Oriental motor EZ limo ESMC-K Operating Manual
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Oriental motor EZ limo ESMC-K Operating Manual

Oriental motor EZ limo ESMC-K Operating Manual

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Linear Motion Controller
ESMC-K/ESMC-A/ESMC-C
OPERATING MANUAL
Thank you for purchasing an Oriental Motor product.
This Operating 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.
•
HL-17009-3

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Summary of Contents for Oriental motor EZ limo ESMC-K

  • Page 1 HL-17009-3 Linear Motion Controller ESMC-K/ESMC-A/ESMC-C OPERATING MANUAL Thank you for purchasing an Oriental Motor product. This Operating Manual describes product handling procedures and safety precautions. Please read it thoroughly to ensure safe operation. • Always keep the manual where it is readily available.

  • Page 2: Table Of Contents

    Table of contents 5 Timing charts........32 1 Introduction ......... 3 5.1 Return-to-home operation ..... 32 1.1 Important note ......... 3 5.2 Positioning operation......32 1.2 Overview of the product ......3 5.3 Continuous operation ......33 1.3 System configuration....... 3 5.4 Operation by pulse input .......

  • Page 3: Introduction

    1 Introduction 1 Introduction 1.1 Important note Be sure to confirm that the motorized actuator model shown on the controller key is the same as the model of the motorized actuator connected to the controller. If the two numbers do not match, the motorized actuator cannot be operated according to the specification.

  • Page 4: Compliance With The Ec Directives

    1 Introduction 1.4 Compliance with the EC directives The controllers bear the CE mark indicating their compliance with the Low Voltage and EMC Directives, based on combinations with the products specified below. The controllers do not comply with the EC Directives if combined with other products. •...
  • Page 5 1 Introduction EMC Directive Provide EMC measures when installing/wiring the product. Without effective measures to suppress EMI (electromagnetic interference) caused by the motorized actuator, controller or teaching pendant in the surrounding control systems equipment and to address EMS (electromagnetic susceptibility) of the motorized actuator, controller or teaching pendant, the machine’s performance may be severely affected.

  • Page 6: Names And Functions Of Front Panel

    1 Introduction 1.5 Names and functions of front panel • ESMC-A, ESMC-C • ESMC-K Controller key Controller key POWER LED POWER LED ALARM LED ALARM LED Pendant switch Pendant switch Mode switch Mode switch Pendant connector Pendant connector Battery Battery Control signal power connector Control signal power...

  • Page 7: Controller Key

    1 Introduction 1.6 Controller key A controller key corresponding to the combined motorized actuator is installed on the controller. (If you have purchased a controller only, no controller key is supplied.) Controller key Motorized actuator model The controller key stores parameters relating to motorized actuator control. The controller uses these parameters to automatically set the following parameters in accordance with the specification of the combined motorized actuator: I/O parameter:...

  • Page 8: Installation

    2 Installation 2 Installation 2.1 Controller clearances required at installation Install the controller on a vertical, flat metal surface inside an enclosure placed indoors. If the controller is not installed vertically, heat generated from the controller will not be Note radiated properly and the controller may be damaged due to excessive heat.

  • Page 9: Installing And Wiring In Compliance With Emc Directives

    EPCOS AG B84113-C-B110 Oriental Motor recommends the mains filters shown in the table right, based on our internal measurement results. • Install a mains filter at a point as close to the controller as possible. • Secure the input and output cables with cable clamps or the like so that they won't rise from the surface of the enclosure panel.
  • Page 10 2 Installation Example of installation and wiring The figure below gives an installation/wiring example when connecting an EZSⅡSeries slider to the controller. Teaching pendant Motorized actuator Pendant cable ∗3 Battery ∗1 Motor cable Controller (Shielded cable) DC power Mains filter supply (Shielded cable)

  • Page 11: Connection

    3 Connection 3 Connection 3.1 General wiring view Wire the controller by referring to the figure below. For details on the wiring of each component, refer to the reference page indicated beside the component. Data editing software EZED2 Teaching pendant (The software comes with a PC interface cable.) EZT1 Controller key...

  • Page 12: Connecting To The Power Supply

    3 Connection 3.2 Connecting to the power supply The power supply is used to drive the motor. After connection, be sure to install the terminal cover. Controller model Power supply specification Applicable lead wire Tightening torque ∗1 ESMC-K 24 VDC 4.0 A Solid wire: AWG16 (Ø1.6 mm) 0.8 to 1.0 N·m ∗2...

