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CKD AX Series Instruction Manual

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INSTRUCTION MANUAL
ABSODEX
AX SERIES
H TYPE
GH TYPE
Before operating the product, read
this instruction manual without fail.
Among all, carefully read the
description related to safety.
Keep this instruction manual in a safe
place so that you can read it at any
time when necessary.
Ver. 16
CKD Corporation
SMB-14E

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  • Page 1 Discontinue SMB-14E INSTRUCTION MANUAL ABSODEX AX SERIES H TYPE GH TYPE Before operating the product, read this instruction manual without fail. Among all, carefully read the description related to safety. Keep this instruction manual in a safe place so that you can read it at any time when necessary.
  • Page 2 Discontinue For safety operation of product ！ Read before starting operation. When designing or manufacturing equipment incorporating ABSODEX, check that the mechanism of the equipment and the electric control for controlling the mechanism assure the safety of the system, to manufacture safe equipment. To operate our product safely, selection, operation and handling of the product as well as adequate maintenance procedures are important.
  • Page 3 Discontinue DO NOT TOUCH the terminal strip in the front panel of DANGER: the driver, as it is charged with high voltage, when power is ON. Also do not touch the terminal for about 5 minutes after power is turned off until the internal condenser discharges high voltage.
  • Page 4 The product is supplied for use by the persons who have CAUTION: proper expertise in electrical or mechanical engineering. CKD will not be liable for bodily injuries or accident caused by the use by the people who has no or little knowledge in electrical and mechanical fields, and by the people who is not thoroughly trained for using ABSODEX.
  • Page 5 Discontinue Terms of warranty The warranty period and the scope of warranty are described below. 1) Period The warranty period of the product is one year since the date of delivery. (However, the period assumes eight hours of operation per day. As well, if the durability limit is reached within one year, the period to the durability limit is the warranty period.) Durability 10,000,000 cycles of operation for brake, piston packing and valve of ABSODEX equipped...

  • Page 6: Table Of Contents

    Discontinue CONTENTS ABSODEX AX SERIES [H TYPE/GH TYPE] INSTRUCTION MANUAL No. SMB-14E INTRODUCTION, COMPATIBILITY ............1 UNPACKING Product Model................ 1-1 Product Configuration ............1-1 Consistency of Serial Number..........1-2 INSTALLATION Actuator Installation Method........... 2-1 Installation Site of Actuator............. 2-6 Operating Conditions ............. 2-7 Driver Installation ..............
  • Page 7 Discontinue PROGRAM General Description ..............6-1 Operation Mode ..............6-3 NC Program Format ...............6-4 NC Code List ................6-7 ABSODEX Status at Power-on Start........6-15 NC Program Example............6-17 PARAMETER SETTING Parameters and Contents............7-1 Parameter Setting and References........7-10 Types and Characteristics of Cam Curve ......7-11 Amount of Home Position Offset and Home Positioning Motion ....................7-14 Precautions for Software Limit ..........7-15...
  • Page 8 Discontinue 12. COMMUNICATION FUNCTIONS Communication Codes............12-1 Communication Code List ............ 12-3 Changing the Baud Rate............12-8 Communication Methods ........... 12-10 13. SUPPORT FOR EUROPEAN STANDARD Models Certified to European Standards......13-1 Applicable Standards ............13-2 Precautions on Operation in Europe (EU member country) . 13-3 Installation Method ...............
  • Page 9 Discontinue —- MEMO —- [SMB-14E] — viii —...

  • Page 10: Introduction Compatibility

    ABSODEX is a direct drive indexing unit developed to drive intermittently operated turntables or the like of general industrial assembling machines and testing machines flexibly and accurately. This instruction manual is exclusively for ABSODEX AX Series H type driver and GH type driver. It is inapplicable to other types.
  • Page 11 Discontinue INTRODUCTION COMPATIBILITY —- MEMO —- [SMB-14E] — 2 —...

  • Page 12: Unpacking

    Discontinue １ UNPACKING １. UNPACKING Product Model Check that the delivered product is what you have ordered. Product Configuration This product consists of the items specified in the table below. Check that all items are delivered when unpacking for the first time. Table 1.1 Product Configuration Product Description Quantity...

  • Page 13: Consistency Of Serial Number

    Discontinue １ UNPACKING Consistency of Serial Number After unpacking, check that the serial number is uniform among the actuator, driver and cable. The serial number label as shown below is put on the actuator unit and on the front panel of the driver. Ｃ...

  • Page 14: Installation

    Discontinue INSTALLATION ２． INSTALLATION Actuator Installation Method (1) The machine for which ABSODEX is installed should have the maximum rigidity, so that ABSODEX will perform as designed. This rigidity requirement bases on that relatively low number of mechanical natural frequency (approximately 200 to 300Hz) of a load machine, and deck will cause ABSODEX to resonate with the machine and its deck.
  • Page 15 Discontinue INSTALLATION (2) When ABSODEX can not be directly mounted on a machine, it should be mounted on the deck of high rigidity. Good Fig. 2.2 Actuator Installation Method [SMB-14E] — 2-2 —...
  • Page 16 Discontinue INSTALLATION (3) Anti-vibration Using Dummy Inertia Plate When sufficient rigidity is not available for a machine, a dummy inertia plate at the nearest position to the actuator will help reduce resonance with the machine. The following explains the installation of a dummy inertia plate. The diameter of the extension shaft should be Ø60mm or over for models with 45N-m or larger maximum output torques, Ø90mm or over for 70 to 300N-m models, or Ø150mm or over for 500N-m models.
  • Page 17 Discontinue INSTALLATION Before Dummy Inertia Installation After Dummy Inertia Installation Spline Dummy inertia ャ Fig. 2.5 Dummy Inertia Installation 3 Dummy inertia plate shall be as large as possible within the capacity of the actuator. [SMB-14E] — 2-4 —...
  • Page 18 Discontinue INSTALLATION (4) The actuator can be installed horizontally (on the floor or on the ceiling) or vertically. Good Good Fig. 2.6 Direction of Installation of Actuator Servo off including emergency stop and alarm, and WARNING: brake release with rotational force is applied e.g. by gravity may cause the actuator to rotate.

