Oriental motor AlphaStep AZ Series User Manual
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Oriental motor AlphaStep AZ Series User Manual

Motorized actuator equipped with az series
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AZ Series / Motorized Actuator
equipped with AZ Series
mini Driver
PROFINET Compatible
USER MANUAL
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.
HM-60451
Introduction
Hardware
PROFINET
communication
Parameter ID lists
Troubleshooting
Reference materials

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Table of Contents
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Summary of Contents for Oriental motor AlphaStep AZ Series

  • Page 1 USER MANUAL Troubleshooting Reference materials Thank you for purchasing an Oriental Motor product. This Manual describes product handling procedures and safety precautions. • Please read it thoroughly to ensure safe operation. • Always keep the manual where it is readily available.

  • Page 2: Table Of Contents

    Introduction Before using the product ............................6 Operating manuals ..............................7 Related operating manuals ..................................7 How to use operating manuals................................7 Overview of the product ............................. 9 Safety precautions ..............................10 Precautions for use ..............................12 Hardware System configuration ..............................16 Preparation ..................................17 Checking the product ..................................17 How to identify the product model ...............................
  • Page 3 PROFINET communication Flow of setting of PROFINET communication .......................36 Guidance ..................................37 Communication specifications ..........................39 IO data ..................................40 IO data format ......................................40 Input data ........................................ 41 Output data ......................................46 Processing order of IO data ................................50 Data writing ......................................51 Data reading ......................................
  • Page 4 JOG/HOME/ZHOME operation information setting parameters ..................83 8-10 Alarm setting parameters .................................. 84 8-11 Information setting parameters ..............................84 8-12 I/O parameters ....................................... 86 8-13 Direct I/O setting parameters ................................89 8-14 Remote I/O setting parameters ............................... 89 8-15 Virtual input parameters ..................................90 8-16 User output setting parameters ..............................
  • Page 5 Introduction This part explains the product overview and safety precautions in addition to the types and descriptions about operating manuals.  Table of contents Before using the product ....... 6 Operating manuals ......... 7 2-1 Related operating manuals ......7 2-2 How to use operating manuals ....7 Overview of the product ......

  • Page 6: Before Using The Product

    The product described in this document 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 compensation for damage caused through failure to observe this warning.

  • Page 7: Operating Manuals

    Operating manuals Operating manuals Related operating manuals Download the operating manuals from Oriental Motor Website Download Page or contact your nearest Oriental Motor sales office. • AZ Series / Motorized Actuator equipped with AZ Series mini Driver PROFINET Compatible USER MANUAL (this document) •...
  • Page 8 Operating manuals Installation and connection Before starting operation 2 Hardware 1 Before starting operation *1 Communication settings of PROFINET Setting of parameters 3 PROFINET communication Make the communication settings for the driver using the con guration 4 Parameter ID lists tool of a host controller.

  • Page 9: Overview Of The Product

    The GSD file (General Station Description file) is a file that describes the specific information of the PROFINET compatible products. Importing the GSD file to the Configuration tool of the host controller can perform the settings of PROFINET before the driver is delivered to you. For details, contact your nearest Oriental Motor sales office.

  • Page 10: Safety Precautions

    Safety precautions Safety precautions The precautions described below are intended to ensure the safe and correct use of the product, and to prevent the user and other personnel from exposure to the risk of injury. Use the product only after carefully reading and fully understanding these instructions.
  • Page 11 Safety precautions General • Do not use the driver beyond the specifications. Doing so may result in electric shock, injury, or damage to equipment. • Keep your fingers and objects out of the openings in the driver. Failure to do so may result in fire, electrical shock, or injury.

  • Page 12: Precautions For Use

    Precautions for use This chapter explains restrictions and requirements the user should consider when using the product. z Always use Oriental Motor cables to connect a motor and a driver. Refer to the cable models on p.31. z When conducting the insulation resistance measurement or the dielectric strength test, be sure to separate the connection between the motor and the driver.
  • Page 13 Precautions for use z How to fix the cable Fix the cable at two places near the connectors as shown in the figure or fix it with a wide clamp to take measures to prevent stress from being applied to the connectors. In the case of a exible cable, this area is a movable range.
  • Page 15 Hardware This part explains names and functions of each part of the driver, installation and connection methods, and so  Table of contents System configuration ......16 4-3 Connecting the PROFINET cable (CN3/CN4) ............26 Preparation ..........17 4-4 Connecting the USB cable ......26 2-1 Checking the product ........

