Page 1 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 Introduction Introduction .................................. 8 Overview of the product ............................10 System configuration ..............................13 Safety precautions ..............................14 Precautions for use ..............................17 General specifications ...............................20 Regulations and standards ............................21 UL Standards ......................................21 EU Directive ......................................21 Republic of Korea, Radio Waves Act ............................... 22 RoHS Directive .......................................
Page 3 Operation type and setting Guidance ..................................72 Adjustment and setting ............................75 Resolution ........................................ 75 Operating current ....................................76 Standstill current ....................................76 Acceleration/deceleration rate and acceleration/deceleration time ................. 77 Speed filter ......................................78 Moving average filter ..................................78 When a motor with an encoder is used ............................79 Operation type and function list ..........................83 Positioning operation ..............................84 Operation data .......................................
Page 4 10-12 I/O function [RS-485] parameter ..............................121 10-13 Communication parameter ................................122 Method of control via I/O Guidance ..................................124 Operation data ................................126 Parameter ..................................127 Parameter list......................................128 I/O parameter .......................................129 Motor parameter ....................................129 Operation parameter ..................................130 Home operation parameter ................................130 Alarm parameter ....................................131 Warning parameter ....................................131 Coordinates parameter ..................................131 Common parameter ..................................131...
Page 5 Parameter R/W commands ................................171 Group send ................................180 Example for setting of the operation ........................182 10-1 Positioning operation..................................182 10-2 Continuous operation ..................................185 10-3 Return-to-home operation ................................187 Detection of communication errors ........................189 11-1 Communication errors ..................................189 11-2 Alarms and warnings ..................................189 Timing charts ................................190 Method of control via industrial network Setting the switches ..............................194 Protocol ........................................194...
Page 6 Operation using the OPX-2A Overview of the OPX-2A ............................242 Names and functions of parts ................................243 How to read the display ...................................243 OPX-2A error display ..................................244 Screen transitions..............................246 Monitor mode ................................252 Overview of the monitor mode ..............................252 Monitor items .......................................252 Data mode .................................254 Setting items ......................................254 Setting example ....................................256 Initialization of the selected operation data ..........................257...
Page 7: Table Of Contents
Introduction This part explains the composition of the operating manuals, the product overview, specifications and safety standards as well as the name and function of each part and others.  Table of contents Introduction ............8 Overview of the product ........10 System configuration ........13 Safety precautions ..........14 Precautions for use ...........17...
Page 8: Introduction
The product described in this manual has been designed and manufactured to be incorporated in general industrial equipment. Do not use for any other purpose. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure to observe this warning.
Page 9 Introduction „ About terms and units Terms and units to be used vary depending on a motor or motorized actuator. This manual explains by using the terms of the motor. When the motorized actuator is used, read this manual by replacing the terms. Motor Motorized actuator Torque...
Page 10: Overview Of The Product
The operation data and parameters can be set using the MEXE02, OPX-2A (accessory) or via RS-485 communication. Provide the MEXE02 or OPX-2A as necessary. • MEXE02 ..The MEXE02 can be downloaded from Oriental Motor Website Download Page. When the MEXE02 is used, a communication cable for support software CC05IF-USB (accessory) is needed to connect a PC and driver.
Page 11 Overview of the product „ Related products The RKII Series FLEX built-in controller type can be used via various network when connecting to a network converter. Network converter Supported network NETC01-CC CC-Link Ver.1.10 NETC02-CC CC-Link Ver.2.00 MECHATROLINK- II NETC01-M2 MECHATROLINK- III...
Page 12 Overview of the product „ Function list Main functions Return-to-home operation · 3-sensor mode · 2-sensor mode · Position preset [Setting by parameters] · Positioning operation Operation function Starting method Motor operation Single-motion operation Data number selecting operation Linked-motion operation Direct positioning operation [Setting by operation data Linked-motion operation 2...
Page 13: System Configuration
System configuration System configuration Master controller 24 VDC power supply Connect when controlling the Be sure to connect it. system via RS-485 communication. 24 VDC PC in which the MEXE02 has been installed *2 Connect to CN1 Connect to CN1 Black White Cable for electromagnetic Connect to CN4...
Page 14: Safety Precautions
Safety precautions Safety precautions The precautions described below are intended to prevent danger or injury to the user and other personnel through safe, correct use of the product. Use the product only after carefully reading and fully understanding these instructions. Description of signs Handling the product without observing the instructions that accompany a "WARNING"...
Page 15 Safety precautions When the driver generates an alarm (any of the driver's protective functions is triggered), first remove the cause and then clear the protection function. Continuing the operation without removing the cause of the problem may cause malfunction of the motor and driver, leading to injury or damage to equipment.
Page 16 Safety precautions When an abnormal condition has occurred, immediately stop operation and turn off the driver power. Failure to do so may result in fire, electric shock or injury. Use only an insulated slotted screwdriver to adjust the driver's switches. Failure to do so may result in electric shock.
Page 17: Precautions For Use
Precautions for use Precautions for use This section covers limitations and requirements the user should consider when using the product. z Always use the cable (included or accessory) to connect the motor and driver. Be sure to use the cable (included or accessory) to connect the motor and driver. If a cable other than the included cable or accessory cable is used, the driver may generate a large amount of heat.
Page 18 Precautions for use The non-volatile memory can be rewritten approximately 100,000 times. z Motor excitation at power ON The motor is excited when the 24 VDC power and main power is on. If the motor is required to be in non-excitation status when turning on the power, assign the AWO input to the direct I/O or network I/O.
Page 19 Precautions for use „ Notes for when the connection cable is used Note the following points when a included cable or an accessory cable is used. z When inserting the connector Hold the connector main body, and insert it in straight securely. Inserting the connector in an inclined state may result in damage to terminals or a connection failure.
Page 20: General Specifications
General specifications General specifications Motor Driver Degree of protection IP20 IP10 −10 to +50 °C (+14 to +122 °F) (non-freezing) Standard type with encoder: Ambient 0 to +50 °C (+32 to +122 °F) (non-freezing) 0 to +55 °C (+32 to 131 °F) * (non-freezing) temperature Harmonic geared type: Operation...
Page 21: Regulations And Standards
Regulations and standards Regulations and standards UL Standards Check the “APPENDIX UL Standards and CSA Standards for RKII Series” for recognition information about UL Standards. EU Directive „ CE Marking This product is affixed the CE Marking under the Low Voltage Directive and EMC Directive.
Page 22: Republic Of Korea, Radio Waves Act
Regulations and standards z EMC Directive This product is conducted EMC testing under the conditions specified in "Example of motor and driver installation and wiring" on p.48. The conformance of your mechanical equipment with the EMC Directive will vary depending on such factors as the configuration, wiring, and layout for other control system devices and electrical parts used with this product.
Page 23: Preparation
This chapter explains the items you should check, as well as the name and function of each part. Checking the product Verify that the items listed below are included. Report any missing or damaged items to the Oriental Motor sales office from which you purchased the product.
Page 24: Combinations Of Motors And Drivers
Preparation Combinations of motors and drivers Verify the model number of the purchased product against the number shown on the package label. Check the model number of the motor and driver against the number shown on the nameplate. • The box ( „ ) in the model name indicates A (single-phase 100-120 V) or C (single-phase 200-240 V). •...
Page 25 Preparation z TS geared type (with electromagnetic brake) Model Motor model Driver model RKS543M„D-TS3.6 PKE543MC-TS3.6 RKS543M„D-TS7.2 PKE543MC-TS7.2 RKS543M„D-TS10 PKE543MC-TS10 RKSD503-„D RKS543M„D-TS20 PKE543MC-TS20 RKS543M„D-TS30 PKE543MC-TS30 RKS564M„D-TS3.6 PKE564MC-TS3.6 RKS564M„D-TS7.2 PKE564MC-TS7.2 RKS564M„D-TS10 PKE564MC-TS10 RKS564M„D-TS20 PKE564MC-TS20 RKS564M„D-TS30 PKE564MC-TS30 RKSD507-„D RKS596M„D-TS3.6 PKE596MC-TS3.6 RKS596M„D-TS7.2 PKE596MC-TS7.2 RKS596M„D-TS10 PKE596MC-TS10 RKS596M„D-TS20...
Page 26 Preparation z PS geared type (single shaft) z PS geared type (double shaft) Model Motor model Driver model Model Motor model Driver model RKS545A„D-PS5 PKE545AC-PS5 RKS545B„D-PS5 PKE545BC-PS5 RKS545A„D-PS7.2 PKE545AC-PS7.2 RKS545B„D-PS7.2 PKE545BC-PS7.2 RKS545A„D-PS10 PKE545AC-PS10 RKS545B„D-PS10 PKE545BC-PS10 RKSD503-„D RKSD503-„D RKS543A„D-PS25 PKE543AC-PS25 RKS543B„D-PS25 PKE543BC-PS25 RKS543A„D-PS36...
Page 27 Preparation z Harmonic geared type (single shaft) z Harmonic geared type (double shaft) Model Motor model Driver model Model Motor model Driver model RKS543A„D-HS50 PKE543AC-HS50 RKS543B„D-HS50 PKE543BC-HS50 RKSD503-„D RKSD503-„D RKS543A„D-HS100 PKE543AC-HS100 RKS543B„D-HS100 PKE543BC-HS100 RKS564A„D-HS50 PKE564AC-HS50 RKS564B„D-HS50 PKE564BC-HS50 RKS564A„D-HS100 PKE564AC-HS100 RKS564B„D-HS100 PKE564BC-HS100 RKSD507-„D RKSD507-„D...
Page 28: Names And Functions Of Parts
Preparation Names and functions of parts „ Driver (Example: RKSD507-CD) Function setting switch (SW1) PWR/ALM LED C-DAT/C-ERR LED Address number setting switch (ID) Transmission rate setting switch (BAUD) 24 VDC power supply terminals (CN1) Electromagnetic brake terminals (CN1) RS-485 communication connectors (CN6/CN7) Encoder connector (CN10) Data edit connector (CN4)
Page 29 Preparation Type Name Description • PWR (Green): This LED is lit while the 24 VDC power is input. • ALM (Red): This LED will blink when an alarm generates. It is PWR/ALM LED p.273 possible to check the generated alarm by counting the number of times the LED blinks.
Page 30 Preparation „ Motor z Standard type with electromagnetic brake Protective Earth Terminal Motor Mounting holes (4 places) Electromagnetic brake Output shaft Motor cable Pilot Electromagnetic brake cable z Standard type with encoder Protective Earth Terminal Motor Mounting holes (4 places) Encoder Output shaft Motor cable...