  • Page 19: Installation Site Of Actuator

    Discontinue INSTALLATION Installation Site of Actuator (1) Use the actuator indoors at a place free from corrosive or explosive gases. (2) Use in the environment of ambient temperatures between 0 and 45°C. For details, refer to Chapter 14. "ACTUATOR SPECIFICATIONS." No waterproof treatment is made to the actuator CAUTION: (except for AX8000 Series) and drivers.

  • Page 20: Operating Conditions

    Discontinue INSTALLATION Operating Conditions (1) The allowable moment load and allowable axial load of the actuator vary according to the Series and size of the actuator. Check these particulars of your operating environment. For the allowable load, refer to Chapter 14. "ACTUATOR SPECIFICATIONS." Excessive eccentric loads and excessive loads will CAUTION: cause permanent deformation of the rotor or bearing...

  • Page 21: Driver Installation

    Discontinue INSTALLATION Driver Installation (1) When the ABSODEX driver is to be housed in a control box, the arrangement should be made so that the temperature inside the box does not exceed 50°C with the space around the driver as shown in Fig. 2.7. The ABSODEX driver is not designed for dust-tight and water-proof construction.

  • Page 22: About Cable

    Discontinue INSTALLATION About Cable (1) Use the attached cable without fail for the wiring between the actuator and driver. Avoid excessive forces or scratches on wiring in the installed state. (2) The length and type of the cable cannot be changed after shipment. Do not change, or deterioration or malfunction will be caused.

  • Page 23: About Brake

    Discontinue INSTALLATION About Brake (1) About Built-in Pneumatic Brake ➀ The AX5000 and AX8000 series with built-in brake are provided with air clamp type brake and a built-in air valve. Braking requires supply of clean compressed air to the supply connector at the pressure of 0.5MPa. (Do not supply the pressure exceeding 0.7MPa.) The air valve requires power supply of 24V DC±10% to CN3.
  • Page 24 Discontinue INSTALLATION ➂ The built-in air brake requires a response time between about 100 and 150msec. (Refer to Tables 14.6 and 14.7.) Moving time to arrive at the target position requires 50 to 200 msec for settling in addition to the time in the program. For study of machine timing, these time element should be considered as well.
  • Page 25 Discontinue INSTALLATION (2) Use of Optional Electromagnetic Brake ➀ The optional electromagnetic brake of AX4000 Series requires a response time between about 150 and 250msec. (Refer to Table 14.6.) The traveling time requires a settling time between 50 and 200msec for settling at the target position in addition to the programmed traveling time.

  • Page 26: System Configuration And Wiring 1) System Configuration

    Discontinue SYSTEM CONFIGURATION AND WIRING 3. SYSTEM CONFIGURATION AND WIRING 1) System Configuration BASIC SETTING ITEMS ➀ NC programs are input at a PC or dialog terminal. ➁ Required parameters are input in the same way. ➂ Gain is adequately set. BASIC DRIVE METHODS ➃...
  • Page 27 Discontinue SYSTEM CONFIGURATION AND WIRING Do not connect the dialog terminal unless for programming, parameter entry or test operation. For 6m or a longer cable length, install a motor cable noise filter in the U, V and W cables of the motor.
  • Page 28 Part name: Teaching Note Windows Version (For Windows 95, 98, NT 3.51, 4.0, ME, 2000 and XP) Note: The software may not run in some environments. Manufacturer: CKD Corporation ➂ Serial Transmission Slave Unit Table 3.2 Serial Transmission Slave Unit...
  • Page 29 Discontinue SYSTEM CONFIGURATION AND WIRING ➄ Recommended Motor Cable Noise Filter Table 3.4 Noise filter for motor cable Actuator Model Manufacturer Remarks Models with 150N-m or NEC TOKIN larger max. torques (Note 1) LF-320KA 3-phase, 20A CORPORATION AX 150, AX 210 AX 300, AX 500 NEC TOKIN All models other than above...