  • Page 16: System Configuration

    System configuration System configuration PC in which the MEXE02 Host controller has been installed PROFINET Driver PROFINET PROFINET compatible compatible product product Noise Control Circuit lter power supply *1 AC power supply breaker *2 Noise Main Circuit lter power supply AC power supply breaker *2 Motor...

  • Page 17: Preparation

    This chapter explains the items you should check, as well as names and functions 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 18: Information About Nameplate

    Preparation Information about nameplate The figure shows an example. Driver model Serial number Manufacturing date Names and functions of parts PWR/ALM LED (Green/red/blue) MS LED (Green/red) Input signal connector (CN5) NS LED (Green/red) USB connector Not used L/A LED (Green) Mounting hole Cutout for mounting Power supply connector (CN1)

  • Page 19: Indication Of Leds

    Preparation Indication of LEDs „ PWR/ALM LED indication This LED indicates the status of the driver. LED status Description No light The main power supply and the control power supply are not turned on. Green light The main power supply and/or the control power supply are turned on. An alarm is being generated.
  • Page 20 Preparation „ L/A LED This LED indicates the LINK/ACT status of PROFINET. LED status Description • This is in an offline state. No light • The frame of PROFINET is not sent and received. • This is in an online state. Blinking •...

  • Page 21: Installation

    Installation Installation This chapter explains the installation location and installation method of the driver. Installation location The driver is designed and manufactured to be incorporated in equipment. Install it in a well-ventilated location that provides easy access for inspection. The location must also satisfy the following conditions: •...
  • Page 22 Installation „ Dimensions [Unit: mm (in.)] Mass: 0.11 kg (0.24 lb.) 69 (2.72) 4 (0.16) 61 (2.4) 30 (1.18) 2 (0.08)

  • Page 23: Connection

    *3 Motor Connect to CN1 *1 It is an Oriental motor cable. Purchase is required separately. *2 Connecting the control power supply allows you to continue monitoring even if the main power supply is shut off. Connect it as necessary.

  • Page 24: Connecting The Main Power Supply And The Control Power Supply (Cn1)

    Connection Connecting the main power supply and the control power supply (CN1) Connect a main power supply to the CN1 connector. Connecting the control power supply allows you to continue monitoring even if the main power supply is shut off. Connect it as necessary.
  • Page 25 Connection „ Internal input circuit The driver can be used with the main power supply and control power supply, or with the main power supply only. When using only the main power supply, the power is supplied from the main power supply to the control power supply circuit inside the driver.

  • Page 26: Connecting The Profinet Cable (Cn3/Cn4)

    Connection Connecting the PROFINET cable (CN3/CN4) Connect the PROFINET cable to the PROFINET connector (CN3, CN4). „ Pin assignment Signal name Description Transmitted data + Transmitted data − Received data + N.C. N.C. N.C. − N.C. − N.C. N.C. Received data − N.C.

  • Page 27: Noise Elimination Measures

    • When relays or electromagnetic switches are used, use noise filters or CR circuits to suppress surge generated by them. • Use an Oriental Motor connection cable when extending the wiring distance between the motor and the driver. Refer to p.31 for the model name. This is effective in suppressing the electrical noise emitted from the motor.

  • Page 28: Conformity To Emc

    The use of the following installation and wiring methods will enable the motor and driver to be compliant with EMC. Oriental Motor conducts EMC testing on its motors and drivers in accordance with “Example of installation and wiring” on p.29 The user is responsible for ensuring the machine’s compliance with EMC, based on the installation and wiring explained below.
  • Page 29 *1 The driver is grounded by making the heat sink contact directly with the grounded panel. *2 An Oriental Motor cable is used. • The driver uses components that are sensitive to static electricity. Take measures against static electricity since static electricity may cause the driver to malfunction or suffer damage.

  • Page 30: Inspection And Maintenance

    Inspection It is recommended that periodic inspections are conducted for the items listed below after each operation of the motor. If an abnormality is found, discontinue any use and contact your nearest Oriental Motor sales office. „ Inspection item • Check if the openings in the driver are clogged.

  • Page 31: Cables

    Cables Cables Connection cables „ Connection cables/Flexible connection cables (For AZM14, AZM15, AZM24, AZM26) These cables are used when connecting a motor and a driver. Connection cable When installing the motor on a moving part, use a flexible cable. z Connection cables z Flexible connection cables For motor/encoder For motor/encoder...
  • Page 32 Cables „ Connection cables/Flexible connection cables (For AZM46, AZM48, AZM66, AZM69) These cables are used when connecting a motor and a driver. The figure shows an example when the electromagnetic brake motor is used. Connection cable When installing the motor on a moving part, use a flexible cable. z Connection cables For motor/encoder For motor/encoder/electromagnetic brake...

