Autonics AiC-D Series User Manual
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Autonics AiC-D Series User Manual

Closed-loop stepper system
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User Manual
Closed-Loop Stepper System
AiC-D Series
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Summary of Contents for Autonics AiC-D Series

  • Page 1 User Manual Closed-Loop Stepper System AiC-D Series 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.
  • Page 2 Preface © Copyright Reserved Autonics Co., Ltd.

  • Page 3: Preface

    Preface Preface Thank you for purchasing Autonics product. Please familiarize yourself with the information contained in the Safety Considerations section before using this product. This user manual contains information about the product and its proper use, and should be kept in a place where it will be easy to access.

  • Page 4: User Manual Guide

    The manual's content may vary depending on changes to the product's software and  other unforeseen developments within Autonics, and is subject to change without prior notice. Upgrade notice is provided through out website. We contrived to describe this manual more easily and correctly. However, if there are ...

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

  • Page 10: Table Of Contents

    Example of Input Circuit Connection ............59 Output .......................60 8.2.1 Exclusive Output (AiC-D: 4, AiC-D-B: 6) ............. 60 8.2.2 General Output (AiC-D: 10, AiC-D-B: 9) ............. 67 8.2.3 Example of Output Circuit Connection ............ 67 8.2.4 Brake Output ..................... 67 © Copyright Reserved Autonics Co., Ltd.
  • Page 11 11.3.1 Limit Operation ..................93 11.3.2 Stop Current ....................94 11.3.3 Stop Current Fix ..................94 11.3.4 Speed Filter ....................94 11.3.5 Position Control Gain Setting ..............95 11.3.6 In-Position ....................96 Troubleshooting ..................97 © Copyright Reserved Autonics Co., Ltd.

  • Page 12: Product Overview

    Frame size 42, 56, 60mm: 500, 1000, 1600, 2000, 3200, 3600, 5000, 6400, 7200, 10000 (10-level) Various alarm functions  : 17 alarms; over current, over speed, over heat, motor connection error, encoder connection error Frame size 20mm, 28mm, 35mm, 42mm, 56mm, 60mm motor supported  © Copyright Reserved Autonics Co., Ltd.

  • Page 13: Configuration Diagram And Components

    1.2.2 Components 1.2.2.1 Driver 1.2.2.2 Motor 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 ⑦ Brake mark Built-in Brake type ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 16: Motor

    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

    OPT (on pulse from output port), JMP (jump), REP (start repetition), RPE (end repetition), Program END (end program), POS (position set), TIM (timer), CMP (compare output) function Start Power ON program start function Home Power ON home search function search © Copyright Reserved Autonics Co., Ltd.
  • Page 21 ※3: RUN current varies depending on the input RUN frequency and max. RUN current at the moment varies also. ※4: Settable with the dedicated program. ※5: The weight includes packaging. The weight in parenthesis is for unit only. ※Environment resistance is rated at no freezing or condensation. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 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 33.9 43.3 47.9 Ai-M-42SA-B Ai-M-56SA-B Ai-M-60SA-B 39.9 56.3 68.8 Ai-M-42MA-B Ai-M-56MA-B Ai-M-60MA-B 47.9 77.3 85.8 Ai-M-42LA-B Ai-M-56LA-B Ai-M-60LA-B ⓒ 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

    The place with less salt content ⑪ The place with less electronic noise occurs by welding machine, motor, etc. ⑫ The place where radioactive substances and magnetic fields does not exist and is not in the ⑬ 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

    Pin arrangement Pin no. Function Pin no. Function Encoder A � +5VDC Encoder B � Encoder A Encoder Z � Encoder B 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 input6 Input 1.5ms [L], [H] General input7 Input 1.5ms [L], [H] General input8 Input External input power (24VDC) Input External input GND (0VDC) Output Alarm Alarm output Output Compare1 Comparison output1 © Copyright Reserved Autonics Co., Ltd.

  • Page 49: Cn4: Rs485 Communication Cable Connector

    [H]: 5-30VDC, [L]: 0-2VDC (however, reset is fixed as [L].) ※3: N.C for standard type motor. ※4: N.C for built-in brake type motor. 7.1.4 CN4: RS485 Communication Cable Connector Pin no. Input/Output Function Input/Output RS485 DATA+ Input/Output RS485 DATA- ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 50: Connector Specifications

    KRM-U-02-8-8-4-7M5 KINNEXA ※1. It depends on the frame size of the motor. 5556T2: 20, 28, 35mm 5556T: 42, 56, 60mm Above connectors are suitable for AiC-D Series. You can use equivalent or substitute connectors. Switches 7.3.1 SW1: ID Setting Switch...

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

    RS485 Data I/O Flashes when receiving data. ※1 Right side display TXD OUT Green Flashes when sending data. ※1 ※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

    8.1.1.1 Reset When driver is reset, it operates same as resupplying the power. The parameter which is saved at atMotion is not reset. During motor driving, it stops immediately and the driver is reset. © Copyright Reserved Autonics Co., Ltd.
  • Page 55 (3) ±Jog Accoridng to the set parameter, it drives to CW (+Jog) / CCW (-Jog) direction during ON jog signal. If +Jog signal and ‒Jog signal are supplied at the same time, the motor stops. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 56 It is available to set the max. drive speed of jog mode, continuous mode by 2-digit bit of MSP0, MSP1. MSP1 MSP0 Max speed 1 Max speed 2 Max speed 3 Max speed 4 Max speed 5 is not available. © Copyright Reserved Autonics Co., Ltd.
  • Page 57 Servo On/Off signal is [L] over 1ms: It recognizes as servo on signal and the phase  current of motor is supplied and torque is return. Servo On indicator, In-Position Output and the indicator turn ON. The motor must stop. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 58 During driving as general home search mode, it is used as home sensor input. When suppling ORG signal over 1.5ms, it recognizes as home sensor. 8.1.1.15 SD (slow down) When supplying SD signal over 1.5ms, the set the start drive speed decelerates. © Copyright Reserved Autonics Co., Ltd.