  • Page 30: Wiring

    Discontinue SYSTEM CONFIGURATION AND WIRING Wiring (1) Driver Panel Description A terminal strip and connectors, etc. are located on the front panel of the driver. Figs. 3.2, 3.3 and 3.4 show the front panel configuration. ＣＫＤ A B SO D E X Motion display 動作表示...
  • Page 31 Discontinue SYSTEM CONFIGURATION AND WIRING ＣＫＤ A BS OD E X Motion display 動作表示 DRIVER H TYPE 電源表示 Power displsy Ｍ Ｏ Ｎ ． Ｐ Ｏ Ｗ Ｅ Ｒ Gain 1 adjustment DIP switch Fuse 10A ゲイ ン1 調整用 ヒ ュ －ズ １...
  • Page 32 Discontinue SYSTEM CONFIGURATION AND WIRING Motion display 動作表示 Power displsy 電源表示 Gain 1 adjustment DIP switch ゲイ ン1 調整用 Fuse 10A ヒ ュ －ズ (convergence time) ディ ッ プ ス イ ッ チ １ ０ Ａ （ 収束時間） Ｃ Ｎ ２ CN2 resolver connector レ...
  • Page 33 Discontinue SYSTEM CONFIGURATION AND WIRING (2) Connection to Terminal Strip ① R, S, T, FG (L1, L2, L3, FG for GH type) In case of 200VAC, 230VAC driver To use with 3-phase power supply, connect the 50/60Hz power cables to the R, S, T or L1, L2 and L3 terminals.
  • Page 34 Discontinue SYSTEM CONFIGURATION AND WIRING Route the power cables such as the motor CAUTION: cable and power supply cable separately from signal cables such as the resolver cable and I/O cable. Do not tie cables belonging to the different groups or do not route them in the same conduit.
  • Page 35 Discontinue SYSTEM CONFIGURATION AND WIRING ④ Power Supply Capacity Table 3.6 Power Supply Capacity Actuator Model Power Supply Capacity (kVA) AX2006 AX4009 AX2012 AX2021 AX1022, AX3022 AX4022, AX5022 AX2042 AX1045, AX3045 AX4045, AX5045, AX8045 AX8070 AX1075, AX3075 AX4075, AX5075 AX1150, AX4150 AX4150G, AX5150 AX1210, AX5210 AX4300, AX4300G...
  • Page 36 Discontinue SYSTEM CONFIGURATION AND WIRING (3) Connection of Connector ➀ CN1 (RS-232C) This port is a serial port, which interfaces with Dialog terminal, and a personal computer. For RS-232C communication method, refer to 12. COMMUNICATION FUNCTIONS. Cable side Connector Maker: Omron Connector Model: XM2A-0901 (plug), XM2S-0911 (hood) ➁...
  • Page 37 Discontinue SYSTEM CONFIGURATION AND WIRING (4) Wiring the Electromagnetic Brake In a system equipped with an optional electromagnetic brake or with an electromagnetic brake installed outside the ABSODEX by the user and controlled by the ABSODEX program, take care of the following points. (Note) Wiring the Electromagnetic Brake ABSODEX Actuator unit...
  • Page 38 Discontinue SYSTEM CONFIGURATION AND WIRING ➁ Recommended Circuit for Electromagnetic Brake External 24VDC power supply (User to provide) ＣＮ３ Driver External contact (relay, etc.) External 24VDC power supply (User to provide) (User to provide) ＢＫ＋ Protective element Electromagnetic (attached on the brake actuator unit) ＢＫ－...
  • Page 39 Discontinue SYSTEM CONFIGURATION AND WIRING Because the life of the contact of the contact relay is generally short, use a solid state relay (SSR) as an external contact if the electromagnetic brake is operated (turned on or off) frequently. Recommended model: G3NA-D210B DC5-24 (Omron) When using one, carefully read the instruction manual that comes with the SSR.
  • Page 40 Discontinue SYSTEM CONFIGURATION AND WIRING ➂ How to Activate the Electromagnetic Brake Execute an NC code "M68" or "M69" code in the NC program or supply a brake release input (CN3-18) to control the action of the electromagnetic brake with the 24VDC voltage supplied to the BK+ and BK- terminals of the ABSODEX driver.
  • Page 41 Discontinue SYSTEM CONFIGURATION AND WIRING (5) Connecting CN3 (I/O signal) ➀ Connecting General I/O There is no need to connect all I/O signals. Examine necessary signals and connect with a programmable logic controller or the like. Driver unit 24VDC ± 10％ User to provide Power supply...
  • Page 42 Discontinue SYSTEM CONFIGURATION AND WIRING ➁ Connecting a Pulse String Input An example of connection with a host pulse generator is shown below. When connecting one actually, check the specifications of the pulse generator to be used. Use twisted pair shielded cables to avoid malfunctions caused by noise. The cable must be within 1m long.
  • Page 43 Discontinue SYSTEM CONFIGURATION AND WIRING <Connection example 2> In case of line driver output The line driver can be used for the pulse input circuit of the ABSODEX while it supports open collector outputs. The maximum input pulse frequency of the line driver output is 400Kpps. Pulse generator ABSODEX Line driver...
  • Page 44 Discontinue SYSTEM CONFIGURATION AND WIRING (6) CN3 (I/O signal) Interface Specification ➀ General I/O Input Specification Pins 1 and 2 +24V ±10% Pins 5 to 18 Rated voltage 24V ±10%, rated current 7.5mA Time constant About 5msec Fig. 3.11 Input Circuit ➁...
  • Page 45 Discontinue SYSTEM CONFIGURATION AND WIRING ➂ Pulse String Input Specification Pins 19 and 21 Pins 20 and 22 Rated voltage 5V ±10% Fig. 3.13 Pulse String Input Circuit Note: The logic with the active photocoupler of the pulse string input circuit shown in Fig.