  • Page 13: Connecting The Motor Cable

    3 Connection 3.5 Connecting the motor cable Connect an optional motor cable (sold separately). Be sure to confirm that the motorized actuator model shown on the controller key is the Note same as the model of the motorized actuator connected to the controller. If the two do not match, the motorized actuator cannot be operated according to the specification.
  • Page 14 3 Connection Pin assignments of user I/O connector • Input signals Signal name Description Referenced pages ● ● START − Positioning start 4.3, “Positioning operation “ on p.24 ACL: 8.2, “Causes of alarms and actions” ACL: Alarm clear on p.64 ∗1 ACL/CK CK: Used to read the current position.
  • Page 15 3 Connection • Wiring of pins 31 to 36 ∗ ∗ NPN specification (If used at 5 VDC PNP specification (If used at 5 VDC • • Sink output circuit connection Source output circuit connection Inside the controller Inside the controller 5 VDC 2.7 kΩ...
  • Page 16 3 Connection ● Connection example (NPN specification) Example of sink output circuit/source input circuit connection Host controller Controller 24 VDC 200 mA or less IN-COM1 1 kΩ 4.7 kΩ · · · · · · 1 kΩ 4.7 kΩ 1 kΩ 4.7 kΩ...
  • Page 17 3 Connection ● Connection example (NPN specification) Example of sink output circuit/source input circuit connection Host controller Controller 24 VDC 200 mA or less IN-COM1 1 kΩ 4.7 kΩ ACL/CK 1 kΩ 4.7 kΩ FREE 1 kΩ 4.7 kΩ C.OFF 1 kΩ...
  • Page 18 3 Connection ● Connection example (PNP specification) Example of source output circuit/sink input circuit connection Host controller Controller 24 VDC 1 kΩ 4.7 kΩ · · · · · · 1 kΩ 4.7 kΩ 1 kΩ 4.7 kΩ START 1 kΩ 4.7 kΩ...
  • Page 19 3 Connection ● Connection example (PNP specification) Example of source output circuit/sink input circuit connection Host controller Controller 24 VDC 1 kΩ 4.7 kΩ ACL/CK 1 kΩ 4.7 kΩ FREE 1 kΩ 4.7 kΩ C.OFF 1 kΩ 4.7 kΩ HOME/PRESET 1 kΩ...

  • Page 20: Emergency Stop Circuit

    3 Connection 3.7 Emergency stop circuit The emergency stop function is designed under the following specification: Detection condition: An opening of input is detected [normally-closed (contact B) input]. Action upon detection: The motor power is forcibly cut off using a hardware circuit rather than through CPU instruction, in order to stop the motorized actuator (via a coasting stop).

  • Page 21: Connecting The Battery

    3 Connection 3.8 Connecting the battery If the controller is used in the absolute mode, be sure to connect an optional battery PAEZ-BT2 (sold separately). • Battery installation dimensions Installing the battery [Unit: mm (in.)] The battery has a built-in protective circuit. Use the supplied battery 2×M4 holder to secure the battery.

  • Page 22: Types And Functions Of Operations

    4 Types and functions of operations 4 Types and functions of operations ● ● 4.1 Return-to-home operation This operation is performed to detect the home used in positioning operation. Return-to-home operation is performed in one of three modes: push-motion mode, 2-sensor mode and 3-sensor mode.
  • Page 23 4 Types and functions of operations 2-sensor mode The +LS or –LS becomes the origin. Constatn speed operation is performed at the starting speed of return. - - - Broken line indicates a home offset Starting position of Starting direction of return-to- Starting direction of return-to-home return-to-home operation home operation: Motor side...

  • Page 24: Preset

    4 Types and functions of operations ● ● 4.2 Preset When the PRESET input is enabled using the I/O parameter “HOME/PRESET switching” and the PRESET input is turned ON, the current position will be preset. You can set a desired preset position using the I/O parameter “PRESET position.” When the PRESET input is turned ON, the data will be written to the EEPROM.
  • Page 25 4 Types and functions of operations Linked-motion Each time the START input is turned ON, a maximum of four operation data of the same direction can be linked. If “linked-motion” is specified for operation data No. 63, the controller will recognize that Note single-motion operation has been specified for this data.
  • Page 26 4 Types and functions of operations Sequence-forward operation When the M0 to M5 inputs are turned OFF and only operation data No. 0 is selected, the controller will enter the sequence-forward positioning mode. In sequence-forward positioning operation, each operation data is executed sequentially every time the START input is turned ON.