  • Page 33: Power Supply Cable

    Cables „ Extension cables/Flexible extension cables These cables are used when extending a connection cable (add between the driver and connection cable). Use if the length of the connection cable used is not enough when extending the distance between a motor and a driver.
  • Page 35 PROFINET communication This part explains how to control via PROFINET.  Table of contents Flow of setting of PROFINET communication ........36 Guidance ..........37 Communication specifications ... 39 IO data ............. 40 4-1 IO data format ..........40 4-2 Input data ............41 4-3 Output data ............

  • Page 36: Profinet Communication

    Flow of setting of PROFINET communication Flow of setting of PROFINET communication The contents of are explained in this manual. Refer to the AZ Series OPERATING MANUAL Function Edition for the contents of is the title name described in the reference destination. The title number described in the reference destination may be changed.

  • Page 37: Guidance

    • Before operating the motor, check the surrounding conditions to ensure safety. • Before starting based on the guidance, import the GSD file to the setting tool of the host controller and register the system configuration in advance. For details, contact your nearest Oriental Motor sales office.
  • Page 38 Guidance STEP 2 Make preparations for operation. Refer to “Before starting operation” in the AZ Series OPERATING MANUAL Function Edition. STEP 3 Make communication settings of PROFINET for the driver. Communication settings of PROFINET are made using the Configuration tool of a host controller. Make the communication settings such as device names and IP addresses using the Configuration tool.

  • Page 39: Communication Specifications

    Communication specifications Communication specifications Communications standards PROFINET IO Version 2.4 Vendor ID 0x33E: ORIENTAL MOTOR Transmission rate 100 Mbps (autonegotiation) Communication mode Full duplex (autonegotiation) Shielded twisted pair (STP) cable Cable specifications straight-through/crossover cable, category 5e or higher is recommended Communication connector RJ45×2 (shielded)

  • Page 40: Io Data

    IO data IO data IO data format This section shows transfer contents of IO data. The order of data is in big-endian format. Byte Input (driver → host controller) Output (host controller → driver) 0, 1 Remote I/O (R-OUT) Remote I/O (R-IN) 2, 3 Operation data number selection_R Operation data number selection...

  • Page 41: Input Data

    IO data Input data Data transferred from the driver to the host controller is called Input data. „ Input data format Contents of the Input data are as follows. The order of data is in big-endian format. Byte Size (byte) Description 0, 1 Remote I/O (R-OUT)
  • Page 42 IO data „ Details of Input data z Remote I/O (R-OUT) This is the I/O accessed via PROFINET. The assignments of signals can be changed using the “R-OUT output function” parameters. Byte Name Description Initial assignment R-OUT0 64: M0_R R-OUT1 65: M1_R R-OUT2 66: M2_R...
  • Page 43 IO data z Fixed I/O (OUT) This is the I/O accessed via PROFINET. Assignments of signals cannot be changed. Byte Name Description SEQ-BSY Output while stored data operation is performed. MOVE Output while the motor operates. IN-POS Output when positioning operation is completed. START_R Output in response to an input signal.
  • Page 44 IO data z Command position Byte Name Description 0 to 7 The present command position is indicated. [step] 8 to 15 Command position When the wrap function is enabled, the value on the wrap 16 to 23 coordinates is indicated. 24 to 31 z Torque monitor Byte...
  • Page 45 IO data z Write parameter ID_R Byte Name Description 0 to 7 Write parameter ID_R A response of the write parameter ID is indicated. 8 to 15 z Read data Byte Name Description 0 to 7 8 to 15 Read data The value of the parameter shown in the parameter ID_R is indicated.