  • Page 46: Test Operation

    Discontinue TEST OPERATION 4. TEST OPERATION In this chapter, operate ABSODEX. Follow the procedure below to operate in four steps. The following description of test operation is related to equal segment. The ABSODEX rotates in the same direction. Take care to avoid entanglement of cables. STEP1 Check if the ABSODEX is installed Installation and connection check...

  • Page 47: Step 1. Installation And Connection Check

    Discontinue TEST OPERATION Step 1. Installation and connection check Fix the ABSODEX unit securely. The full performance of ABSODEX is not achieved with unstable installation or with a loose base or stand. Install the load securely, too. A loosely installed load or one with loose bolts will cause oscillation. Make sure the bolts are securely fastened.

  • Page 48: Step 2. Gain Adjustment And Creation Of Test Operation Program

    Discontinue TEST OPERATION Step 2. Gain adjustment and creation of test operation program Gain adjustment is necessary for the operation of ABSODEX. Gain adjustment is made for each load so that ABSODEX operates in the best state. The method for creating gain adjustment and test operation programs with the dialog terminal is described here.
  • Page 49 Discontinue TEST OPERATION : Reset/Mode key The character at the cursor is deleted. If there is no character at the cursor, the character immediately before the cursor is deleted. (The space is handled as a character.) While holding down the key, press this key to use it as a mode key.
  • Page 50 Discontinue TEST OPERATION ➁ How to enter a character or symbol To enter "M," hold down the key and press this key. To enter "6," press this key. Note: Characters symbols entered insert mode; character/symbol is inserted immediately before the cursor position. Enter "8."...
  • Page 51 Discontinue TEST OPERATION Enter the program at the dialog terminal. ABSODEX Turn the ABSODEX on. ➀ Following the opening screen, the mode selection screen appears. MODE SELECT Select the edit mode. ② EDIT 2 DISPLAY→ Press the key. EDIT MODE From the edit mode menu, select "1 EQL SEG."...
  • Page 52 Discontinue TEST OPERATION Enter the number of segments. ⑨ EQL SEG : SEG NO. Enter "4" for the present purpose. Enter "4" and press the key. ⑩ Enter the movement time for a single indexing cycle. EQL SEG : MOV'G Enter "1sec"...
  • Page 53 Discontinue TEST OPERATION The following screen is displayed. Press the key. ⑱ EQL SEG : PRGM TO EXE? [_ / N] The following message is displayed and the motion mode ⑲ PRGM NO. [1] screen is displayed. SELECTED (End of preparation of test operation) Enter "1"...
  • Page 54 Discontinue TEST OPERATION (Reference) To start a stored program, select the program number. Select "3 NO." in the motion mode. (Enter "3.") 1 START 2 STOP 3 NO. 4 RESET Enter the desired program number and press the NO. SELECT key.

  • Page 55: Step 3. Gain Adjustment

    Discontinue TEST OPERATION Step 3. Gain adjustment The gain adjustment flowchart is shown below. START Use a regular screwdriver or the like to change the DIP switch setting on the driver panel. The Set G1 at "8." DIP switch for shipment settings are "8"...

  • Page 56: Step 4. Home Position Determination

    Discontinue TEST OPERATION Step 4. Home position determination (Unnecessary for test operation) Use the home position offset of the dialog terminal to determine the home position in an arbitrary position. Select the motion mode on the mode selection screen. Mode selection procedure ➀...
  • Page 57 Discontinue TEST OPERATION Home position offset amount setting procedure Go to the menu screen where "2 SRV OFF" is displayed. 1 SRV ON 2 SRV OFF 3 OFST 4 TERM Press the key. The servo is turned off. The cursor blinks in position 2 twice. Note: The following message...
  • Page 58 Discontinue TEST OPERATION Keep hands away from the rotating part as sudden WARNING: motion may take place during gain adjustments or trial run. Make sure of the safety in the full revolution of the actuator before turning it on to adjust. Make sure that safety is assured to operate the actuator when operating it from the place unable to confirm the motion.
  • Page 59 Discontinue TEST OPERATION — MEMO — [SMB-14E] — 4-14 —...

  • Page 60: How To Use I/O

    Discontinue HOW TO USE I/O 5. HOW TO USE I/O This chapter describes the specifications and usage of I/O signals exchanged at the connector (CN3) connected mainly with a programmable logic controller. Pin Arrangement and Signal Name Table 5.1. CN3 Input Signal Judg- Reference Signal Name...
  • Page 61 Discontinue HOW TO USE I/O Each signal is mapped at internal I/O address E080008. Turn on or off the input signal at least for 20msec. "Edge" in the table indicates "rising edge detection," which indicates recognition of the OFF-to-ON input signal change. "Level"...
  • Page 62 Discontinue HOW TO USE I/O Table 5.2 CN3 Output Signal Emer- Reference Signal Name Logic Address/Bit Remarks gency Section Stop M code output (bit 0) E080004･ 0 Positive ➀ The M code corresponding to the M code output (bit 1) E080004･...
  • Page 63 Discontinue HOW TO USE I/O I/O output state at power-on After the in-position output is turned on and ABSODEX is ready to receive a start input, the start input wait output is turned on. Other outputs are turned off. However, if there is an alarm, an alarm output is turned on.
  • Page 64 Discontinue HOW TO USE I/O Table 5.4 CN3 Pulse String Input Signal Pin No. Signal Name Remarks One of the following input modes PULSE/UP/phase A can be selected with the setting of DIP switch on the I/O circuit board: -PULSE/-UP/-phase A pulse/direction input, up/down input DIR/DOWN/phase B...