  • Page 27: Push-Motion Operation

    4 Types and functions of operations ● 4.4 Push-motion operation An operation in which the load is continuously subjected to pressure is called “push-motion operation”. This operation can be performed only when “push-motion” is selected as the operation function. When the actuator contacts the load during positioning operation, it will automatically switch to push-motion operation.

  • Page 28: Continuous Operation

    4 Types and functions of operations ● 4.5 Continuous operation When the FWD input is ON, the actuator moves continuously in the + coordinate direction. When the RVS input is ON, the actuator moves continuously in the – coordinate direction. •...

  • Page 29: Operation By Pulse Input

    4 Types and functions of operations ● 4.6 Operation by pulse input Select one of the following three pulse input modes according to the equipment connected to the controller. Pulse input is implemented based on the negative logic. Note Pulse input mode Pulse input mode Mode switch Waveform image...

  • Page 30: Timing Output

    4 Types and functions of operations ● 4.8 Timing output The TIM output turns ON every time the rotor turns 7.2°. The table below shows the travel of each motorized actuator corresponding to a rotor revolution of 7.2°. Series Motorized actuator model Travel EZSⅡ...

  • Page 31: Stopping The Motor Excitation

    4 Types and functions of operations ● ● 4.11 Stopping the motor excitation While the motor is not excited, the moving part can be moved manually. The motor excitation can be stopped by turning ON the FREE input or C.OFF input. Signal name Motor Electromagnetic brake...

  • Page 32: Timing Charts

    5 Timing charts 5 Timing charts The “ON” status of a signal indicates that the applicable photocoupler in the controller is carrying current, while the “OFF” status indicates that the photocoupler is not carrying current. The up and down arrows in the timing charts indicate edges, while horizontal lines indicate levels. The time after an operation ends until the END output turns ON varies depending on the Note load and operating speed.

  • Page 33: Continuous Operation

    5 Timing charts • Combinations of operation data numbers and M0 to M5 inputs Operation Operation data No. data No. ∗ ∗ Sequence-forward positioning operation is performed. ● 5.3 Continuous operation FWD input RVS input M0 to M5 input MOVE output + coordinate direction - coordinate direction －33－...

  • Page 34: Operation By Pulse Input

    5 Timing charts ● 5.4 Operation by pulse input Pulse input is implemented based on the negative logic. Note 2-pulse input FP input mode RP input 2 ms or less 2 ms or less MOVE output 3 ms or less 3 ms or less END output + coordinate...

  • Page 35: Stopping Function

    5 Timing charts ● 5.5 Stopping function Operation stop using the STOP input is controlled via the CPU. MOVE output OFF, or elapse of at least 4 ms Immediate stop STOP input 1 ms or more START input MOVE output END output ∗...

  • Page 36: Stopping The Motor Excitation

    5 Timing charts Deceleration stop + Electromagnetic STOP input brake actuation 200 ms MOVE output OFF, or or more elapse of at least 4 ms START input MOVE output END output ∗ Stop Motor operation 6 ms or less Motor excitation Motor is excited 100 ms or less Delay when the motor...

  • Page 37: Alarm Clear

    5 Timing charts ● ● 5.7 Alarm clear The figure below shows an example of how the signals behave when a LS detection error occurs. +LS input ACL input 4 ms or more 100 ms or more ALM output 6 ms or less 200 ms or less Motor excitation 6 ms or less...

  • Page 38: How To Start

    6 How to start 6 How to start 6.1 Starting procedure Teaching pendant EZT1 Data editing software EZED2 Controller key Pendant switch Mode switch DC power supply Battery ∗1 Emergency stop circuit Sensor ∗2 Motorized actuator Host controller Main power supply indicates an optional accessory ∗3 (sold separately).
  • Page 39 6 How to start Check the lighting condition of the LED. POWER ALARM CHARGE Description On (green) On (red) Normal status Check if the main power supply and control power supply are connected correctly. If the LED doesn’t On (red) or Off turn on after the power is reconnected, call our Technical Support Line.

  • Page 40: Trial Operation

    6 How to start 6.2 Trial operation The following explains the procedure to actually set data using the teaching pendant and move the motorized actuator. After starting the controller, move the motorized actuator manually to check the wiring and other conditions. Thereafter, set positioning operation data and operate the actuator using the set data.
  • Page 41 6 How to start Setting positioning data Set the following data to operation data No. 1: Positioning method: Absolute Position: 45 mm (1.77 in.) Operation speed: 30 mm/s (1.18 in/s) Operating function: Single-motion Top screen of the EXT mode Press the key to switch to the PRG mode.
  • Page 42 6 How to start Enter “30.00” using the numerical keys. Enter using the numerical keys. Press the ENT key. Select the operation function using the ← → keys. Select using Press the ENT key. The operation data is set to operation No. 1. Performing test operation Press the key twice to switch to the TST...