Page 31 Installation and connection This part explains the installation method of the product, the mounting method of a load and the connection method as well as I/O signals.  Table of contents Installation ............32 Connecting the data setter .......... 45 Connecting the RS-485 communication cable ..45 Location for installation ..........
Page 32: Installation
Installation Installation This chapter explains the installation location and installation methods of the motor and driver, along with load installation. Location for installation The motor and driver are designed and manufactured to be incorporated in equipment. Install them in a well- ventilated location that provides easy access for inspection.
Page 33: Installing A Load
Installation z Screw size, tightening torque, installation method Tightening torque Effective depth of screw Installation Type Model Nominal size [N·m (oz-in)] thread [mm (in.)] method RKS54 1 (142) 4.5 (0.177) Standard RKS56 2 (280) − RKS59 3 (420) 2 (280) 8 (0.315) RKS54 TS geared...
Page 34: Permissible Radial Load And Permissible Axial Load
Installation z Installing on the flange surface (Harmonic geared type) With a Harmonic geared type (excluding PKE596), a load can be installed directly to the gear using the load mounting holes provided on the flange surface. Load Load mounting holes Flange Screws Metal plate...
Page 35 Installation Permissible radial load [N (lb.)] Motor Distance from the tip of motor output shaft Permissible axial Type Gear ratio model load [N (lb.)] 0 mm 5 mm 10 mm 15 mm 20 mm (0 in.) (0.20 in.) (0.39 in.) (0.59 in.) (0.79 in.) 170 (38)
Page 36: Installing The Driver
Installation Installing the driver The driver is designed so that heat is dissipated via air convection and conduction through the enclosure. Install the driver on a flat metal plate [material: aluminium, 200×200×2 mm (7.87×7.87×0.08 in.) equivalent] having excellent heat conductivity. There must be a clearance of at least 25 mm (0.98 in.) in the horizontal and vertical directions, between the driver and enclosure or other equipment within the enclosure.
Page 37 Installation Dimension [Unit: mm (in.)] Mass: 0.8 kg (1.76 lb.) Slits Slits [68 (2.68)] 120 (4.72) ø4.5 hole (0.71) (0.43) (ø0.177) (1.57) 18.5 (0.73) 5 (0.20) 9 (0.35) R2.25 (0.089) 4.8 (0.19) 30 (1.18) 5 (0.20) Protective Earth Terminal 2×M4 9.5 (0.37)
Page 38: Connection
Connection Connection This chapter explains how to connect the motor, I/O signals and power supply to the driver, as well as grounding method. The installation and wiring methods in compliance with the EMC Directive are also explained. • For protection against electric shock, do not turn on the power supply until the wiring is completed.
Page 39: Grounding The Motor And Driver
Connection „ Standard type with encoder Required 24 VDC power supply (Control power supply) Connect to CN10 *1 Cable for encoder *2 Connect to CN2 *1 Cable for motor *2 Output signals Connect to CN9 Connect to CN3 Input signals Main power supply Connect to CN8 Single-phase...
Page 40: Connecting The Main Power Supply
Connection Connecting the main power supply Connect the main power supply to the main power supply input terminals (CN3) using the CN3 connector (3 pins). • When cycling the power or plugging/unplugging the connector, turn off the power and wait for the CHARGE LED to turn off before doing so.
Page 41: Connecting The 24 Vdc Power Supply And Electomagnetic Brake
Connection Connecting the 24 VDC power supply and electomagnetic brake Use the CN1 connector (4 pins) to connect the 24 VDC power supply and electromagnetic brake. The 24 VDC power supply is for the control circuit of the driver. Be sure to connect it. „...
Page 42: Connecting The I/O Signals
Connection Connecting the I/O signals „ Wiring method • Applicable lead wire: AWG26 to 20 (0.14 to 0.5 mm Button of the • Strip length of the insulation cover: 8 mm (0.32 in.) orange color 1. Insert the lead wire while pushing the button of the orange color Lead wire with a slotted screwdriver.
Page 43 Connection „ Connecting to a current sink output circuit (NPN specifications) Controller Driver 12 to 24 VDC 10 mA or less OUT0 (HOME-P) OUT1 (MOVE) OUT2 (AREA1) Output saturated voltage 3 V max. OUT3 (READY) OUT4 (WNG) OUT5 (ALM) OUT-COM 4.4 k IN0 (HOME) 4.4 k...
Page 44 Connection „ Connecting to a current source output circuit (PNP specifications) Controller Driver 12 to 24 VDC OUT0 (HOME-P) 10 mA or less OUT1 (MOVE) OUT2 (AREA1) Output saturated OUT3 (READY) voltage 3 V max. OUT4 (WNG) OUT5 (ALM) OUT-COM 24 VDC 4.4 k IN0 (HOME)
Page 45: Connecting The Data Setter
Connection Connecting the data setter Connect communication cable for support software or Communication cable for support software or OPX-2A cable OPX-2A cable to the data edit connector (CN4) on the driver. The data edit connector (CN4) and RS-485 communication connector (CN6/CN7) of the driver are not electrically insulated.
Page 46: Noise Measures
Connection Noise measures The electrical noise is of two types: One is a noise to invade into the driver from the outside and cause the driver malfunction, and the other is a noise to emit from the driver and cause peripheral equipments malfunction. For the noise that is invaded from the outside, take measures to prevent the driver malfunction.
Page 47: Conformity To The Emc Directive
EMC directive. Refer to for the applicable standards. Oriental Motor conducts EMC measurements on its motors and drivers in accordance with "Example of motor and driver installation and wiring". The user is responsible for ensuring the machine's compliance with the EMC Directive, based on the installation and wiring explained below.
Page 48 Connection „ Example of motor and driver installation and wiring OPX-2A Shielded box Driver Noise 24 VDC Shielded box lter power Controller Shielded cable RS-485 communication cable Cable for electromagnetic brake Cable for motor Surge Noise Signal cable arrester lter Sensor Grounded panel A: Cable cramp...
Page 49: Explanation Of I/O Signals
Explanation of I/O signals Explanation of I/O signals In this manual, I/O signals are described as follows. • Direct I/O: I/O signals accessed via input signal connector (CN8) and output signal connector (CN9) • Network I/O: I/O signals accessed via RS-485 communication Set the following parameters using the MEXE02, OPX-2A or RS-485 communication.
Page 50 Explanation of I/O signals Assignment No. Signal name Function General signals. Use these signals when controlling the system via RS-485 communication. Select the operation data No. using these six bits. Related parameters MEXE02 tree view Parameter name Description Initial value IN0 input function selection 3: HOME IN1 input function selection...
Page 51 Explanation of I/O signals „ Changing the logic level setting of input signals You can change the logic level setting for input terminals IN0 to IN7 using the parameter. Related parameters MEXE02 tree view Parameter name Description Initial value IN0 input logic level setting IN1 input logic level setting Changes the logic level setting for IN2 input logic level setting...
Page 52 Explanation of I/O signals Assignment No. Signal name Function Output the status of the general signal R8 to R15. M0_R M1_R M2_R Output in response to the M0 to M5 input. M3_R M4_R M5_R +LS_R Output in response to the +LS input. −LS_R Output in response to the −LS input.
Page 53: Assignment Of Network I/O
Explanation of I/O signals 0: Not used 10: MS2_R 35: R3 45: R13 61: −LS_R 74: AREA2 1: FWD_R 11: MS3_R 36: R4 46: R14 62: HOMES_R 75: AREA3 2: RVS_R 12: MS4_R 37: R5 47: R15 63: SLIT_R 80: S-BSY 3: HOME_R 13: MS5_R 38: R6...
Page 54 Explanation of I/O signals Assignment No. Signal name Function Setting range General signals. 0: OFF Use these signals when controlling the system via RS- 1: ON 485 communication. 0: OFF Select the operation data No. using these six bits. 1: ON See p.58 for details on the combination.
Page 55 Explanation of I/O signals „ Assignment to the output terminals The output signals shown next can be assigned to the NET-OUT0 to NET-OUT15 of the network I/O by setting parameters. See each command description for the assignment of the NET-OUT0 to NET-OUT15. Assignment No.
Page 56 Explanation of I/O signals Assignment No. Signal name Function Data read 0: Warning not present Output the warning of the driver. 1: Warning present 0: Not ready READY Output when the driver is ready. 1: Ready for operation 0: Motor stopped MOVE Output when the motor operates.
Page 57: Input Signals
Explanation of I/O signals 0: Not used 10: MS2_R 35: R3 45: R13 61: −LS_R 74: AREA2 1: FWD_R 11: MS3_R 36: R4 46: R14 62: HOMES_R 75: AREA3 2: RVS_R 12: MS4_R 37: R5 47: R15 63: SLIT_R 80: S-BSY 3: HOME_R 13: MS5_R 38: R6...
Page 58 Explanation of I/O signals „ M0 to M5 input Select a desired operation data number for positioning operation or continuous operation based on the combination of ON/OFF states of the M0 to M5 inputs. Operation Operation data No. data No.
Page 59 Explanation of I/O signals „ START input This signal starts the positioning operation. Select the operation data No. and turn the START input to ON to start positioning operation. Related parameters MEXE02 Initial Parameter name Description tree view value When the positioning operation is started while the position origin has not been set, sets whether the alarm generates or not.
Page 60 Explanation of I/O signals If positioning operation of the operating speed 0 Hz is performed, the abnormal operation data alarm generates. „ HOME input This signal starts the return-to-home operation (p.94). Turn the HOME input ON to start return-to-home operation. When the return-to-home operation is completed and the motor stops, the HOME-P output turns ON.
Page 61 Explanation of I/O signals „ FWD input, RVS input These signals start the continuous operation (p.101). Operation is performed based on the FWD or RVS input and the operating speed corresponding to the selected operation data No. Continuous operation is performed while turning the FWD input or RVS input ON. When turning the FWD input ON, the motor rotates in the positive direction, and when turning the RVS input ON, the motor rotates in the negative direction.
Page 62 Explanation of I/O signals „ FREE input When the FREE input is turned ON, the motor current will be cut off. The motor will lose its holding torque, and the output shaft can be turned manually. When an electromagnetic brake motor is used, the electromagnetic brake will be released.
Page 63: Output Signals
Explanation of I/O signals Output signals The output signals of the driver are photocoupler/open-collector output. • Direct I/O ... I/O for normally open: "ON: Current-carrying", "OFF: Not current-carrying" I/O for normally closed: "ON: Not current-carrying", "OFF: Current-carrying" • Network I/O .."ON: 1", "OFF: 0" „...