  • Page 65: How To Use General I/O Signals

    Discontinue HOW TO USE I/O How to Use General I/O Signals This section explains general I/O signals, the contents and use. Some of general I/O signals vary in using method depending on the parameter setting. Chapter 7. PARAMETER SETTING should be read together. The input signal is not accepted securely if it remains turned on for 20msec.
  • Page 66 Discontinue HOW TO USE I/O ② 4 bit Binary Double Selection (PRM36=2) Same as in ①, Bit 0 to 3 (CN3-5 to 8) for program selection input enables to set the second and first digit data in this order. The number data is specified by 4 bit BCD. Consequently, the selectable numbers of programs are 0 to 255( FF).
  • Page 67 Discontinue HOW TO USE I/O After a program number is entered, the setting remains valid until another number is entered or the power is shut down. Note that "tens digit" and "units digit" described in ① and ② are independent of each other.
  • Page 68 Discontinue HOW TO USE I/O (2) NC Program Execution Method I/O Signals to ・Start input (CN3-13) be Used: ・Start input standby output (CN3-43) ・Program stop input (CN3-14) Turn on start input (CN3-13) after program number selection. In the automatic operation mode (refer to 6.
  • Page 69 Discontinue HOW TO USE I/O (3) Home Positioning Instruction Input I/O Signals to ・Home positioning instruction input (CN3-12) be Used: The built-in absolute resolver in ABSODEX does not necessarily require home positioning upon power-on start. If equipment system configuration requires home positioning, it can be achieved by home positioning instruction input (CN3-12).
  • Page 70 Discontinue HOW TO USE I/O (4) Emergency Stop Input I/O Signals to Emergency stop input (CN3-17) be Used: Reset input (CN3-11) This is a negative logic input signal and it is valid when parameter 23 (emergency stop input) is "1" or "3" (default setting: 2; invalid). When this signal is turned on, program execution is stopped.
  • Page 71 Discontinue HOW TO USE I/O (5) Brake Release Input Brake release input (CN3-18) I/O Signals to Start input (CN3-13) be Used: Positioning completion output (CN3-42) The brake is released while this signal is turned on even if the brake is applied. If an emergency stop is supplied when the brake is applied, the brake remains applied even after the equipment is reset.
  • Page 72 Discontinue HOW TO USE I/O (6) Confirmation Method of Positioning Completion I/O Signals to Positioning completion output (CN3-42) be Used: Answer input (CN3-16) Completion of home positioning and positioning will turn on positioning completion output (CN3-42). (For output conditions, refer to Chapter 7. 7) Judgment of Positioning Completion.
  • Page 73 Discontinue HOW TO USE I/O (7) M Code Output Timing M code output bit 0 to 7(CN3-33 to 40) I/O Signals to M code strobe output (CN3-50) be Used: Answer input (CN3-16) Executing M20 to 27 of NC code will turn on the corresponding M code output bit 0 to 7 (CN3-33 to 40).
  • Page 74 Discontinue HOW TO USE I/O (8) Segment Position Output Timing M code output bit 0 to 7 (CN3-33 to 40) I/O Signals to Segment position strobe output (CN3-49) be Used: Answer input (CN3-16) Executing M70 of NC code (segment position output), when segment number is designated using NC code G101 will output the current segment position in binary in the M code output bit 0 to 7 (CN3-33 to 40).
  • Page 75 Discontinue HOW TO USE I/O (9) Other I/O Signals ① Reset Input (CN3-11) This is used to reset an alarm, and is effective only when the alarm exists. For detail of alarms, refer to Chapter 10. ALARMS. ② Continuous Rotation Stop Input (CN3-15) This is the input to stop continuous rotation with NC code G07.
  • Page 76 Discontinue HOW TO USE I/O ⑤ Output 1 and 2 during Indexing (CN3-46 and 47) These are the output that is made during motion. According to the settings of parameter 33 (output 1 during indexing) and parameter 34 (output 2 during indexing), the output is turned on, and it is turned off when the positioning completion signal is issued.
  • Page 77 Discontinue HOW TO USE I/O ⑥ Timing Output (CN3-48) Specifying segment numbers with NC code G101, and executing continuous rotation with G07 will cause timing output to turn ON every time a segment is passed. The following are the related parameters: PRM30 Output for timing advance (%) PRM31...