  • Page 46: Output Data

    IO data Output data Data transferred from the host controller to the driver is called Output data. „ Output data format Contents of the Output data are as follows. The order of data is in big-endian format. Byte Size (byte) Description 0, 1 Remote I/O (R-IN)
  • Page 47 IO data „ Details of Output data z Remote I/O (R-IN) This is the I/O accessed via PROFINET. The assignments of signals can be changed using the “R-IN input function” parameters. Byte Name Description Initial assignment R-IN0 R-IN1 R-IN2 R-IN3 R-IN4 R-IN5 R-IN6...
  • Page 48 IO data z Fixed I/O (IN) This is the I/O accessed via PROFINET. Assignments of signals cannot be changed. Byte Name Description Initial value FW-JOG This is used to execute JOG operation in the forward direction. RV-JOG This is used to execute JOG operation in the reverse direction. Reserved A value is disregarded.
  • Page 49 IO data z Direct data operation position Byte Name Description Initial value 0 to 7 This is used to set the target position for 8 to 15 direct data operation. Direct data operation position [Setting range] 16 to 23 −2,147,483,648 to 2,147,483,647 steps 24 to 31 z Direct data operation operating speed Byte...

  • Page 50: Processing Order Of Io Data

    IO data z Write request Byte Name Description Initial value This is used to set the write request. [Setting range] WR-REQ 0: Disable (OFF) 1: Write request (ON edge) 1 to 7 Reserved A value is disregarded. 8 to 15 Reserved A value is disregarded.

  • Page 51: Data Writing

    IO data Data writing This section explains the flow that data is written from the host controller to the driver. „ Area of IO data used Input (driver → host controller) Output (host controller → driver) Byte Description Byte Description 32, 33 Read/write status 32, 33...

  • Page 52: Data Reading

    IO data Data reading This section explains the flow that data is read from the driver to the host controller. There are the following two methods to read data. • Use an area of “Read data” • Use an area of “Assignable monitor” „...
  • Page 53 IO data „ When an area of assignable monitor is used z Area of IO data used Input (driver → host controller) Byte Description 40 to 55 Assignable monitor 0 to assignable monitor 3 z Flow that data is read from Host controller Driver Sets the “Assignable monitor address”...

  • Page 54: Example Of Execution For Operation

    Example of execution for operation Example of execution for operation This chapter describes operations that operation data is set using the write data area. The method to execute operation is common to fixed I/O and remote I/O. Before operating the motor, check the condition of the surrounding area to ensure safety. Positioning operation As an example, this section explains how to execute the following positioning operation.

  • Page 55: Continuous Operation

    Example of execution for operation Continuous operation As an example, this section explains how to execute the following continuous operation. z Setting example • Operation data number: 0 Speed • Rotation direction: Forward direction • Other settings: Initial values Time FW-POS z Operation processing flow Descriptions are given using the host controller as the subject.

  • Page 56: Direct Data Operation

    Direct data operation Direct data operation Overview of direct data operation Direct data operation is a mode that allows start of operation at the same time as rewriting of data. It is suitable to frequently change operation data such as the position (travel amount) and operating speed or to fine-tune the position.

  • Page 57: Output Data And Parameters Required For Direct Data Operation

    Direct data operation „ Application example 2 of direct data operation The operating speed should be changed immediately with the touch screen because a large load is inspected at a lower speed. z Setting example • Operating speed: Change as desired •...
  • Page 58 Direct data operation Byte Name Description Initial value This is used to set the starting/changing rate or the starting/ changing time for direct data operation. Direct data operation 16 to 19 1,000,000 [Setting range] starting/changing rate 1 to 1,000,000,000 (1=0.001 kHz/s, 1=0.001 s, or 1=0.001 ms/kHz) This is used to set the stopping deceleration rate or the stop time for direct data operation.
  • Page 59 Direct data operation „ Forwarding destination During direct data operation, the stored area when the next direct data is transferred can be selected. z When the forwarding destination is set to “0: Execution memory” If the TRIG is turned from OFF to ON or the data corresponding to the trigger is changed, the data during operation can be rewritten to the next direct data.

  • Page 60: Operation Example

    Direct data operation Operation example A condition to execute direct data operation can be selected from the ON edge or ON level of TRIG of fixed I/O (IN). A condition can be selected with the TRIG-MODE of fixed I/O (IN). Before operating the motor, check the condition of the surrounding area to ensure safety.
  • Page 61 Direct data operation „ When direct data operation is executed at ON level of TRIG This section explains how to execute the following direct data operation with setting the trigger to “Position. ” Set the trigger with the “Direct data operation trigger setting” parameter. z Setting example •...
  • Page 62 Direct data operation 6. Check the operation 1 is completed, and set the following data. Direct data operation of the operation 2 is started. • Output (host controller → driver) Byte Description Setting value Note 8 to 11 Direct data operation position 3,000 3,000 steps •...
  • Page 63 Parameter ID lists This part describes the parameter ID lists to be set via PROFINET. Data and parameters described here can also be set using the MEXE02 software.  Table of contents Timing for parameter to update ..64 8-3 Coordinate parameters ......... 81 8-4 Operation parameters ........