Page 64 Explanation of I/O signals MEXE02 Initial Parameter name Description tree view value Sets the condition in which the RS-485 communication error alarm generates. The communication error alarm generates after the RS-485 communication error has occurred by the Communication Communication number of times set here. error alarm [Setting range] 1 to 10 times...
Page 65 Explanation of I/O signals „ HOME-P output The HOME-P output turns ON corresponding to the setting of the " HOME-P output function selection" parameter. See p.110 for setting the position origin. z When " HOME-P output function selection" parameter is set to "home output": When the command position of the driver is in the home-position while the MOVE output is OFF, the HOME-P output will turn ON.
Page 66 Explanation of I/O signals z When the "AREA positive direction position" parameter > "AREA negative direction position" parameter To turn the AREA output ON: AREA output AREA negative direction position ≤ Motor position ≤ AREA positive direction position AREA negative AREA positive direction position direction position...
Page 67 Explanation of I/O signals Related parameters MEXE02 tree view Parameter name Description Initial value Sets whether to enable or disable the detection function for the loss of synchronism. Stepout detection [Setting range] 0: Disable 1: Enable Sets the detection condition for the loss of synchronism by the deviation (angle) between the Stepout detection command position and encoder position.
Page 68: Sensor Input
Explanation of I/O signals The response output is the output signal to return the status of the input signal. Therefore, the output signals corresponding to the input signals for motor operation (START_R output etc.) do not show the movement of the motor itself. Sensor input „...
Page 69: General Signals (R0 To R15)
Explanation of I/O signals „ SLIT input Connect the SLIT input when using the sensor equipped with a slit. When detecting the home, use of the SLIT input in addition to the HOMES will increase the accuracy of home detection. See p.94 for return-to-home operation. Related parameters MEXE02 tree view Parameter name...
Page 71 Operation type and setting This part explains the operation functions and the details of parameters.  Table of contents Guidance ............72 Other operation ..........106 JOG operation ..............106 Adjustment and setting ........75 Test operation ..............107 Resolution ................75 Stop operation ..............108 Operating current ............
Page 72: Guidance
Guidance Guidance If you are new to the RKII Series, read this section to understand the operating methods along with the operation flow. This chapter explains how to perform positioning operation using the MEXE02. STEP1 Make preparations for operation ...
Page 73 Guidance STEP 2 Set the operation data using the MEXE02 1. Using the MEXE02, set the operation data of No.1 as follows. Speed [Hz] 1,000 step 2,000 Time [ms] 2. Click the [Teaching, remote operation] short-cut button in the left side of the screen. The teaching/remote operation window appears.
Page 74 Guidance 3. Click "Start the teaching remote operation. ” Since the pop-up window (Warning) is displayed, click [Yes]. 4. Write the edited data to the driver. Click "Writing all data. (PC −> Product)," and click [OK]. The contents of the data No.1 will be written to the driver. 5.
Page 75: Adjustment And Setting
Adjustment and setting Adjustment and setting This chapter explains how to adjust/set the motor and driver functions. When a parameter is changed, the timing the new value becomes effective varies depending on the parameter. See p.113 for details. Resolution Set the resolution when using the motor in combination with a mechanism component such as a gear, actuator, or others.
Page 76: Operating Current
Adjustment and setting z Example: Rotary table Step angle per one rotation: 360° Minimum step angle: 0.01° Gear ratio: 7.2 [Using the geared motor (gear ratio 7.2:1)] Electronic gear B Minimum step angle Resolution = 500 × × Gear ratio Electronic gear A Step angle per one rotation Electronic gear B...
Page 77: Acceleration/Deceleration Rate And Acceleration/Deceleration Time
Adjustment and setting Acceleration/deceleration rate and acceleration/deceleration time „ Acceleration/deceleration unit Set the acceleration/deceleration unit using the "acceleration/deceleration unit" parameter. Acceleration/deceleration rate (ms/kHz) or acceleration/deceleration time (s) can be set. • When setting with [ms/kHz] • When setting with [s] Speed [Hz] Speed [Hz] VS: Starting speed...
Page 78: Speed Filter
Adjustment and setting Speed filter The motor response can be adjusted by setting the "speed filter" parameter when selecting the "speed filter" with the "filter selection" parameter. When the speed filter level is raised, vibration can be suppressed during low-speed operation, and starting/stopping of the motor will become smooth.
Page 79: When A Motor With An Encoder Is Used
Adjustment and setting When the "moving average time" When the "moving average time" parameter is not used. parameter is set to 200 ms. Setting speed Setting speed Rectangular Motor speed Motor speed operation 200 ms 200 ms MOVE output MOVE output Setting speed Setting speed Trapezoidal...
Page 80 Adjustment and setting Related parameter MEXE02 tree view Parameter name Description Initial value Sets whether to enable or disable the detection function for the loss of synchronism. Stepout detection [Setting range] 0: Disable 1: Enable Sets the detection condition for the loss of synchronism by the deviation (angle) between the Coordinates Stepout detection...
Page 81 Adjustment and setting z Setting the encoder resolution Even when the motor resolution and encoder resolution are not same, the deviation error can be detected if the encoder resolution is set. The encoder resolution is used to check the deviation error, and it does not affect the encoder counter value.
Page 82 Adjustment and setting z When changing the feedback position When turning the P-PRESET input ON, the command position and feedback position becomes the value of the "preset position" parameter. Related parameter MEXE02tree view Parameter name Description Initial value Sets the preset position. Preset position [Setting range] −8,388,608 to 8,388,607 step...
Page 83: Operation Type And Function List
Operation type and function list Operation type and function list Operation [Setting by operation data and parameters] Positioning operation Operating function • Single-motion operation • Linked-motion operation Speed Speed Operation Operation Operation Operation Starting method data No.0 data No.1 data No.0 data No.1 •...
Page 84: Positioning Operation
Positioning operation Positioning operation Positioning operation is one in which motor operating speed, position (travel amount) and other items are set as operation data and then executed. When the positioning operation is executed, the motor begins at the starting speed and accelerates until the operating speed is reached. Then, once the operating speed is reached, that speed is maintained.
Page 85 Positioning operation „ Position, operating speed, acceleration, deceleration The acceleration/deceleration for positioning operation can be set as follows using the "acceleration/deceleration type" parameter: Separate: The acceleration/deceleration rate set under the applicable operation data No. will be followed. (Each 64 data for acceleration and deceleration) Common: The setting of the "common acceleration"...
Page 86: Starting Method Of Positioning Operation
Positioning operation Starting method of positioning operation The following three types are available in the starting method. Name Description Data number selecting When the START input is turned ON with selecting the operation data No. by a operation combination of the M0 to M5 inputs, the positioning operation will perform. Direct positioning When any of the MS0 to MS5 inputs is turned ON, the positioning operation operation...
Page 87 Positioning operation „ Direct positioning operation When any of the MS0 to MS5 inputs is turned ON, the positioning operation corresponding to the input data No. will perform. Since the positioning operation is enabled by turning any of the MS0 to MS5 inputs ON, you can save the step of selecting the operation data No.
Page 88 Positioning operation „ Sequential positioning operation In sequential positioning operation, whenever turning the SSTART input ON, the positioning operation for the following operation data No. will be performed. This function is useful when multiple positioning operations must be performed sequentially, because there is no need to select each data number. When the “sequential positioning”...
Page 89 Positioning operation • Setting example Operation data Sequential positioning No.3 No.4 Enable No.5 No.6 Disable No.7 Enable No.8 No.9 Disable M0, M1=ON SSTART=ON SSTART=ON SSTART=ON START=ON Operation Operation Operation data No.3 data No.4 data No.5 M0, M1, M2=ON START=ON SSTART=ON SSTART=ON Operation Operation...
Page 90: Operation Function
Positioning operation Operation function „ Single-motion The positioning operation is performed only once using a single operation data set. z Example of single-motion operation Operation example Speed Operating speed of No.1: 5,000 Operation data No.1 Starting speed: 100 5,000 Position Operating method 1) Check the READY output is ON.
Page 91 Positioning operation „ Linked-motion operation When the “operation function” is set to “linked-motion” using operation data, positioning operation based on the next data number will be performed without stopping the motor. If operation data includes data for which “single-motion” is set, the motor will stop after the positioning with respect to the “single”...
Page 92 Positioning operation „ Linked-motion operation2 By setting the “operation function” of operation data to “Linked-motion 2, ” an operation data whose rotation direction is different can be linked. In this case, the system stops for the dwell time after each positioning operation, and then performs operation according to the next operation data.
Page 93 Positioning operation z Example of linked-motion operation2; When combining the linked-motion operation and the linked-motion operation2 Operation example Speed Operating speed of No.3: 7,000 Operating speed of No.2: 5,000 Operating speed of No.1: 3,000 Stop for 1 s No.1 No.2 No.3 Starting speed: 100 5,000...
Page 94: Return-To-Home Operation
Return-to-home operation Return-to-home operation About description of return-to-home operation Return-to-home is an operation in which the reference point of positioning (mechanical home position) is detected automatically. Return-to-home operation is performed to return to the home position from the current position when the power supply is turned on or the positioning operation is completed.
Page 95 Return-to-home operation z Detecting the external sensor (signal) When detecting the home, use of the SLIT input and/or TIM (ZSG) signal will increase the accuracy of home detection. When the TIM output is used, set the resolution to be an integral multiple of 50. z Command position after returning to home When executing the P-PRESET input at the position that the motor stops, the command position will be the value of the "preset position"...
Page 96 Return-to-home operation „ Operation example (when using 3-sensor mode) z Operating sequence in seeing a time axis Speed Operating speed of home-seeking Acceleration/deceleration Electrical home Starting speed of home-seeking of home-seeking Time Operating speed Mechanical home of home-seeking HOMES input z Operating sequence in seeing a travel amount Speed HOMES input...
Page 97: Operation Sequence
Return-to-home operation Operation sequence „ 3-sensor mode • Explanation of labels VS: Starting speed of home-seeking VR: Operating speed of home-seeking VL: Last speed of return-to-home (When VS < 500 Hz: VS, When VS ≥ 500 Hz: 500 Hz) - - - Broken line indicates a home offset move. Starting position of Starting direction of return-to-home Starting direction of return-to-home...
Page 98 Return-to-home operation z When concurrently using the external sensor (signal) After the OFF edge of the HOME sensor is detected, the operation will continue until the external sensor (signal) will be detected. If the external sensor (signal) is detected while the HOME sensor is ON, the return-to-home operation will complete.
