Level: When setting as Enable, it turns ON. When setting as Disable, it turns OFF. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 96: Opt (Output Port On Pulse)

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

  • Page 97: Program Control Instruction

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

  • Page 98: Rpe (Repeat End)

    Set the Delay Time level from 1 to 5. When selecting Delay Time level as ‘User Value’, it is available to set as the desired value in the range of 1 to 10,000 msec. © Copyright Reserved Autonics Co., Ltd.

  • Page 99: Driver Function

    It ends drive when it finishes generating pulse, as shown in the image below.  Absolute position movement and relative position movement : There are absolute position movement and relative position movement. These are fixed pulse drive. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 100 Decelerating stop and immediate stop are in stop instruction. Slow stop is applied in almost every case except when drive speed is lower than initial speed, reset and emergency stop. © Copyright Reserved Autonics Co., Ltd.

  • Page 101: Speed Curve

    “Acceleration Time 1”, “Deceleration Time 1”.  When it arrives with not the max. drive speed at the target position due to long acceleration time and short command position, acceleration time may be changed. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 102 In this case, it operates asymmetric trapezoidal acceleration/deceleration drive.  When deceleration speed is higher than acceleration speed,  When acceleration speed is higher than deceleration speed, © Copyright Reserved Autonics Co., Ltd.
  • Page 103  During S curve operation, acceleration/deceleration time should be set as same. If it is set differently, deceleration time is set same as acceleration time. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 104 For S-curve drive without trapezoidal, S Curve Time (S-curve 2000 msec it should be set the half of acceleration/deceleration time) acceleration/deceleration time. Start Speed (start drive speed) 0 pps Max Speed (max. drive speed) 40000 pps © Copyright Reserved Autonics Co., Ltd.
  • Page 105 On the other hand, S curve smoothly increases acceleration at the start point and decreases it smoothly at the end point. Therefore S curve acceleration/deceleration is recommended for sensitive systems. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 106: Other Functions

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

  • Page 107: Position Control Gain Setting

    GAIN value at the atMotion. Parameter Setting range Unit P GAIN 0 to 7 0.001 I GAIN 0 to 4 0.001 Speed Filter and PI GAIN can be set at the same time. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 108: Stop Current

    Set the speed filter value for time delay between the command position and motor. It is able to drive softly even though load changing or disturbance occurs. Parameter Setting Value (msec) Disable Speed Filter 8 (factory default) © Copyright Reserved Autonics Co., Ltd.

  • Page 109: In-Position

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

  • Page 110: Servo Off

    If the position override operation is not available properly, the position override warning occurs and the final target position is reached at the specified starting speed.  For more information of operation refer to ‘9.2.3.1 Position Override’. © Copyright Reserved Autonics Co., Ltd.

  • Page 111: Protection Function

    Overload 1. Over load over the rated 2. Check that less than the error 2. Insufficient SMPS capacity load for over 1 recommended SMPS capacity is sec. used. 3. Check driver break. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 112 2. Increase stop torque as 50% or error after motor use the other motor with higher stopped. torque. When memory error Memory is detected as 1. EEPROM error 1. Replace EEPROM parts. error power supplied © Copyright Reserved Autonics Co., Ltd.
  • Page 113 4. Change the value of the Home search Torque parameter (torque home search) ※1. When emergency stop alarm occurs, all drive stops and all output turn OFF regardless of the output remain setting. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 114: Warning

    1. When value which Position When it is impossible to position override 1. Change operation condition to override operate position override cannot be operated avoid sudden position change. is entered © Copyright Reserved Autonics Co., Ltd.

  • Page 115: Troubleshooting

    Connection between motor and Check the Motor+Encoder connection When motor drive is encoder is unstable. cable. unstable Position control gain value is Change the P Gain or I Gain parameter as not correct. the certain value. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 116 * Dimensions or specifications on this manual are subject to change and some models may be discontinued without notice.

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