  • Page 64: Timing For Parameter To Update

    Timing for parameter to update Timing for parameter to update All data used with the driver is 32 bits wide. Parameters are saved in the RAM or non-volatile memory of the driver. Parameters stored in the RAM are erased once the main power supply and control power supply are shut off, however, those stored in the non-volatile memory are retained even if these power supplies are shut off.

  • Page 65: Maintenance Commands

    Maintenance commands Maintenance commands Maintenance commands are used to execute the alarm reset, clear latch information, batch processing of the non- volatile memory and others. Refer to the AZ Series OPERATING MANUAL Function Edition for details about parameters. When checking the AZ Series OPERATING MANUAL Function Edition, use the parameter name instead of the parameter ID.
  • Page 66 Maintenance commands Even if monitor is executed while Configuration is being executed, the correct monitor value may not return.

  • Page 67: Monitor Commands

    Monitor commands Monitor commands Monitor commands are used to monitor the command position, the command speed, the alarm history, and the information history, etc. All commands are used for read (READ). Refer to the AZ Series OPERATING MANUAL Function Edition for details about parameters. When checking the AZ Series OPERATING MANUAL Function Edition, use the parameter name instead of the parameter ID.
  • Page 68 Monitor commands Parameter ID Name 007Fh Tripmeter (1=0.1 kRev) 0080h Sequence history 1 0081h Sequence history 2 0082h Sequence history 3 0083h Sequence history 4 0084h Sequence history 5 0085h Sequence history 6 0086h Sequence history 7 0087h Sequence history 8 0088h Sequence history 9 0089h...
  • Page 69 Monitor commands Parameter ID Name 1291 050Bh Alarm history details (Elapsed time from starting operation) [ms] 1292 050Ch Alarm history details (Main power supply time) [min] 1296 0510h Information history 1 1297 0511h Information history 2 1298 0512h Information history 3 1299 0513h Information history 4...
  • Page 70 Monitor commands Parameter ID Name 1489 05D1h Latch monitor command position (I/O event − High event) 1490 05D2h Latch monitor feedback position (I/O event − High event) 1491 05D3h Latch monitor target position (I/O event − High event) 1492 05D4h Latch monitor operation number (I/O event −...
  • Page 71 Monitor commands Parameter ID Description Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 (00BAh) Bit 15 Bit 14 Bit 13 Bit 12...
  • Page 72 Monitor commands Parameter ID Description Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 INFO- INFO- INFO-RBT INFO-CFG − − − − IOTEST DSLMTD Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16...

  • Page 73: Operation Data R/W Commands

    Operation data R/W commands Operation data R/W commands This is a method in which the parameter ID (base address) of the base operation data number is specified to input data. Refer to “4-3 Setting example” on p.76 for how to use the base address. Base address of each operation data number Base address Base address...
  • Page 74 Operation data R/W commands Base address Base address Base address Operation Operation Operation data data data 6816 1AA0h No. 117 8320 2080h No. 164 9824 2660h No. 211 6848 1AC0h No. 118 8352 20A0h No. 165 9856 2680h No. 212 6880 1AE0h No.

  • Page 75: Parameter Id

    Operation data R/W commands Parameter ID The setting item of operation data is set with the operation data R/W command. The parameter ID for the setting item is arranged based on the base address of the operation data number. (Base address p.73) For example, in the case of the setting item "Position,"...

  • Page 76: Setting Example

    Operation data R/W commands Setting example As an example, this section explains how to set the following operation data to the operation data No. 0 to No. 2. Setting item Operation data No. 0 Operation data No. 1 Operation data No. 2 Absolute Incremental positioning Incremental positioning...

  • Page 77: Operation I/O Event R/W Commands

    Operation I/O event R/W commands Operation I/O event R/W commands If a specified event (ON/OFF of I/O) is generated during operation of the motor, another operation can be started. This is called operation I/O event. This chapter explains the address to execute the operation I/O event. Base address of operation I/O event Base address Base address...

  • Page 78: Protect Release Commands

    Protect release commands Protect release commands The key codes to read/write the data from/to the backup area and those to release the function limitation by the HMI input are set. Refer to the AZ Series OPERATING MANUAL Function Edition for details about parameters. When checking the AZ Series OPERATING MANUAL Function Edition, use the parameter name instead of the parameter ID.