Page 99 Return-to-home operation z When concurrently using the external sensor (signal) When the limit sensor is detected, the motor will rotate in the reverse direction and pull out of the limit sensor. After pulling out of the limit sensor, the motor rotates to stop according to the set value in the "backward steps in 2-sensor mode home-seeking"...
Page 100: Position Preset
Return-to-home operation Position preset When the P-PRESET input is turned ON, the command position is set as the value of the "preset position" parameter. However, the preset will not execute in the following conditions. • When the motor is operating •...
Page 101: Continuous Operation
Continuous operation Continuous operation The motor operates continuously while the FWD or RVS input is ON. Operation is performed based on the FWD or RVS input and the operating speed corresponding to the selected operation data No. When the operation data No. is changed during continuous operation, the speed will change to the speed specified by the new operation data No.
Page 102: Starting Method Of Continuous Operation
Continuous operation Starting method of continuous operation When selecting the operation data No. and Operation data No. turning the FWD input or RVS input ON, continuous operation will be started. Select an operation data based on a combination of ON/OFF status of the M0 to M5 inputs.
Page 103 Continuous operation z Operating method; When combining the FWD input and RVS input 1) Check the READY output is ON. 2) Select the operation data No. by a combination of the M0 to M5 inputs and turn the FWD input ON. 3) The motor starts continuous operation.
Page 104: Variable Speed Operation
Continuous operation Variable speed operation „ When acceleration/deceleration is "separate" z Acceleration/deceleration unit: ms/kHz When accelerating When decelerating FWD input FWD input Operation Operation No.1 No.2 No.1 No.2 data No. data No. z Acceleration/deceleration unit: s When accelerating When decelerating TAR2 TDR2 TAR1...
Page 105 Continuous operation „ When acceleration/deceleration is "common" z Acceleration/deceleration unit: ms/kHz When accelerating When decelerating FWD input FWD input Operation Operation No.1 No.2 No.1 No.2 data No. data No. z Acceleration/deceleration unit: s When accelerating When decelerating TAR2 TDR2 TAR1 TDR2 TDR2 TAR1...
Page 106: Other Operation
Other operation Other operation JOG operation JOG operation is a function to perform positioning operation of the travel amount set in the "JOG travel amount" parameter. When the +JOG signal to ON, JOG operation is in the positive direction. When the −JOG signal to ON, JOG operation is in the negative direction. This function is convenient for fine adjustment of the position.
Page 107: Test Operation
Other operation z Operating method 1) Check the READY output is ON. 2) Turn the +JOG input ON. 3) The motor starts positioning operation. 4) Check the READY output has been turned OFF and turn the +JOG input OFF. 5) When the positioning operation is completed, the READY output will be turned ON. JOG travel amount Motor operation +JOG input...
Page 108: Stop Operation
Other operation Stop operation „ STOP action When the STOP input is turned ON or STOP is commanded via RS- Speed 485 communication while the motor is operating, the motor will stop. The stopping mode is determined by the setting of the “STOP Motor operation input action”...
Page 109 Other operation „ Software overtravel The software overtravel is a function that limits the range of movement via software settings. If the "software overtravel" parameter is set to "enable", the motor can be stopped when exceeding the software limit. The stopping mode is determined by the setting of “overtravel action”...
Page 110: Coordinate Management
Coordinate management Coordinate management Position coordinate management The driver manages the motor position information. The position origin will be set whenever one of the following operations is executed: • Return-to-home operation • P-PRESET input is turned ON The position origin will not be set whenever one of the following operations is executed: •...
Page 111 Coordinate management z Example for wrap function Example of operation when the positioning operation is performed in the following conditions. • Wrap setting range: 3,600 • Resolution: 500 P/R (electronic gear A=1, electronic gear B=1) • Command position: 900 Position Operation mode: Incremental Operation mode: Absolute 2,700...
Page 112: Operation Data
Operation data Operation data Up to 64 operation data can be set (data Nos.0 to 63). If the data is changed, a recalculation and setup will be performed after the operation is stopped. Name Description Initial value Sets the position (travel amount) for positioning operation. Position No.0 [Setting range] Position No.63...
Page 113: 10 Parameter
Parameter 10 Parameter The parameters are saved in the RAM or non-volatile memory. The data saved in the RAM will be erased once the 24 VDC power supply is turned off. On the other hand, the parameters saved in the non-volatile memory will be retained even after the 24 VDC power supply is turned off.
Page 114: Parameter List
Parameter 10-1 Parameter list • STOP input action • ±LS logic level • Hardware overtravel • HOMES logic level • Overtravel action • SLIT logic level • AREA1 positive direction position • MS0 operation No. selection • AREA1 negative direction position •...
Page 115: I/O Parameter
Parameter 10-2 I/O parameter Effective Parameter name Description Initial value (p.113) Sets how to stop the motor when the STOP input has turned ON. [Setting range] STOP input action 0: Immediate stop 1: Deceleration stop 2: Immediate stop + current OFF 3: Deceleration stop + current OFF Sets whether to enable or disable the hardware overtravel detection using ±LS inputs.
Page 116: Motor Parameter
Parameter 10-3 Motor parameter Effective Parameter name Description Initial value (p.113) Sets the motor operating current rate based on the rated current being 100%. RUN current 1,000 [Setting range] 0 to 1,000 (1=0.1%) Sets the motor standstill current based on the rated current being 100%. STOP current [Setting range] 0 to 600 (1=0.1%)
Page 117: Home Operation Parameter
Parameter Effective Parameter name Description Initial value (p.113) Sets the acceleration/deceleration rate or acceleration/deceleration time. Acceleration/ [Setting range] deceleration unit 0: ms/kHz 1: s This is the travel amount for JOG operation. JOG travel amount [Setting range] 1 to 8,388,607 step *1 This item is effective when the “acceleration/deceleration type”...
Page 118: Alarm Parameter
Parameter 10-6 Alarm parameter Effective Parameter name Description Initial value (p.113) When the positioning operation is started while the position origin has not been set, sets whether the alarm generates or not. Return-to-home [Setting range] incomplete alarm 0: Disable 1: Enable 10-7 Warning parameter Effective...
Page 119: Common Parameter
Parameter Effective Parameter name Description Initial value (p.113) Sets whether to enable or disable the wrap function. [Setting range] Wrap setting 0: Disable 1: Enable Wrap setting range. Wrap setting range [Setting range] 1 to 8,388,607 step Sets the resolution of the connected encoder. Encoder resolution [Setting range] 100 to 10,000 P/R...
Page 120: I/O Function [Input] Parameter
Parameter 10-10 I/O function [Input] parameter Effective Parameter name Description Initial value (p.113) IN0 input function selection 3: HOME IN1 input function selection 4: START IN2 input function selection 48: M0 Assigns the input signal to the input terminal IN0 to IN7. IN3 input function selection 49: M1 [Setting range]...
Page 121: I/O Function [Rs-485] Parameter
Parameter 10-12 I/O function [RS-485] parameter Effective Parameter name Description Initial value (p.113) NET-IN0 input function selection 48: M0 NET-IN1 input function selection 49: M1 NET-IN2 input function selection 50: M2 NET-IN3 input function selection 4: START NET-IN4 input function selection 3: HOME NET-IN5 input function selection 18: STOP...
Page 122: Communication Parameter
Parameter z Setting range for NET-OUT output function selection 0: Not used 10: MS2_R 35: R3 45: R13 61: −LS_R 74: AREA2 11: MS3_R 36: R4 46: R14 62: HOMES_R 75: AREA3 1: FWD_R 2: RVS_R 12: MS4_R 37: R5 47: R15 63: SLIT_R 80: S-BSY...
Page 123 Method of control via I/O This part explains when the operation is controlled via I/O after setting the operation data and parameters by the MEXE02 or OPX-2A.  Table of contents Guidance ............124 Operation data ..........126 Parameter ............127 Parameter list ..............128 I/O parameter ..............129 Motor parameter ............129 Operation parameter ...........130...
Page 124: Guidance
Guidance Guidance If you are new to the RKII Series FLEX built-in controller type, read this section to understand the operating methods along with the operation flow. Before operating the motor, check the condition of the surrounding area to ensure safety.
Page 125 Guidance STEP 3 Operate the motor 2. Con rm that the motor rotates without problem. MEXE02 OPX-2A Grounding Master controller 1. Turn the START input ON. Grounding STEP 4 Were you able to operate the motor properly? How did it go? Were you able to operate the motor properly? If the motor does not function, check the following points: •...
Page 126: Operation Data
Operation data Operation data Up to 64 operation data can be set (data Nos.0 to 63). If the data is changed, a recalculation and setup will be performed after the operation is stopped. Name Setting range Initial value Position No.0 −8,388,608 to +8,388,607 step Position No.63 Operating speed No.0...
Page 127: Parameter
Parameter Parameter The parameters are saved in the RAM or non-volatile memory. The data saved in the RAM will be erased once the 24 VDC power supply is turned off. On the other hand, the parameters saved in the non-volatile memory will be retained even after the 24 VDC power supply is turned off.
Page 128: Parameter List
Parameter Parameter list • STOP input action • ±LS logic level • Hardware overtravel • HOMES logic level • Overtravel action • SLIT logic level • AREA1 positive direction position • MS0 operation No. selection • AREA1 negative direction position •...
Page 129: I/O Parameter
Parameter I/O parameter Parameter name Setting range Initial value Effective (p.127) 0: Immediate stop 1: Deceleration stop STOP input action 2: Immediate stop & Current OFF 3: Deceleration stop &Current OFF 0: Disable Hardware overtravel 1: Enable 0: Immediate stop Overtravel action 1: Deceleration stop AREA1 positive direction position...
Page 130: Operation Parameter
Parameter Operation parameter Parameter name Setting range Initial value Effective (p.127) Common acceleration 1 to 1,000,000 30,000 (1=0.001 ms/kHz or 1=0.001 s) *1 *2 Common deceleration Starting speed 0 to 1,000,000 Hz JOG operating speed 1 to 1,000,000 Hz 1,000 1 to 1,000,000 JOG acceleration/deceleration rate 30,000...
Page 131: Alarm Parameter
Parameter Alarm parameter Parameter name Setting range Initial value Effective (p.127) 0: Disable Return-to-home incomplete alarm 1: Enable Warning parameter Parameter name Setting range Initial value Effective (p.127) Overheat warning 40 to 85 °C (104 to 185 °F) Overvoltage warning 120 to 450 V Undervoltage warning 120 to 280 V...