  • Page 78: Using Pulse String Input Signals

    Discontinue HOW TO USE I/O Using Pulse String Input Signals (1) Using Pulse String Input Signals PULSE/UP/A Phase (CN3-19) I/O Signals to PULSE/-UP/-A Phase (CN3-20) be Used: DIR/DOWN/B Phase (CN3-21) DIR/-DOWN/-B Phase (CN3-22) The following two methods can be used to drive an actuator in the pulse string input mode. ①...
  • Page 79 Discontinue HOW TO USE I/O (2) Kinds of Pulse String Input Signals This function provides pulse string inputs for pulse and direction, up and down, and A and B phases (90° phase difference). Pulse Direction DOWN A phase B phase 90°...
  • Page 80 Discontinue HOW TO USE I/O Table 5.5 Pulse String Input Mode DIP switch Input terminal SW1 setting Mode CN3-19/20 CN3-21/22 H: CCW Pulse, Direction Pulse L: CW Up/Down Down A/B Phase, 1 time A phase B phase A/B Phase, 2 times A phase B phase A/B Phase, 4 times...
  • Page 81 Discontinue HOW TO USE I/O (3) Instruction Pulse Specifications The pulse width input should be made to satisfy the following conditions. <Conditions> t1 ≧ 1.25 μsec t2 ≧ 5 μsec t1/t3 ≦ 50% Pulse Direction “TRUE” “FALSE” Fig. 5.17 Pulse & Direction Inputs “FALSE”...
  • Page 82 Discontinue HOW TO USE I/O (4) Pulse Rate and Rotation Numbers ① Inputs for Pulse/ Direction and Up and Down Pulse rate can be changed using PRM 35 (pulse rate change). The actuator can be set in motion with the multiplications of the rotation and movement set by the parameter.
  • Page 83 Discontinue HOW TO USE I/O ② Inputs for A & B Phase Pulse rate can be changed using PRM 35 (pulse rate change) or by multiplication setting of the DIP switch SW1 for A & B phase inputs. Number of motion pulses = Input pulse × Multiplication of PRM 35 × Multiplication Number of motion pulse frequency = Input pulse frequency ×...

  • Page 84: Application Example Of I/O Signal

    Discontinue HOW TO USE I/O Application Example of I/O Signal (1) Basic flow of I/O signals In this section, the basic I/O signal flow starting at program number selection followed by starting and stopping is described. Motion example Four-segment indexing ０°...
  • Page 85 Discontinue HOW TO USE I/O ① Key point to program number selection If the number of programs is 32 or fewer, set parameter 36 (I/O program number selection method switching) at "3" (5-bit binary) to finish program number entry in one cycle. After the power is turned on, program number "0"...
  • Page 86 Discontinue HOW TO USE I/O Note 1: Supply the program number selection, setting and start input signals after checking that the start input wait output signal is ON. Note 2: Turn the start input signal off after checking that the start input signal is supplied and the start input wait output is turned off.
  • Page 87 Discontinue HOW TO USE I/O (2) Restoration Action Procedure after Emergency Stop There are several restoration patterns. The pattern varies according to the action to be taken after the emergency stop. ① Key point to restoration action after emergency stop After supplying the reset signal, supply a home positioning instruction signal.
  • Page 88 Discontinue HOW TO USE I/O ② Timing chart of restoration action after emergency stop If the travel instruction and M0 (start input wait) are described in separate blocks After supplying a reset signal, supply a start input three times to restore to the indexing action.
  • Page 89 Discontinue HOW TO USE I/O Timing chart after emergency stop at the 90° position during execution of program example 1 Emergency stop input Alarm output Reset input Stat input wait output Start input (Note 3) Travel to To next position (180°) stopping position (90°) (regular action) 100msec...
  • Page 90 Discontinue HOW TO USE I/O If the travel instruction and M0 (start input wait) are described in the same block After the reset signal is supplied, the second start input causes restoration to the indexing action. Program Example 2 G11; Change the unit of F to the time (second).
  • Page 91 Discontinue HOW TO USE I/O — MEMO — [SMB-14E] — 5-32 —...

  • Page 92: Program

    Discontinue PROGRAM 6. PROGRAM General Description (1) ABSODEX driver with the controller system will enable free setting of actuator rotation angle, moving time, and timer setting. Also M code output enables communication with external sequencer (PLC). (2) NC Program Capacity The driver can store up to 256 NC programs, which can be selected through external I/O ports.
  • Page 93 Discontinue PROGRAM ④ Operation mode can be selected from the six (6) modes of automatic, single block, MDI (manual data input), jog, servo-off, and pulse string input. Note: Programs and parameters are re-writable up to 100,000 times. [SMB-14E] — 6-2 —...

  • Page 94: Operation Mode

    Discontinue PROGRAM Operation Mode The ABSODEX driver has the six (6) operation modes listed in the Table 6.1 below. For use with a sequencer (PLC), use the driver in the automatic mode. Under pulse string input mode, the driver can be interfaced with a pulse string output controller. The automatic mode also enables pulse string inputs using NC code G72.

  • Page 95: Nc Program Format

    Discontinue PROGRAM NC Program Format (1) Format NC program starts with "O" at the head of the program, which is followed by the program number. (This block is automatically entered when the dialog terminal or Teaching Note is used.) N is followed by sequence number, NC code, data and the semi-colon (;) at the last. The section separated by the semi-colon (;) is called a block, and the sequence number is sometimes called the block number.
  • Page 96 Discontinue PROGRAM ④ When A code (movement amount) only is written in one block, F value (moving time or velocity) is the value set in the previous block. When not set in the previous block, an alarm will be given for the program. ⑤...
  • Page 97 Discontinue PROGRAM ⑪ The end of the program code (M30) is required at the end of the programs. ⑫ The program length that can be entered is 3970 with each of the alphabetic letters, ";" (semi-colon), and numbers are counted as well as the number of entered NC programs.