  • Page 79: Extended Operation Data Setting R/W Command

    Extended operation data setting R/W command Extended operation data setting R/W command Parameters for extended operation data setting can be set. Refer to the AZ Series OPERATING MANUAL Function Edition for details about parameters. When checking the AZ Series OPERATING MANUAL Function Edition, use the parameter name instead of the parameter ID. Parameter ID Name Setting range...

  • Page 80: Parameter R/W Commands

    Parameter R/W commands Parameter R/W commands These commands are used to write or read parameters. Refer to the AZ Series OPERATING MANUAL Function Edition for details about parameters. When checking the AZ Series OPERATING MANUAL Function Edition, use the parameter name instead of the parameter ID. Driver action simulation setting parameter Parameter ID Initial...

  • Page 81: Coordinate Parameters

    Parameter R/W commands * It is used to set the voltage mode of the main power supply. The voltage mode of the main power supply is discriminated in 50 ms after the main power supply is turned on. Set the “Main power mode” parameter to "0: 24 VDC"...

  • Page 82: Abzo Sensor Setting Parameters

    Parameter R/W commands ABZO sensor setting parameters Parameter ID Name Setting range Initial value Update 0: Prioritize ABZO setting 2032 07F0h Mechanism settings 1: Manual setting Initial coordinate generation & wrap 0: Prioritize ABZO setting 2034 07F2h coordinate setting 1: Manual setting 0: Follow ABZO setting 2035 07F3h...

  • Page 83: Jog/Home/Zhome Operation Information Setting Parameters

    Parameter R/W commands z Value that can be set in the "Initial coordinate generation & wrap setting range" parameter Since the internal coordinate of the ABZO sensor is 1,800 revolutions (or 900 revolutions), select a value from the table to set in the “Initial coordinate generation & wrap setting range” parameter. In the table, the values which are surrounded with thick box border cannot be set for the ABZO sensor of 900 revolutions.

  • Page 84: Alarm Setting Parameters

    Parameter R/W commands Parameter ID Name Setting range Initial value Update −2,147,483,647 to 2,147,483,647 0168h (HOME) Position offset steps (HOME) Backward steps in 2 sensor 0169h 0 to 8,388,607 steps home-seeking (HOME) Operating amount in uni- 016Ah 0 to 8,388,607 steps directional home-seeking (HOME) Operating current for push- 016Bh...
  • Page 85 Parameter R/W commands Parameter ID Name Setting range Initial value Update Cumulative load 1 information 01B2h 0 to 2,147,483,647 (INFO-CULD1) 0: Disable 01B3h Cumulative load value auto clear 1: Enable 01B4h Cumulative load value count divisor 1 to 32,767 128: 01BCh INFO-USRIO output selection Output signals list...

  • Page 86: I/O Parameters

    Parameter R/W commands Parameter ID Name Setting range Initial value Update INFO action (Odometer information 1973 07B5h (INFO-ODO)) INFO action (Start operation 1980 07BCh restricted mode information 0: No info reflect (INFO-DSLMTD)) (Only the bit output is ON.) INFO action (I/O test mode 1: Info reflect 1981 07BDh...
  • Page 87 Parameter R/W commands Parameter ID Initial Name Setting range Update value 1810 0712h JOG-C time from JOG to JOG-H 1 to 5,000 (1=0.001 s) 1,000 0: Feedback speed attainment (speed at feedback position) 1: Speed at command position 1816 0718h VA mode selection (only internal profile) 2: Speed at feedback position &...
  • Page 88 Parameter R/W commands Parameter ID Initial Name Setting range Update value 1880 0758h AREA0 positioning standard 1881 0759h AREA1 positioning standard 1882 075Ah AREA2 positioning standard 1883 075Bh AREA3 positioning standard 0: Based on feedback position 1: Based on command position 1884 075Ch AREA4 positioning standard...

  • Page 89: Direct I/O Setting Parameters

    Parameter R/W commands 8-13 Direct I/O setting parameters Parameter ID Name Setting range Initial value Update 2112 0840h DIN0 input function 5: STOP Input signals list p.92 2113 0841h DIN1 input function 1: FREE 2128 0850h DIN0 inverting mode 0: Not invert 1: Invert 2129 0851h...

  • Page 90: Virtual Input Parameters

    Parameter R/W commands Parameter ID Name Setting range Initial value Update 2333 091Dh R-OUT13 output function 134: MOVE 2334 091Eh R-OUT14 output function Output signals list p.93 138: IN-POS 2335 091Fh R-OUT15 output function 140: TLC 2352 0930h R-OUT0 OFF delay time 2353 0931h R-OUT1 OFF delay time...