  • Page 43: Teaching Pendant Operation

    7 Teaching pendant operation 7 Teaching pendant operation 7.1 Operation modes The teaching pendant provides four operation modes. The top screen of each mode is shown below. F1 key to switch to the next mode. Press the • EXT (external) mode This mode is used to operate the actuator using external inputs.

  • Page 44: Clearing, Inserting And Deleting Operation Data, And Performing All Delete

    7 Teaching pendant operation • TST (test) mode This mode is used to check the connection statuses of I/Os or perform test operation. [F4] key: Positioning operation (Controller mode only) [F3] key: Manual operation (Controller mode only) [F2] key: I/O test [F1] key: Switch to the EXT mode.

  • Page 45: Initializing The Parameters

    7 Teaching pendant operation Deleting all operation data Top screen of the PRG mode On the top screen of the PRG mode, press the key while holding down the SHIFT key. Press the key to delete all data. “No data” is set for all operation data. Execute 7.3 Initializing the parameters Reset all parameters to their default values.

  • Page 46: Teaching

    7 Teaching pendant operation 7.4 Teaching Remote teaching Operate the motorized actuator using the ← → keys to input a stop position. On the top screen of the PRG mode, select the Top screen of the PRG mode operation data to perform remote teaching. Press the ENT key, and then press the ↓...
  • Page 47 7 Teaching pendant operation Direct teaching Move the actuator’s moving part to input a stop position. Turn off the main power to the controller. Top screen of the PRG mode On the top screen of the PRG mode, select the operation data to perform direct teaching Press the ENT key, and then press the...

  • Page 48: Monitor Function

    7 Teaching pendant operation 7.5 Monitor function You can monitor I/Os, alarms and operation data in the Top screen of the EXT mode EXT mode. On the top screen of the EXT mode, press one of F2 keys. Use the keys to move through the items on the ↑...

  • Page 49: I/O Checking

    7 Teaching pendant operation 7.6 I/O checking The I/O check function can be used to check the connection status with each sensor or host controller. Perform I/O check to examine the wiring condition after the equipment has been started or during inspection. All I/O functions and operations are disabled during the I/O check.

  • Page 50: Manual Operation

    7 Teaching pendant operation 7.7 Manual operation Manual operation is performed in two ways: by performing positioning operation using set operation data, or by operating the actuator using the ← → keys. Top screen of the TST mode On the top screen of the TST mode, press the key.

  • Page 51: List Of Setting Items

    7 Teaching pendant operation 7.8 List of setting items Operation data Data Display Setting range Initial value Remarks Operation OP Type − method ∗1 Position −83886.08 to 83886.07 mm 0.00 mm − (−3302.60 to 3302.60 in.) ∗2 Operating speed Speed Vary depending on the 100.00 mm/s If the starting speed is greater than...
  • Page 52 7 Teaching pendant operation Motor parameters Data Display Setting range Initial value Remarks Operating current Run Cur. 0 to 100% 100% − EZSM3 C, EZSM4 C, EZSM3 C, EZSM4 C, Standstill current Stop Cur. SPRM6 C: 0 to 65% SPRM6 C: 65% PWAM6: 0 to 70% PWAM6: 70% −...
  • Page 53 7 Teaching pendant operation • Setting range and defaults Setting range Default Starting speed Motorized actuator Starting speed Acceleration Common operating Starting speed of return Common operating speed Deceleration speed Operating speed of return ∗1 EZSM D, EZSM E 0.01 to 200 mm/s 6.00 mm/s (0.24 in/s) (0.0004 to 7.87 in/s) SPFM C...