  • Page 98: Nc Code List

    Discontinue PROGRAM 4) NC Code List Table 6.2 NC Code List Code Function Data Range Remarks Program number 0 to 999 0 to 255 can be selected from I/O. Sequence number 0 to 999 Can be omitted. Preparation function 0 to 999 Refer to G code list.
  • Page 99 Discontinue PROGRAM G Code List Table 6.3 G Code List (1/3) Group G Code Function Description Positioning To position at A with speed F <Input Method> G01 A Note: command can make positioning without G01. Continuous rotation Under continuous rotation at the speed A (rpm). (Note 1) If a program stop input is supplied during continuous rotation, deceleration and stop are caused, followed by...
  • Page 100 Discontinue PROGRAM Table 6.3 G Code List (2/3) Group G Code Function Description G92.1 Setting of To set the home position of G92 user coordinate (refer coordinate system to Fig. 6.1) at power-on is the value which follows A. When used with G105, the value of A is interpreted as angle, and with G104 or G106, or G101 as a pulse.
  • Page 101 Discontinue PROGRAM Table 6.3 G Code List (3/3) Group G Code Function Description G104 Designation of Unit of A is pulse. pulses G105 Designation of Unit of A is angle. angles G106 Designation of Unit of A is numbers of index. index If not set by G101, program error will occur.
  • Page 102 Discontinue PROGRAM When an angle is specified with G105, the driver will convert the angle to pulse for processing. When the set angle cannot be accurately converted to pulses, the angle will be converted to the nearest pulses. Consequently, the program that will specify an angle repeatedly using incremental dimension (G91) will cause cumulative error depending on the set angle.
  • Page 103 Discontinue PROGRAM Using segment number designation (G101) enables to specify the position of indexing numbers. The following diagram shows the relationship between the position of the specified index number and its angle, when 4 segments are specified. For G101A4 User coordinate system home position Coordinate system by index numbers -450°...
  • Page 104 Discontinue PROGRAM ③ G90.1A1: enables transfer to the index 1 in the shortest route within the half round from the current position. When the coordinate system after transfer is not at 90° (e.g. 450°), it is corrected to the current position to be at 90°. This will avoid the overflow in the coordinate system when G90.1 is repeatedly executed.
  • Page 105 Discontinue PROGRAM M Code List Table 6.4 M Code List Group M Code Function Description Program Stop After completion of the current block, the program stops. When the start signal is input again, program execution starts with the next block. End of Program The program terminates to return the head block of the program.

  • Page 106: Absodex Status At Power-On Start

    Discontinue PROGRAM ABSODEX Status at Power-on Start (1) Program Number Upon power-on startup, the program number "0" is selected. For starting other program, the program number selection is required before the start signal input. (2) Dimensions Upon power-on start, the following dimensions are set. Angle designation (G105) Time designation (G11) Absolute (G90)
  • Page 107 Discontinue PROGRAM (8) Driver Panel Under normal condition without alarm, will light on the 7 segment LED on the monitor. With this on the monitor, ABSODEX is operable. [SMB-14E] — 6-16 —...

  • Page 108: Nc Program Example

    Discontinue PROGRAM NC Program Example The following explains NC program examples. Unless otherwise noted, the coordinates have returned to 0° position prior to start of the program. (1) Absolute dimension (G90), angle designation (G105) and time designation (G11) Create an indexing program, using angle and time units at the absolute user coordinate position defined with a home position offset amount (parameter 3).
  • Page 109 Discontinue PROGRAM (5) Continuous rotation (G07), continuous rotation acceleration time (G08), continuous rotation deceleration time (G09) After supplying a start signal, rotate at the rotation speed specified with G07. The acceleration/deceleration time at the time follows the settings of G08 and G09. Program N1G105;...
  • Page 110 Discontinue PROGRAM (8) Segment number designation (G101), segment position output (M70), start input wait (M0) and jump (J) After indexing into equal segments, use a segment position output to output the current position to an external programmable logic controller in a binary format. Program N1G101A5;...
  • Page 111 Discontinue PROGRAM — MEMO — [SMB-14E] — 6-20 —...