  • Page 91: User Output Setting Parameters

    Parameter R/W commands 8-16 User output setting parameters Parameter ID Name Setting range Initial value Update 2400 0960h User output (USR-OUT0) source A function Output signals list 128: CONST-OFF p.93 2401 0961h User output (USR-OUT1) source A function 2402 0962h User output (USR-OUT0) source A inverting mode 0: Not invert 1: Invert...

  • Page 92: I/O Signals Assignment List

    I/O signals assignment list I/O signals assignment list To assign signals via industrial network, use the "assignment numbers" in the table instead of the signal names. Input signals Assignment Assignment Assignment Signal name Signal name Signal name number number number Not used NEXT FREE...

  • Page 93: Output Signals

    I/O signals assignment list Output signals Assignment Assignment Assignment Signal name Signal name Signal name number number number Not used FW-POS_R ABSPEN FREE_R RV-POS_R ELPRST-MON C-ON_R FW-SPD_R PRST-DIS CLR_R RV-SPD_R PRST-STLD STOP-COFF_R FW-PSH_R ORGN-STLD STOP_R RV-PSH_R RND-OVF PAUSE_R M0_R FW-SLS BREAK-ATSQ_R M1_R RV-SLS...
  • Page 94 I/O signals assignment list Assignment Assignment Signal name Signal name number number D-END1 INFO-START D-END2 INFO-ZHOME D-END3 INFO-PR-REQ D-END4 INFO-EGR-E D-END5 INFO-RND-E D-END6 INFO-FW-OT D-END7 INFO-RV-OT INFO-USRIO INFO-CULD0 INFO-POSERR INFO-CULD1 INFO-DRVTMP INFO-TRIP INFO-MTRTMP INFO-ODO INFO-OVOLT INFO-DSLMTD INFO-UVOLT INFO-IOTEST INFO-OLTIME INFO-CFG INFO-SPD INFO-RBT...
  • Page 95 Troubleshooting This part explains alarm and information functions.  Table of contents Detection of communication errors .. 96 1-1 Communication timeout ......96 1-2 Error of communication settings ....96 Alarms ............97 2-1 Alarm reset ............97 2-2 Alarm history ............ 97 2-3 Generation condition of alarms ....

  • Page 96: Detection Of Communication Errors

    Detection of communication errors Detection of communication errors This chapter explains functions to detect that an error occurred in PROFINET. Communication timeout If communication is interrupted due to disconnection of the PROFINET cable or other reasons, the communication timeout is detected. When the communication timeout is detected, the NS LED on the driver blinks in red.

  • Page 97: Alarms

    Alarms Alarms This driver has the alarm function to protect from temperature rise, poor connection, error in operation, and the like. If an alarm is generated, the ALM-A output is turned ON and the ALM-B output is turned OFF to stop the motor. At the same time, the PWR/ALM LED blinks in red.

  • Page 98: Alarm List

    If the alarm is control power still not reset, the motor, the supply again cable, or the driver may be damaged. Contact your nearest Oriental Motor sales office. The internal temperature of the Main circuit Reconsider the ventilation Any of reset...
  • Page 99 If the alarm has still not reset, the driver may be damaged. Contact your nearest Oriental Motor sales office. Turn off the main power supply and the control power Turn on the ABZO sensor...
  • Page 100 Execute either of the following operations. If the same alarm is still generated, the ABZO sensor has been damaged. Contact your Turn on the nearest Oriental Motor sales main power Encoder EEPROM The data stored in the ABZO Non- office.
  • Page 101 Alarms Number of Alarm Motor times LED Alarm type Cause Remedial action How to reset code excitation * blinks The HOMES input was not detected at a position between Install the HOME sensor at a the FW-LS input and the RV-LS Any of reset No HOMES position between the FW-LS...
  • Page 102 Alarms Number of Alarm Motor times LED Alarm type Cause Remedial action How to reset code excitation * blinks The control power supply was Set the "Initial coordinate turned on in a state where a Turn on the generation & wrap setting value of the resolution and that main power range”...