Page 132: I/O Function [Input] Parameter
Parameter 3-10 I/O function [Input] parameter Parameter name Setting range Initial value Effective (p.127) IN0 input function selection 3: HOME IN1 input function selection 4: START IN2 input function selection 48: M0 IN3 input function selection 49: M1 See table next. IN4 input function selection 50: M2 IN5 input function selection...
Page 133: I/O Function [Rs-485] Parameter
Parameter 3-12 I/O function [RS-485] parameter Parameter name Setting range Initial value Effective (p.127) NET-IN0 input function selection 48: M0 NET-IN1 input function selection 49: M1 NET-IN2 input function selection 50: M2 NET-IN3 input function selection 4: START NET-IN4 input function selection 3: HOME NET-IN5 input function selection 18: STOP...
Page 134: Communication Parameter
Parameter z Setting range for NET-OUT output function selection 0: Not used 10: MS2_R 35: R3 45: R13 61: −LS_R 74: AREA2 11: MS3_R 36: R4 46: R14 62: HOMES_R 75: AREA3 1: FWD_R 2: RVS_R 12: MS4_R 37: R5 47: R15 63: SLIT_R 80: S-BSY...
Page 135: Timing Charts
Timing charts Timing charts „ When the power supply is turned ON 1 s or more 24 VDC power supply 0 s or more 0 s or more 10 s or more Main power supply 1 s or less 1 s or less Output signal Signal is output 1 s or more...
Page 136 Timing charts z When the “STOP input action” parameter is deceleration stop. 4 ms or more STOP input MOVE output 6 ms or less READY output 6 ms or less Motor operation Excitation Motor excitation Not excitation * The specific time varies depending on the operating speed, speed filter, moving average time and other. z When the “STOP input action”...
Page 137 Timing charts z When the “STOP input action” parameter is current OFF after deceleration stop. 4 ms or more STOP input MOVE output 200 ms or less *2 READY output 6 ms or less Motor operation Delay time when the motor is 100 ms or less not excited=220 ms or less Excitation...
Page 138 Timing charts „ ALM-RST input z When an alarm generates and the motor maintains excitation Alarm generation 1 s or more 4 ms or more ALM-RST input 6 ms or less 6 ms or less ALM output * 6 ms or less 300 ms or less READY output * ALM output is normally closed.
Page 139 Timing charts „ Single-motion operation (positioning operation) 4 ms or more START input 4 ms or more M0 to M5 input No.0 No.1 6 ms or less MOVE output 6 ms or less READY output Motor operation „ Linked-motion operation (positioning operation) 4 ms or more START input 4 ms or more...
Page 140 Timing charts „ Direct positioning operation 4 ms or more MS0 to MS5 input 6 ms or less MOVE output 6 ms or less READY output Motor operation „ Sequential operation 4 ms or more SSTART input 6 ms or less MOVE output 6 ms or less READY output...
Page 141 Timing charts „ JOG operation 4 ms or more +JOG input (-JOG input) 6 ms or less MOVE output 6 ms or less READY output Motor operation „ Return-to-home operation 4 ms or more HOME input HOMES input 6 ms or less MOVE output 6 ms or less READY output...
Page 143 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 Guidance ............144 Register address list ........165 Operation commands ..........165 Communication specifications ......149 Maintenance commands ..........167...
Page 144: Guidance
Guidance Guidance If you are new to the RKII Series FLEX built-in controller 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 set to the driver by the master controller.
Page 145 Guidance STEP 2 Set the switches Set the following with the switches. The status becomes as shown in the following figures after setting. Setting item Switch Factory setting Protocol: Modbus protocol SW1-No.2: ON SW1-No.1: OFF SW1-No.1: OFF Address number: 1 ID: 1 ID: 0 Transmission rate: 115,200 bps...
Page 146 Guidance STEP 5 Send a message and operate the motor As an example, here is a description how to execute the following positioning operation. Speed 2,000 Hz 8,500 step 500 Hz Time 1. Send the following five queries and set the operation data. •...
Page 147 Guidance • Acceleration of the operation data No.0 Field name Data Description Slave address Slave address 1 Function code Write to a holding register Register address (upper) Acceleration No.0 （ 0601h ） Register address (lower) Data Write value (upper) 20 ms/kHz (4E20h) Write value (lower) Error check (lower) Calculation result of CRC-16...
Page 148 Guidance STEP 6 Were you able to operate the motor properly? 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 149: Communication Specifications
Communication specifications Communication specifications In conformance with EIA-485, straight cable Electrical Use a shielded twisted pair cable (TIA/EIA-568B CAT5e or higher is recommended) and keep characteristics the total wiring distance including extension to 50 m (164 ft.) or less. Communication Half duplex, Asynchronous mode (data: 8 bits, stop bit: 1 bit/2 bits, parity: none/even mode number/odd number)
Page 150 Communication specifications Driver 1 RS-485 TERM. TERM. No.2 No.1 Driver 2 TERM. TERM. No.2 No.1 Driver 31 TERM. TERM. No.2 *2 No.1 *2 *1 Termination resistor 120 Ω *2 Turn the termination resistor (TERM.-No.1 and No.2) to ON.
Page 151: Setting The Switches
Setting the switches Setting the switches Function setting switch (SW1) No.1: Set the address number No.2: Set the protocol Address number setting switch (ID) Transmission rate setting switch (BAUD) Termination resistor setting switch (TERM.) 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 switch settings will not become effective until the driver power is cycled.
Page 152 Setting the switches „ Address number (slave address) Set the address number (slave address) using the address number setting switch (ID) and SW1-No.1 of the function setting 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 153 Setting the switches „ Termination resistor Use a termination resistor for the driver located farthest away (position at end) from the master controller. Turn the termination resistor setting switch (TERM.-No.1 and No.2) ON to set the termination resistor for RS-485 communication (120 Ω).
Page 154: Setting The Rs-485 Communication
Setting the RS-485 communication Setting the RS-485 communication Set parameters required to use via RS-485 communication beforehand. When a parameter is changed, the timing to reflect the new value varies depending on the parameter. Refer to p.171 for the update timing of each parameter. „...
Page 155: Communication Mode And Communication Timing
Only the master can issue a query (command). Each slave executes the process requested by query and returns a response message. The RKII Series supports only the RTU mode as a transmission mode. It does not support the ASCII mode. Under this protocol, messages are sent in one of two methods.
Page 156: Message
If the slave address is set to 0, the master can send a query to all slaves (broadcast mode). „ Function code The function codes and message lengths supported by the RKII Series FLEX built-in controller type are as follows. Message length...
Page 157 Message z Example of CRC-16 calculation 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 Overflow digit...
Page 158: Response
Message 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 command message structure. Slave address Function code Data Error check 8 bits 8 bits N×8 bits 16 bits „...
Page 159 Message z Example of exception response Query Master Slave Slave address Slave address Response Function code Function code Register address (upper) Data Exception code Register address (lower) Error check (lower) Number of registers (upper) Error check (upper) Number of registers (lower) Data Number of data bytes Value written to register address (upper)
Page 160: Function Code
Function code Function code This chapter explains the function codes supported by the RKII Series drivers. Note that the function code cannot be executed if function codes other than those introduced here are sent. Reading from a holding register(s) [03h] This function code is used to read a register (16 bits).
Page 161: Writing To A Holding Register [06H]
Function code Writing to a holding register [06h] This function code is used to write data to a specified register address. However, since the result combining the upper and lower may be outside the data range, write the upper and lower at the same time using the "multiple holding registers (10h)."...
Page 162: Diagnosis [08H]
Function code Diagnosis [08h] This function code is used to diagnose the communication between the master and slave. Arbitrary data is sent and the returned data is used to determine whether the communication is normal. 00h (reply to query) is the only sub- function supported by this function code.
Page 163: Writing To Multiple Holding Registers [10H]
Function code Writing to multiple holding registers [10h] This function code is used to write data to multiple successive registers. Up to 16 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 164 Function code 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 Number of registers (upper) Same as query Number of registers (lower) Error check (lower) Calculation result of CRC-16 Error check (upper)
Page 165: Register Address List
Register address list Register address list 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. Since the address assignment is big endian, the even number addresses become the upper and the odd number addresses become the lower.
Page 166 Register address list „ Driver input command (007Ch/007Dh) These are the driver input signals that can be accessed via RS-485 communication. See p.57 for each input signal. Address (Hex) Description of address bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 −...
Page 167: Maintenance Commands
Register address list Maintenance commands These commands are used to reset alarms and warnings. They are also used to execute the batch processing for the non-volatile memory. All commands can be written (WRITE). Executes when writing from 0 to 1. Register address Setting Name...
Page 168: Monitor Commands
Register address list Shows the driver status before and after executing the configuration. Configuration is ready to Configuration is Item Configuration is completed execute executing PWR LED ALM LED Based on the driver condition. Electromagnetic brake Hold/release Hold Motor excitation Excitation/no excitation No excitation Output signals...
Page 169 Register address list Register address Name Description Range 0098h Warning record 1 (upper) 0099h Warning record 1 (lower) 009Ah Warning record 2 (upper) 009Bh Warning record 2 (lower) 009Ch Warning record 3 (upper) 009Dh Warning record 3 (lower) 009Eh Warning record 4 (upper) 009Fh Warning record 4 (lower) 00A0h...
Page 170 Register address list Register address Name Description Range Communication error code 00BAh record 7 (upper) Communication error code 00BBh record 7 (lower) Communication error code 00BCh record 8 (upper) Communication error code 00BDh record 8 (lower) Monitors the communication error records that 00h to FFh have occurred in the past.
Page 171: Parameter R/W Commands
Register address list „ Direct I/O and electromagnetic brake status (00D4h/00D5h) Address (Hex) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Upper − − − − − − − 00D4h Lower − − OUT5 OUT4 OUT3 OUT2 OUT1 OUT0 Upper −...
Page 172 Register address list „ Operation data Register address Initial Effective Name Setting range value (p.171) 1024 0400h Position No.0 (upper) 1025 0401h Position No.0 (lower) −8,388,608 to 8,388,607 step 1150 047Eh Position No.63 (upper) 1151 047Fh Position No.63 (lower) Operating speed No.0 (upper) 1152 0480h 1153...
Page 173 Register address list „ User parameters Register address Effective Name Setting range Initial value (p.171) 0: Immediate stop 0200h STOP input action (upper) 1: Deceleration stop 2: Immediate stop+current OFF 3: Deceleration stop+current 0201h STOP input action (lower) 0202h Hardware overtravel (upper) 0: Disable 1: Enable 0203h...