  • Page 59: 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 60: Output

    In-Position signal outputs instantly. Accurate Response: When the deviation of the target position and the current position  is smaller than the set value and maintains over 50ms In-Position signal outputs. © Copyright Reserved Autonics Co., Ltd.
  • Page 61 It is recommended not to use the unit during warning status. ※Depending on the alarm/warning type, it flashes for 0.4 sec interval and it turns OFF for 0.8 sec repeatedly. In case of no. 3 alarm, ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 62 Regener- When 1. Over load 1. Change operation condition or ative regenerative 2. Excessive force due to rapid reduce load so that sudden load voltage voltage is over deceleration fluctuation does not occur. error © Copyright Reserved Autonics Co., Ltd.
  • Page 63 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 64 (torque home search) rotation direction. error 3. When a stop command is (CW direction: +Limit, issued during home search CCW direction: -Limit) operation 4. Change the value of the Home search Torque parameter (torque home search) © Copyright Reserved Autonics Co., Ltd.
  • Page 65 Causes Troubleshooting flashing type 1. Change operation condition or Over When maximum load is reduce load so that sudden load 1. Over load kept connected over 10 sec load warning fluctuation does not occur. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 66 ※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 67: 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 68: Drive

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

  • Page 69: Jog Mode

    : When “EMG” signal inputs, it stops emergently. 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 70: Continuous Mode

    5th Stop: When “STOP” signal inputs or limit signal of the direction inputs, it stops. 6th Emergency stop: When “EMG” signal inputs, it stops emergently. 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 71: Program Mode

    : 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 72 9 Drive © Copyright Reserved Autonics Co., Ltd.

  • Page 73: Program Instructions

    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 Program control Repeat end Program end Position set Others Ready ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 74: 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 75 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 76: 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 77: Hom (Home Search)

     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 78: 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 79: Opt (Output Port On Pulse)

    OFF: It turns the set output port ON during the set ON time. After the time, it moves  to the next step. 10.2.5 CMP (compare output) It outputs trigger pulse for the set period. For more information, refer to ‘8.2.1.3Compare1, Compare2’. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 80: 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 81: Rpe (Repeat End)

    Position: Set the position value. Setting range is -2,147,483,648 to +2,147,483,647.  10.4 Others 10.4.1 TIM (ready) It is ready instruction for the set time. Instruction DATA Instruction Delay time Delay Time: Set the wait time as msec. Setting range is 1 to 10,000msec. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 82: Driver Function

    Absolute position movement drives from home to the position of a specified distance.  This is ABS command in program mode. Relative position movement sets a distance to drive from present coordinates.  This is INC of program mode. © Copyright Reserved Autonics Co., Ltd.
  • Page 83 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 84: 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 85 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 86 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 87 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 88 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 89: Home Search

    6th After stops, it moves home sensor to the reverse direction for the passing distance from home with the set start drive speed at “Home Search Start Speed”, finds home sensor and stops. 7th After finding home, “In-Position” signal outputs and the “INP. indicator (yellow)” turns ON. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 90: Limit Home Search (Home Search Method=1)

    “In-Position” signal outputs, and the “INP. indicator (yellow)” turns ON. For deceleration stop, set the deceleration time shortly. In case of long deceleration time, it conflict with the structure. Install the limit sensor with the certain distance from the structure. © Copyright Reserved Autonics Co., Ltd.

  • Page 91: Zero Home Search (Home Search Method=2)

    6th After finding home, “In-Position” signal utputs and the “INP. indicator (yellow)” turns ON. At “Home Search Offset”, the other value except 0 is set, it moves for the setting value with start drive speed, “In-Position” signal outputs, and the “INP. indicator (yellow)” turns ON. ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 92: Torque Home Search (Home Search Method=3)

    6th After finding home, “In-Position” signal utputs and the “INP. indicator (yellow)” turns ON. At “Home Search Offset”, the other value except 0 is set, it moves for the setting value with start drive speed, “In-Position” signal outputs, and the “INP. indicator (yellow)” turns ON. © Copyright Reserved Autonics Co., Ltd.

  • Page 93: 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 94: 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 (ms) Disable Speed Filter 8 (factory default) © Copyright Reserved Autonics Co., Ltd.

  • Page 95: Position Control Gain Setting

    The set value is the ratio between P and I. When GAIN is set as 15,  user can set each GAIN value at the atMotion. Parameter Setting range Unit P GAIN 0 to 7 0.001 I GAIN 0 to 4 0.001 ⓒ Copyright Reserved Autonics Co., Ltd.

  • Page 96: In-Position

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

  • Page 97: Troubleshooting

    Connection between motor and encoder is Check the Motor+Encoder connection When motor unstable. cable. drive is unstable Change the P Gain or I Gain parameter as Position control gain value is not correct. the certain value. ⓒ Copyright Reserved Autonics Co., Ltd.
  • Page 98 * Dimensions or specifications on this manual are subject to change and some models may be discontinued without notice. MSO-AiCU1-V1.3-1908US...

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