  • Page 103: Timing Chart

    Alarms Timing chart „ When the motor remains in an excitation state even if an alarm is generated 1. If an error occurs, the ALM-B output and the MOVE output are turned OFF. At the same time, the motor stops immediately. 2.
  • Page 104 Alarms „ When the motor puts into a non-excitation state if an alarm is generated 1. If an error occurs, the ALM-B output and the MOVE output are turned OFF. At the same time, the motor stops immediately. 2. When resetting the alarm, turn the operation command OFF, If the alarm is reset while the operation command is in an ON state, the motor may start suddenly, causing injury or damage to equipment.

  • Page 105: Information

    Information Information The driver is equipped with a function to generate information output before an alarm is generated. This function can be utilized for periodic maintenance of equipment by setting a suitable value in the parameter of each information. For example, utilizing the “Motor temperature information” parameter can prevent equipment malfunction or production stoppage due to motor overheat.
  • Page 106 Information Parameter ID Parameter name Description Initial value Sets the condition in which the undervoltage information (INFO-UVOLT) is generated. Undervoltage information (INFO- 01ACh UVOLT) [Setting range] 140 to 630 (1=0.1 V) Sets the condition in which the tripmeter information (INFO-TRIP) is generated. 01AFh Tripmeter information (INFO-TRIP) [Setting range]...
  • Page 107 Information Parameter ID Parameter name Description Initial value INFO action (Assigned I/O status 1952 07A0h information (INFO-USRIO)) INFO action (Position deviation 1953 07A1h information (INFO-POSERR)) INFO action (Driver temperature 1954 07A2h information (INFO-DRVTMP)) INFO action (Motor temperature 1955 07A3h information (INFO-MTRTMP)) INFO action (Overvoltage 1956 07A4h...

  • Page 108: Information History

    Information Information history Up to 16 generated information items are stored in the RAM in order of the latest to the oldest. Information items stored as the information history are the information code, generation time, and contents of information. The information history stored in the RAM can be read or cleared if one of the following is performed. •...
  • Page 109 Information Information bit Information item Cause Reset condition output signal • The operation start signal in the direction having been stopped by the FW-BLK input or RV-BLK input was turned ON. • The operation start signal in the direction having been stopped by the FW-LS input or RV-LS input was turned ON.
  • Page 110 Information Information bit Information item Cause Reset condition output signal After the following operation was performed, the cumulative travel distance (Odometer) of the motor The cumulative travel distance of the motor fell below the value set in the Odometer INFO-ODO exceeded the value set in the "Odometer "Odometer information”...

  • Page 111: Troubleshooting And Remedial Actions

    In motor operation, the motor or the driver may not operate properly due to an improper setting or wrong connection. When the motor operation cannot be performed properly, refer to the contents provided in this chapter and take an appropriate remedial action. If the problem persists, contact your nearest Oriental Motor sales office. Phenomenon Possible cause Remedial action Connection error of the motor •...
  • Page 112 Troubleshooting and remedial actions Phenomenon Possible cause Remedial action Lower the current with the "Base current" parameter. If The load is small. the motor output torque is too large with respect to a load, vibration will increase. The “Main power mode” parameter Check the setting of the "Main power mode"...
  • Page 113 Reference materials  Table of contents Timing chart .........114 Specifications ........116 2-1 Product specifications .........116 2-2 General specifications .........116 Regulations and standards ....117...

  • Page 114: Timing Chart

    Timing chart Timing chart „ Power activation z When a control power supply is used 10 s or more Control power supply 2 s or less 1 s or less SYS-RDY (ready to read output, Ready ready to accept input) Not ready 4 s or less 1 s or less...
  • Page 115 Timing chart z When a control power supply is not used 10 s or more Main power supply 2 s or less 1 s or less SYS-RDY (ready to read output, Ready ready to accept input) Not ready 4 s or less 1 s or less PROFINET communication Completed...

  • Page 116: Specifications

    Specifications Specifications Product specifications 24 VDC±5 % Rated voltage 48 VDC±5 % Main power supply Input current 0.4 to 3.7 A *1 24 VDC input: 20 to 32 VDC (22.8 to 32 VDC) *2 Allowable operating voltage 48 VDC input: 40 to 55 VDC 24 VDC±5 % Rated voltage 48 VDC±5 %...

  • Page 117: Regulations And Standards

    Regulations and standards Regulations and standards „ UL Standards, CSA Standards This product is recognized by UL under the UL and CSA Standards. Check the“ APPENDIX UL Standards for AZ Series” for recognition information about UL Standards. „ CE Marking / UKCA Marking This product is affixed with the marks under the following directives/regulations.
  • Page 120 If a new copy is required to replace an original manual that has been damaged or lost, please contact your nearest Oriental Motor 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.

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