Page 174 Register address list Register address Effective Name Setting range Initial value (p.171) 0242h STOP current (upper) 0 to 600 (1=0.1%) 0243h STOP current (lower) 024Ah Speed filter (upper) 024Bh Speed filter (lower) 0 to 200 ms 024Ch Moving average time (upper) 024Dh Moving average time (lower) 4128...
Page 175 Register address list Register address Effective Name Setting range Initial value (p.171) Backward steps in 2-sensor mode home- 4192 1060h seeking (upper) 0 to 32,767 step Backward steps in 2-sensor mode home- 4193 1061h seeking (lower) 0308h Return-to-home incomplete alarm (upper) 0: Disable 1: Enable 0309h...
Page 176 Register address list Register address Effective Name Setting range Initial value (p.171) 4354 1102h IN1 input function selection (upper) 4: START 4355 1103h IN1 input function selection (lower) 4356 1104h IN2 input function selection (upper) 48: M0 4357 1105h IN2 input function selection (lower) 4358 1106h IN3 input function selection (upper)
Page 177 Register address list Register address Effective Name Setting range Initial value (p.171) 4452 1164h NET-IN2 input function selection (upper) 50: M2 4453 1165h NET-IN2 input function selection (lower) 4454 1166h NET-IN3 input function selection (upper) 4: START 4455 1167h NET-IN3 input function selection (lower) 4456 1168h NET-IN4 input function selection (upper)
Page 178 Register address list Register address Effective Name Setting range Initial value (p.171) NET-OUT5 output function selection 4490 118Ah (upper) 67: READY NET-OUT5 output function selection 4491 118Bh (lower) NET-OUT6 output function selection 4492 118Ch (upper) 66: WNG NET-OUT6 output function selection 4493 118Dh (lower)
Page 179 Register address list „ Setting range for function selection parameters z IN input function selection parameter 0: Not used 7: −JOG 16: FREE 33: R1 40: R8 47: R15 1: FWD 8: MS0 17: AWO 34: R2 41: R9 48: M0 18: STOP 35: R3 42: R10...
Page 180: Group Send
Group send Group send Multiple slaves are made into a group and a query is sent to all slaves in the group at once. „ Group composition A group consists of one parent slave and child slaves and Query (sent to Master only the parent slave returns a response.
Page 181 Group send Start of positioning Start of positioning Master to slave operation for address 1 operation for address 2 Response Response Slave to master from address 1 from address 2 Motor operation at address 1 (parent slave) Motor operation at address 2 (child slave) Motor operation at address 3...
Page 182: 10 Example For Setting Of The Operation
Example for setting of the operation 10 Example for setting of the operation 10-1 Positioning operation As an example, here is a description how to execute the following positioning operation. For details of positioning operatin, refer to p.84. This section explains data writing using the function code "10h," and remote I/O writing using the function code "06h." z Setting example •...
Page 183 Example for setting of the operation 2. Send the following query to set the operating speed of the operation data No.0 to 5,000 Hz. Query Field name Data Description Slave address Slave address Function code Write to multiple holding registers Register address (upper) Register address to start writing from =Operating speed No.0 (0480h)
Page 184 Example for setting of the operation 3. Send the following query to turn START ON. Positioning operation is started. Query Field name Data Description Slave address Slave address Function code Write to a holding register Register address (upper) Register address to be written =Driver input command (007Dh) Register address (lower) Data...
Page 185: Continuous Operation
Example for setting of the operation 10-2 Continuous operation As an example, here is a description how to execute the following continuous operation. For details of continuous operatin, refer to p.101. This section explains data writing using the function code "10h," and remote I/O writing using the function code "06h." z Setting example •...
Page 186 Example for setting of the operation 2. Send the following query to turn FWD ON. Continuous operation is started. Query Field name Data Description Slave address Slave address Function code Write to a holding register Register address (upper) Register address to be written =Driver input command (007Dh) Register address (lower) Data...
Page 187: Return-To-Home Operation
Example for setting of the operation 10-3 Return-to-home operation As an example, here is a description how to execute the following return-to-home operation. For details of return-to- home operatin, refer to p.94. z Setting example • Slave address : 1 •...
Page 188 Example for setting of the operation 2. When return-to-home operation is started, send the following query to turn HOME OFF again. Query Field name Data Description Slave address Slave address Function code Write to a holding register Register address (upper) Register address to be written =Driver input command (007Dh) Register address (lower)
Page 189: 11 Detection Of Communication Errors
Detection of communication errors 11 Detection of communication errors This function detects abnormalities that may occur during RS-485 communication. The abnormalities that can be detected include alarms, warnings and communication errors. 11-1 Communication errors A communication error record will be saved in the RAM. You can check the communication errors using the MEXE02 or “communication error record”...
Page 190: 12 Timing Charts
Timing charts 12 Timing charts „ Communication start Power supply input 1 s or more Master Query Communication Response Slave * Tb2 (transmission waiting time) + C3.5 (silent interval) „ Operation start Master Query *1 Communication Response Slave MOVE output *1 A message including a query to start operation via RS-485 communication.
Page 191 Timing charts „ Configuration Master Query *1 Query Communication Response Slave Internal processing Internal processing was in progress. *1 A message including a query for configuration via RS-485 communication. *2 Tb2 (transmission waiting time) + C3.5 (silent interval) *3 Internal processing time + 1 s or less *4 Execute a query after the driver internal processing is completed.
Page 193 Method of control via industrial network This part explains how to control via industrial network using the network converter (sold separately).  Table of contents Setting the switches ........194 Details of remote I/O ........225 Protocol ................194 Input signals to the driver ..........225 Address number (slave address) ......194 Output signals from the driver .........226 Transmission rate ............195...
Page 194: Setting The Switches
Setting the switches Setting the switches The following figure shows the status of factory setting. Function setting switch (SW1) No.2: OFF No.2: Set the protocol No.1: OFF No.1: Set the address number Address number setting switch (ID) Transmission rate setting switch (BAUD) Termination resistor No.2: OFF setting switch (TERM.)
Page 195: Transmission Rate
Setting the switches „ MECHATROLINK communication Up to 16 units can be connected. Address number (slave address) SW1-No.1 8 axes connection mode Connection mode 16 axes connection mode Transmission rate Set the transmission rate to 625,000 bps using the transmission rate setting switch (BAUD). Factory setting 7 (625,000 bps) Termination resistor Use a termination resistor for the driver located farthest away (positioned at the end) from the network converter.
Page 196: Method Of Control Via Cc-Link Communication
Guidance If you are new to the RKII Series FLEX built-in controller 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 NETC01-CC.
Page 197 Method of control via CC-Link communication STEP 1 Check the installation and connection CN1 connector PC in which the MEXE02 Connect to has been installed. + and - 24 VDC Required power supply Connect to CN6 or CN7 RS-485 communication cable Connect to CN2 Network Cable for motor *1...
Page 198 Method of control via CC-Link communication 2. Set the "Connection (axis #)" parameter of the driver connected to the network converter to "1: effective" using the MEXE02. MEXE02 tree view Parameter name Description Initial value Enables the address number of the driver connected to the network converter.
Page 199 Method of control via CC-Link communication STEP 3 Set the switches of the driver Set the following with the switches of the driver. For the protocol, select "OFF" (network converter). The status becomes as shown in the following figures after setting. Setting item Switch Factory setting...
Page 200 Method of control via CC-Link communication STEP 5 Perform continuous operation via remote I/O of CC-Link communication Turn FWD of the address number 0 ON with the remote I/O of CC-Link communication. Continuous operation is started. Initial values of the remote I/O are as follows. RY (Master to NETC01-CC) RY (Master to NETC01-CC) Device No.
Page 201: 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 202 Method of control via CC-Link communication 2. Send the following remote I/O to turn the command execution request “D-REQ” ON. The data set in the remote register is written. When the data writing is completed, the D-END is turned ON. (response) Remote I/O of NETC01-CC Command RY (Master to NETC01-CC) Device No.
Page 203 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: Present alarm z Operating procedure 1.
Page 204 Method of control via CC-Link communication The monitor of the present alarm of the address number 0 is started. Monitoring of the present alarm is continued while M-REQ0 is ON. The read value is reflected to the response area of the remote register. Remote register of NETC01-CC RWr (NETC01-CC to master) Output...
Page 205: Remote Register List Of Netc01-Cc
Method of control via CC-Link communication Remote register list of NETC01-CC Remote register is common to 6-axes connection mode and 12-axes connection mode. "Monitor", "read and write of parameters" and "maintenance command" for the driver or NETC01-CC are executed using remote register. "n" is an address assigned to the master station by the CC-Link station number setting. RWw (Master to NETC01-CC) RWr (NETC01-CC to master) Address No.
Page 206 Method of control via CC-Link communication „ Input/output of remote I/O z Remote I/O input Driver Driver Driver Address number 0 Address number 1 Address number 5 NETC01-CC Address number 0 Address number 0 RYnF to RYn0 remote I/O input remote I/O input Address number 1 Address number 1...
Page 207 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) Device No. Signal name Description Device No. Signal name Description RY(n)0 NET-IN0 [M0] RX(n)0 NET-OUT0 [M0_R] RY(n)1...
Page 208: Assignment For Remote I/O Of 12-Axes Connection Mode
Method of control via CC-Link communication Command RY (Master to NETC01-CC) Response RX (NETC01-CC to master) Device No. Signal name Description Device No. Signal name Description RY(n+6)A RX(n+6)A − − − − RY(n+6)B RX(n+6)B Command Command RY(n+6)C D-REQ RX(n+6)C D-END processing NETC01-CC execution request...
Page 209 Method of control via CC-Link communication Command RY(Master to NETC01-CC) Response RX(NETC01-CC to master) Device No. Description Device No. Description RY(n+6)7 to RY(n+6)0 RX(n+6)7 to RX(n+6)0 Control input of Status output of NETC01-CC NETC01-CC RY(n+6)F to RY(n+6)8 RX(n+6)F to RX(n+6)8 RY(n+7)7 to RY(n+7)0 RX(n+7)7 to RX(n+7)0 Control input of system...
Page 210 Method of control via CC-Link communication z Remote I/O output Driver Driver Driver Address number 0 Address number 1 Address number 11 NETC01-CC Address number 0 Address number 0 RXn7 to RXn0 remote I/O output remote I/O output Address number 1 Address number 1 RXnF to RXn8 remote I/O output...
Page 211 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) Device No. Signal name Description Device No. Signal name Description RY(n)0 NET-IN0 [M0] RX(n)0 NET-OUT0 [M0_R] RY(n)1 NET-IN1 [M1]...