  • Page 54: Table Of Operation Switching

    7 Teaching pendant operation 7.9 Table of operation switching EXT mode ● Display or switching in the controller mode ● Display or switching in the driver mode First screen First screen I/O monitor I/O monitor Current position display 1 Current position display 1 [F1] [F2] [F3]...
  • Page 55 7 Teaching pendant operation Alarm monitor Language setting Data checking Current alarm information Select using [ ][ ] [F1] [F2] [F3] [F4] [F1] [F1] to PRG mode to PRG mode to PAR mode Clear alarm To alarm history [ESC] to first screen To clear alarm history To PRG mode To PAR mode...
  • Page 56 7 Teaching pendant operation ● PRG mode First screen Data creation No. selection 1 No. selection Remote teaching Select a data No. using the numerical keys or [ ][ ][ ][ ]. Move using [ ][ ]. [F1] [F2] [F3] [F4] [F1] [F1]...
  • Page 57 7 Teaching pendant operation Data clear, insertion and deletion All operation data clear Data clear All operation data clear [F1] [F3] [F4] [F1] [F3] [F4] To first screen To first screen Clear and move to first screen To PAR mode To PAR mode Screen displayed during the processing [ESC] to first screen...
  • Page 58 7 Teaching pendant operation PAR mode ● Display or switching in the controller mode ● Display or switching in the driver mode First screen I/O parameters No. selection 1 Stop action LS detection enable/disable Select using [ ][ ]. Select using [ ][ ]. [F1] [F2] [F3]...
  • Page 59 7 Teaching pendant operation Motor parameters Home parameters Initialize parameters Operating current Return direction Initialize parameters Enter using the numerical keys. Select using [ ][ ]. [F1] [F1] [F1] [F3] [F4] to TST mode to TST mode To TST mode To first screen Home offset Standstill current...
  • Page 60 7 Teaching pendant operation Speed parameters Common parameters Common parameters Starting speed Softlimit Coordinate setting Enter using the numerical keys. Select using [ ][ ]. Select using [ ][ ]. [F1] [F1] [F1] to TST mode to TST mode to TST mode [ESC] to first screen Acceleration rate Upper softlimit...
  • Page 61 7 Teaching pendant operation －61－...
  • Page 62 7 Teaching pendant operation TST mode ● Display or switching in the controller mode ● Display or switching in the driver mode First screen I/O checking Item selection I/O selection [F1] [F2] [F3] [F4] [F1] [F2] [F3] [F4] To positioning To encoder pulse output check operation To output check...
  • Page 63 7 Teaching pendant operation I/O checking Manual operation I/O selection [F1] [F2] [F3] [F4] [F1] [F3] [F4] To encoder pulse output check Execute return-to- home operation To output check To input check Execute preset operation To EXT mode To EXT mode [ESC] to first screen Positioning operation Input check...

  • Page 64: Error Handling

    8 Error handling 8 Error handling If the motorized actuator or controller does not operate correctly during actuator operation, take the appropriate actions by referring to the information provided in this chapter. If normal operation cannot be restored after taking the suggested actions, please call our Technical Support Line. 8.1 Troubleshootings Problem Cause...

  • Page 65: Causes Of Alarms And Actions

    8 Error handling Problem Cause Action The teaching pendant shows the The controller is not Check the connection of the teaching pendant, following screen, and the screen communicating correctly with the and then reconnect the power. turns red. teaching pendant. 8.2 Causes of alarms and actions How to check and reset an alarm Count the number of times the ALARM LED blinks.
  • Page 66 • If no teaching pendant is connected, check if the pendant switch is OFF. The fuse of the teaching pendant • has blown. Please call our Technical Support Line or contact your nearest Oriental Motor branch or sales office. －66－...
  • Page 67 The battery may have reached its has been lost, then alarm useful life. Please call our Technical code 33 “Absolute position Support Line or contact your nearest loss error”, is displayed Oriental Motor branch or sales instead.) office. Absolute position Err33 Position •...
  • Page 68 8 Error handling • No. of ALARM LED blinks: 7 Opera Condition Display Causes Action tion HOME offset Err6A HOME The LS signal was Reset the alarm, and then check the Valid error Offset Error detected during home home offset value. offset operation.

  • Page 69: Teaching Pendant Errors

    8 Error handling • No. of ALARM LED blinks: 9 Opera Condition Display Causes Action tion Subsystem error Err29 Sub System An error occurred during Turn off the power, and then reconnect Invalid Error communication between the power. the main and sub CPUs. Nonvolatile Err41 Memory •...

  • Page 70: Pendant Operation Upon Alarm

    8 Error handling 8.4 Pendant Operation upon alarm If an alarm occurs while the teaching pendant is in use, the corresponding message will be displayed and the screen will turn red. On this alarm screen, you can check the present alarm or alarm history, reset the alarm, or clear the alarm history.
  • Page 72 • Unauthorized reproduction or copying of all or part of this Operating Manual is prohibited. 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.

This manual is also suitable for:

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