Page 212 Method of control via CC-Link communication Command RY(Master to NETC01-CC) Response RX(NETC01-CC to master) Device No. Signal name Description Device No. Signal name Description During execution of RY(n+6)0 M-REQ0 Monitor request 0 RX(n+6)0 M-DAT0 monitor 0 During execution of RY(n+6)1 M-REQ1 Monitor request 1 RX(n+6)1...
Page 213: Method Of Control Via Mechatrolink Communication
Guidance If you are new to the RKII Series FLEX built-in controller 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 214 Method of control via MECHATROLINK communication STEP 1 Check the installation and connection CN1 connector PC in which the MEXE02 Connect to has been installed. + and - 24 VDC Required power supply Connect to CN6 or CN7 RS-485 communication cable Connect to CN2 Communication cable Network...
Page 215 Method of control via MECHATROLINK communication 2. Set the "Communication (address number)" parameter of the driver connected to the network converter to "effective" using the MEXE02. MEXE02 tree view Parameter name Description Initial value Enables the address number of the driver Communication connected to the network converter.
Page 216 Method of control via MECHATROLINK communication STEP 3 Set the switches of the driver Set the following with the switches of the driver. For the protocol, select "OFF" (network converter). The status becomes as shown in the following figures after setting. Setting item Switch Factory setting...
Page 217 Method of control via MECHATROLINK communication Perform continuous operation via remote I/O of MECHATROLINK STEP 5 communication Turn FWD of the address number 0 ON with the I/O command of MECHATROLINK communication. Continuous operation is started. Initial values of the I/O commands are as follows. bit15 bit14 bit13...
Page 218: 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 219 Method of control via MECHATROLINK communication 3. Send the following remote I/O and turn M0 of the address number 0 and START ON. Positioning operation is started. If the motor rotates for 5,000 steps, the positioning operation was successful. Remote I/O of NETC01-M2 Byte Part Type...
Page 220 Method of control via MECHATROLINK communication 2. To end the monitor, send the following remote I/O to turn the TRIG OFF again. Remote register of NETC01-M2 Byte Part Type Command Input example Description Remote Command code + Data field Turn TRIG OFF register TRIG In MECHATROLINK-II communication, only one type of data can be monitored for one driver because...
Page 221: I/O Field Map For The Netc01-M2
Method of control via MECHATROLINK communication I/O field map for the NETC01-M2 Update of remote I/O data (asynchronous) is executed by the “DATA_RWA” command (50h). When the remote I/O occupied size is 16-bit mode and the number of transmission bytes is 32 bytes (initial value), I/O field map will be as follows.
Page 222: I/O Field Map For The Netc01-M3
Method of control via MECHATROLINK communication I/O field map for the NETC01-M3 Update of remote I/O data (asynchronous) is executed by “DATA_RWA” command (20h). When the remote I/O occupied size is 16-bit mode and the number of transmission bytes is 32 bytes (initial value), I/O field map will be as follows.
Page 223: Communication Format
Method of control via MECHATROLINK communication Communication format Communication formats to the driver and network converter are as follows. „ Remote I/O input For details on remote I/O p.225 z 8 axes connection mode [16 bit mode] [ ]: Initial value bit15 bit14 bit13...
Page 224 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 Explanation Name Description...
Page 225: Details Of Remote I/O
Details of remote I/O Details of remote I/O This is common to all network converters. Input signals to the driver The following input signals can be assigned to the NET-IN0 to NET-IN15 of remote I/O using the parameter. See the following table for the assignments of the NET-IN0 to NET-IN15. For details on parameter, refer to “5-5 User parameters”...
Page 226: Output Signals From The Driver
Details of remote I/O Output signals from the driver The following output signals can be assigned to the NET-OUT0 to NET-OUT15 of remote I/O using the parameter. See the following table for the assignments of the NET-OUT0 to NET-OUT15. For details on parameter, refer to “5-5 User parameters” on p.233. [ ]: Initial value bit15 bit14...
Page 227 Details of remote I/O Signal name Function Setting range 0: No overheat warning Output when the overheat warning generates. 1: During overheat warning Output when the ENC-Z input signal is input from the 0: ENC-Z input not used encoder. 1: ENC-Z input used 0: Electromagnetic brake hold Output the electromagnetic brake status.
Page 228: Command Code List
Command code list Command code list This is common to all network converters. Group function The driver has a group function. Multiple slaves are made into a group and a operation command is sent to all slaves in the group at once. „...
Page 229: Maintenance Command
Command code list This is a timing chart for when assigning the START signal to NET-IN3 (remote I/O) of the driver in the group. Address number 0 Network converter to slave NET-IN3=ON Motor operation at address number 0 (parent slave) "Group"...
Page 230: Monitor Command
Command code list Monitor command These commands are used to monitor the driver condition. Command Name Description code 8256 Present alarm Monitors the present alarm code. (2040h) 8257 Alarm record 1 (2041h) 8258 Alarm record 2 (2042h) 8259 Alarm record 3 (2043h) 8260 Alarm record 4...
Page 231 Command code list Command Name Description code 8283 Communication error code record 5 (205Bh) 8284 Communication error code record 6 (205Ch) 8285 Communication error code record 7 (205Dh) Monitors the communication error records that have occurred in the past. 8286 Communication error code record 8 (205Eh) 8287...
Page 232: Operation Data
Command code list Operation data Up to 64 operation data can be set (data Nos.0 to 63). When the operation data is changed, a recalculation and setup will be performed after the operation is stopped and the changed value will be set. Command code Name Setting range...
Page 233: User Parameters
Command code list User parameters The parameters are saved in the RAM or non-volatile memory. The data saved in the RAM will be erased once the 24 VDC power supply is turned off. On the other hand, the parameters saved in the non-volatile memory will be retained even after the 24 VDC power supply is turned off.
Page 234 Command code list „ I/O parameter Command code Effective Name Setting range Initial value (p.233) Read Write 0: Immediate stop 4352 1: Deceleration stop STOP input action (0100h) (1100h) 2: Immediate stop + current OFF 3: Deceleration stop + current OFF 4353 0: Disable Hardware overtravel...
Page 235 Command code list „ Motor parameter Command code Effective Name Setting range Initial value (p.233) Read Write 4384 RUN current 0 to 1,000 (1=0.1%) 1,000 (0120h) (1120h) 4385 STOP current 0 to 600 (1=0.1%) (0121h) (1121h) 4389 Speed filter 0 to 200 ms (0125h) (1125h) 4390...
Page 236 Command code list „ Home operation parameter Command code Effective Name Setting range Initial value (p.233) Read Write 4448 0: 2-sensor mode Home-seeking mode (0160h) (1160h) 1: 3-sensor mode 4449 Operating speed of home- 1 to 1,000,000 Hz 1,000 (0161h) (1161h) seeking 4450...
Page 237 Command code list „ Coordinates parameter Command code Effective Name Setting range Initial value (p.233) Read Write 4544 Electronic gear A 1 to 65,535 (01C0h) (11C0h) 4545 Electronic gear B 1 to 65,535 (01C1h) (11C1h) 4546 0: Positive direction=CCW Motor rotation direction (01C2h) (11C2h) 1: Positive direction=CW...
Page 238 Command code list „ I/O function parameter Command code Effective Name Setting range Initial value (p.233) Read Write 2176 6272 IN0 input function selection 3: HOME (0880h) (1880h) 2177 6273 IN1 input function selection 4: START (0881h) (1881h) 2178 6274 IN2 input function selection 48: M0 (0882h)
Page 239 Command code list z Setting range for IN input function selection 0: Not used 7: −JOG 16: FREE 33: R1 40: R8 47: R15 8: MS0 17: AWO 34: R2 41: R9 48: M0 1: FWD 2: RVS 9: MS1 18: STOP 35: R3 42: R10...
Page 240 Command code list Command code Effective Name Setting range Initial value (p.233) Read Write 2240 6336 NET-OUT0 output function selection 48: M0_R (08C0h) (18C0h) 2241 6337 NET-OUT1 output function selection 49: M1_R (08C1h) (18C1h) 2242 6338 NET-OUT2 output function selection 50: M2_R (08C2h) (18C2h)
Page 241 Operation using the OPX-2A This chapter explains the overview and operation using the OPX-2A.  Table of contents Overview of the OPX-2A ........242 Test mode ............266 Names and functions of parts ........243 Overview of the test mode ........266 How to read the display ..........243 Direct I/O test ..............267 OPX-2A error display ..........244 JOG operation ..............267...
Page 242: Overview Of The Opx-2A
Overview of the OPX-2A Overview of the OPX-2A The OPX-2A is a data setter that lets you set parameters and monitor the communication time. In addition, the OPX-2A can be used to save the data of driver. There are four destinations (data banks) to save data. Driver OPX-2A Set parameters.
Page 243: Names And Functions Of Parts
Overview of the OPX-2A Names and functions of parts Display This area shows the motor position, operation data, parameters, alarms, etc. LED indicators These LED indicators are used to indicate the operation mode of the OPX-2A and the driver status. •...
Page 244: Opx-2A Error Display
• Check if the OPX-2A is connected securely. • Check if the OPX-2A cable is disconnected or damaged. A communication error occurred between the • The OPX-2A or the communication part of the driver may OPX-2A and driver. have damaged. Contact your nearest Oriental Motor sales office.
Page 245 Overview of the OPX-2A...
Page 246: Screen Transitions
Screen transitions Screen transitions • The following limitations are present while the edit lock function is enabled. − Data mode, parameter mode: Although they are displayed on the screen, they are unable to operate. − Clearing the alarm and warning records, clear data, position preset, encoder counter preset, teaching, copy mode: They are not displayed on the screen.
Page 247 Screen transitions Top screen of the data mode to Parameter mode Operation data No.0 Operation mode Numerical entry Writing of data is in progress (blinking display) Position Numerical entry Writing of data is in progress (blinking display) Operating speed Numerical entry Writing of data is in progress (blinking display) Operation function...
Page 248 Screen transitions Top screen of the Top screen of the parameter mode test mode Parameter selection Direct I/O test (Example: Electronic gear A) Input test Parameter setting Sensor test Writing of data is Output test in progress (blinking display) Output test JOG operation Operation is in progress...
Page 249 Screen transitions to Copy mode Return-to-home operation Perform return-to- home operation Processing is in progress (blinking display) Position preset Perform position preset Processing is in progress (blinking display) Encoder counter preset Perform preset Processing is in progress (blinking display) Teaching Perform teaching Operation data No.0 selection...
Page 250 Screen transitions Top screen of the copy mode Download Data bank selection 0 Processing is in progress (blinking display) Data bank selection 3 Processing is in progress (blinking display) Data bank selection 2 Processing is in progress (blinking display) Data bank selection 1 Processing is in progress (blinking display) Upload...
Page 251 Screen transitions to Monitor mode Veri cation Veri cation result: Data bank selection 0 Matched Veri cation result: Data bank selection 3 Unmatched Data bank selection 2 Data bank selection 1 Initialization Initialize operation data Processing is in progress (blinking display) Initialize parameters Processing is in progress (blinking display)
Page 252: Monitor Mode
Monitor mode Monitor mode Overview of the monitor mode z Monitoring the operating status You can monitor the motor speed, command position, encoder counter, operation data number corresponding to the current operation, operation data number currently selected, and internal temperature of the driver in real time. A range capable to monitor with the OPX-2A is from −19,999,999 to 19,999,999 with up to eight digit numbers.
Page 253 Monitor mode „ Alarm When an alarm generates, a corresponding alarm code will be displayed. You can also reset alarms or check and clear alarm records. For details of alarm, refer to p.273. Do not turn off the driver power while an alarm is being reset or alarm records are being cleared (=while the display is blinking).
Page 254: Data Mode
Data mode Data mode Up to 64 sets of motor operation data can be set. Once set, the operation data is stored in the driver. The data will not be lost even after the OPX-2A is disconnected from the driver. Operation data has significant bearing on motor operation.
Page 255 Data mode „ How to set the dwell time When displaying the "2: linked-motion 2" on the "operation function" and pressing the key, the screen to set the dwell time is displayed. Input the dwell time using the keys and press the key.
Page 256: Setting Example
Data mode Setting example This section explains how to change the operation mode and position of the operation data No.0. • Operation mode: Changes from incremental mode to absolute mode. • Position: Changes from 0 step to 10,000 steps. Top screen of the data mode 1.
Page 257: Initialization Of The Selected Operation Data
Data mode Initialization of the selected operation data All of the set value for the selected operation data number can be reverted to the initial values. Perform "clear data" of the data mode. For the operation, check the screen transitions of the data mode on p.247. Initialization of all operation data All of the operation data saved in the driver can be reverted to the initial values.
Page 258: Parameter Mode
Parameter mode Parameter mode You can set parameters relating to motor operation and control. These parameters are saved in the non-volatile memory of the driver. Parameters have significant bearing on motor operation. Before setting any parameter, make sure you fully understand the content of the parameter. •...
Page 259: Setting Example
Parameter mode Setting example This section explains how to assign the TIM output to the OUT1 output. Top screen of the parameter mode 1. Use the key to select the parameter mode. The “PAR” LED is lit. Select parameter 2. Press the key on the top screen of the parameter mode.
Page 260: Parameter List
Parameter mode Parameter list „ Operation data Operation data can also be set by selecting the data mode. Effective Parameter name Setting range Initial value (p.258) Operation mode No.0 0: Incremental mode 1: Absolute mode Operation mode No.63 Position No.0 −8,388,608 to +8,388,607 step Position No.63 Operating speed No.0...
Page 261 Parameter mode „ Parameters Effective Parameter name Setting range Initial value (p.258) 0: Immediate stop 1: Deceleration stop STOP input action 2: Immediate stop & Current OFF 3: Deceleration stop & Current OFF 0: Disable Hardware overtravel 1: Enable 0: Immediate stop Overtravel action 1: Deceleration stop AREA1 positive direction position...
Page 262 Parameter mode Effective Parameter name Setting range Initial value (p.258) Overheat warning 40 to 85 °C (104 to 185 °F) Overvoltage warning 120 to 450 V Undervoltage warning 120 to 280 V Electronic gear A 1 to 65,535 Electronic gear B 0: Positive direction=CCW Motor rotation direction 1: Positive direction=CW...
Page 263 Parameter mode Effective Parameter name Setting range Initial value (p.258) 2192 IN0 input logic level setting 2193 IN1 input logic level setting 2194 IN2 input logic level setting 2195 IN3 input logic level setting 0: Normally open 1: Normally closed 2196 IN4 input logic level setting 2197...
Page 264 Parameter mode Effective Parameter name Setting range Initial value (p.258) 0: Not monitored 2304 Communication timeout 1 to 10,000 ms 2305 Communication error alarm 1 to 10 times 0: None 2563 Communication parity 1: Even number 2: Odd number 0: 1 bit 2564 Communication stop bit 1: 2 bit...
Page 265: Initializing Parameters
Parameter mode Initializing parameters You can revert parameters saved in the driver to their initial values. Perform "Initialize operation data" of the copy mode. For the operation, check the screen transitions of the copy mode on p.250.
Page 266: Test Mode
Test mode Test mode Overview of the test mode z Direct I/O test You can check the ON/OFF status of each input signal of the driver. You can also switch the ON/OFF status of each output signal on the OPX-2A. There is also a direct I/O test function with which you can check the connection status of the driver.
Page 267: Direct I/O Test
Test mode Direct I/O test When checking the connection condition of the driver, perform the direct I/O test. Each digit on the 7-segment LED display corresponds to a signal. The LED is lit when the input signal is ON, and it is unlit when the input signal is OFF. Use the keys to switch the ON-OFF state of the output signal.
Page 268: Return-To-Home Operation
Test mode Return-to-home operation You can perform a return-to-home operation. The operating speed corresponds to the value set in the “operating speed of home-seeking” parameter. During operation, the motor rotates at the specified operating speed. Before commencing the operation, consider the status of the equipment and condition of its surroundings to confirm thoroughly that motor rotation will not cause any dangerous situations.
Page 269: Copy Mode
Copy mode Copy mode Overview of the copy mode z Download Driver Copy parameters saved in the OPX-2A to the driver. Download OPX-2A If a download error occurs, a code indicating the nature parameter to the driver. of the error will blink on the display. Download will not be performed and the display will return to the top screen of download.
Page 271 Inspection, troubleshooting and remedial actions This part explains the periodical inspection methods as well as confirmation items and remedial actions when problems have happened.  Table of contents Inspection ............272 Alarms and warnings ........273 Alarms ................273 Warnings ................278 Communication errors..........279 Troubleshooting and remedial actions ..280...
Page 272: Inspection
Inspection It is recommended that periodic inspections for the items listed below are conducted after each operation of the motor. If an abnormal condition is noted, discontinue any use and contact your nearest Oriental Motor sales office. „ During inspection •...
Page 273: Alarms And Warnings
Alarms and warnings Alarms and warnings The driver provides alarms that are designed to protect the driver from overheating, poor connection, error in operation, etc. (protective functions), as well as warnings that are output before the corresponding alarms generate (warning functions). Alarms When an alarm generates, the ALM output will turn OFF and the motor will stop.
Page 274 Alarms and warnings „ Alarm list No. of ALM Code Alarm type Cause LED blinks When the "stepout detection action" parameter is set to "alarm" the Excessive position position deviation between the encoder position and command position deviation reached the set value of the "stepout detection band" parameter. Overcurrent The motor, cable and driver output circuit were short-circuited.
Page 275 Check whether the power supply voltage is within the allowable • Perform an alarm reset. range of the specification. Contact your nearest Oriental Motor sales office. Cycle the power. • Turn the ALM-RST input from OFF (0) to ON (1).
Page 276 Alarms and warnings No. of ALM Code Alarm type Cause LED blinks • Five or more operation data was linked. Abnormal operation • Data of different directions was linked in linked-motion operation. data • Positioning operation of the operating speed 0 r/min was performed. Electronic gear setting The resolution set by the "electronic gear"...
Page 277 Alarms and warnings Motor Remedial action Reset operations excitation *1 • Turn the ALM-RST input from OFF (0) Excitation to ON (1). Check the operation data. • Perform an alarm reset. Excitation Set the electronic gear correctly, and then cycle the power. Cycle the power.
Page 278: Warnings
Alarms and warnings Warnings When a warning generates, the WNG output will turn ON. The motor will continue to operate. Once the cause of the warning is removed, the WNG output will turn OFF automatically. „ Warning records Up to 10 generated warnings are saved in the RAM in order of the latest to oldest. Warning records saved in the RAM can be read or cleared when performing any of the following.
Page 279: Communication Errors
Alarms and warnings Communication errors Up to 10 communication errors are saved in the RAM in order of the latest to the oldest and you can check using the MEXE02 or via RS-485 communication. „ Communication error records Up to 10 communication errors are saved in the RAM in order of the latest to oldest. Communication error records saved in the RAM can be read or cleared when performing any of the following.
Page 280: Troubleshooting And Remedial Actions
During motor operation, the motor or driver may fail to function properly due to an improper setting or wiring. When the motor cannot be operated correctly, refer to the contents provided in this section and take appropriate action. If the problem persists, contact your nearest Oriental Motor sales office. Phenomenon...
Page 281 Appendix  Table of contents Accessories ............282...
Page 282 Accessories „ Motor cable The RKII Series has models included with a "cable for motor" to connect the motor and driver, and also it has models without a "cable for motor." If the distance between the motor and the driver is extended furthermore, use a connection cable set or an extension cable set since the length of the included cable is not enough.
Page 283 Accessories • Flexible connection cable set • Flexible connection cable set • Flexible connection cable set For standard motor For electromagnetic brake motor For encoder motor Length Length Length Model Model Model [m (ft.)] [m (ft.)] [m (ft.)] CC010VPR 1 (3.3) CC010VPRB 1 (3.3) CC010VPRE...
Page 284 CC150VPRET 15 (49.2) „ Data setter The data setter lets you set data and parameters for your RKII Series FLEX built-in controller type with ease and also functions as a monitor. Model: OPX-2A „ Communication cable for the support software Be sure to purchase the communication cable for the support software when connecting a driver to the PC in which the support software MEXE02 has been installed.
Page 285 Accessories „ CR circuit module This product is effective to suppress the surge which occurs in a relay contact part. Use this product to protect the contacts of the relay or switch. Four pieces of CR circuit for surge suppression are mounted on the compact circuit, and this product can be installed to the DIN rail.
Page 286 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.

Oriental motor RKII Series User Manual

1 Introduction

2 Installation and Connection

3 Operation Type and Setting

4 Method of Control Via I\/O

5 Method of Control Via Modbus Rtu (Rs-485 Communication)

6 Method of Control Via Industrial Network

7 Operation Using the Opx-2A

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