  • Page 112: Parameter Setting

    Discontinue PARAMETER SETTING 7. PARAMETER SETTING Various parameters are available for ABSODEX to set motion conditions. The values set by the parameters should be recorded in the parameters list in the Appendix-2 with the model and serial numbers. Parameters and Contents Table 7.1 Parameters (1/7) Parameter Description...
  • Page 113 Discontinue PARAMETER SETTING Table 7.1 Parameters (2/7) Parameter Description Setting Range Unit Initial Value Setting Home return stop 1 to 2 Feasible Determines if the home return is to be made by "stop" input. 1: Stop, 2: Invalid Select "1" (stop) to stop the action according to communication code "S2" or "S20" or the program stop input or continuous rotation stop input signal.
  • Page 114 Discontinue PARAMETER SETTING Table 7.1 Parameters (3/7) Parameter Description Setting Range Unit Initial Value Setting Jog speed 0.01 to 100 feasible Sets the maximum jog motion speed. Jog acceleration and deceleration times 0.1 to 1.0 feasible Sets acceleration and deceleration times. 2000 In-position range 1 to 10000...
  • Page 115 Discontinue PARAMETER SETTING Table 7.1 Parameters (4/7) Parameter Description Setting Range Unit Initial Value Setting Pulse/ Deceleration rate for emergency stop 1 to 180 Feasible Speed deceleration will take place for every 1msec for an emergency stop. The time t until rotation stops by an emergency stop while rotating at N rpm can be calculated by the following formula: T = 18.0224 ×...
  • Page 116 Discontinue PARAMETER SETTING Note 1: If the EMERGENCY STOP button is pressed at the dialog terminal, "servo-on after stop" is caused without relations to the setting of parameter 23. Note 2: Dialog terminal, and PC, etc. are not designed to effectively use this function. Make sure that this parameter is always set to 1: No output.
  • Page 117 Discontinue PARAMETER SETTING Table 7.1 Parameters (5/7) Parameter Description Setting Range Unit Initial Value Setting Brake initial status 1 to 2 feasible Sets whether or not the brake is released upon power-on. 1: Brake on, 2: Release Mode setting for power-on 1, 2, 6 feasible 1: Auto run...
  • Page 118 Discontinue PARAMETER SETTING Table 7.1 Parameters (6/7) Parameter Description Setting Range Unit Initial Value Setting Pulse rate change 1 to 5 Feasible Enables to set multiplier of pulses in the G72 and M6 pulse string input modes. 1: 1 time, 2: 2 times, 3: 4 times, 4: 8 times, 5: 16times The setting enables to determine pulses of actuator movement for 1 pulse of pulse string input.
  • Page 119 Discontinue PARAMETER SETTING Table 7.1 Parameters (7/7) Parameter Description Setting Range Unit Initial Value Setting [H] 200 Cut-off frequency for low pass filter 1 10 to 500 [GH] 100 Feasible (Note 1) Cut-off frequency for low pass filter 2 10 to 500 Feasible Cut-off frequency for notch filter 1 10 to 500...

  • Page 120: Parameter Setting And References

    Discontinue PARAMETER SETTING Note 1: Load the parameters in advance to edit them when using the dialog terminal or Teaching Note (PC communications software). Failing to do so will result in overwriting the parameters with “100”, default value of the dialog terminal or Teaching Note.
  • Page 121 Discontinue PARAMETER SETTING Parameter Setting and References Setting of parameters and references is done by communication codes using a personal computer or dialogue terminal. To enter a parameter, use communication code "L7" (parameter data input) and key-in "L7_parameter number_setting ." ("_" indicates a space and indicates a Enter key.) When the unit of set value is a pulse, the prefix of "A"...

  • Page 122: Types And Characteristics Of Cam Curve

    Discontinue PARAMETER SETTING Types and Characteristics of Cam Curve With ABSODEX, an arbitrary cam curve can be selected with the setting of parameter 1. (1) Modified sine curve (MS) The modified sine curve is a cycloid curve (sine curve) with the acceleration peak shifted forth or back (modified).
  • Page 123 Discontinue PARAMETER SETTING (5) Modified constant velocity 2 (MC2) With this curve, the acceleration/deceleration of the MC curve can be arbitrarily entered. If the rotation speed is designated as a unit of "F" in the NC program, using G10, the speed pattern changes according to the angle of travel as shown in Fig.
  • Page 124 Discontinue PARAMETER SETTING Characteristics of Cam Curve and Measurement Examples Name Acceleration Curve Measurement Example MODIFIED MODIFIED SINE SINE Speed (MS) +69.5 1.76 ±5.53 -23.2 Acceleration MODIFIED MODIFIED TRAPEZOID TRAPEZOID Speed (MT) 2.00 ±4.89 ±61.4 Acceleration MODIFIED MODIFIED CONSTANT VELOCITY CONSTANT VELOCITY +201.4...

  • Page 125: Amount Of Home Position Offset And Home Positioning Motion

    Discontinue PARAMETER SETTING Amount of Home Position Offset and Home Positioning Motion ABSODEX using an absolute resolver has one home position in one rotation, which is called an actuator home position. The home position of the coordinate system which NC programs refers to is called the user coordinate system home position.

  • Page 126: Precautions For Software Limit

    Discontinue PARAMETER SETTING Precautions for Software Limit Using parameters 8 (software limit coordinate A), 9 (software limit coordinate B), and 10 (software limit effective/not effective), software limit can be set. The following precautions should be taken for using software limit. (1) The home positioning explained in 7.
  • Page 127 Discontinue PARAMETER SETTING (2) Upon power-on, ABSODEX assumes that the output axis is located in the range of -180.000° to +179.999° (when power is turned on again at the position of 190°, the output axis is assumed to be at -170°). Consequently, when there is an obstruction within one rotation range, set the software limit so that the 180°...
  • Page 128 Discontinue PARAMETER SETTING (4) Software limit is the coordinate of the G92 user coordinate system. Resetting the coordinate system with G92, software limit becomes effective to cause the absolute position in the motion banned range to be relocated. Home position moves by parameter 3 or G92.

  • Page 129: Judgment Of In-Position

    Discontinue PARAMETER SETTING Judgment of In-position When position deviation within ± in-position range is continuously confirmed after the specified number of sampling times, in-position output signal is output. Judgment and output will be made during both moving and stop. The signal may be always issued in some cases. The following example is for the parameter 17 (number of sampling times for in-position) = 3.

  • Page 130: Judgment Of Positioning Completion

    Discontinue PARAMETER SETTING Judgment of Positioning Completion This function enables judgment similar to that for in-position judgment, but only when the motion is completed. Once motion is judged to be completed, judgment will not be made until the next motion instruction is completed. The following example is for the parameter 17 = 3.

  • Page 131: Correct In-Position Range (Parameter 16)

    Discontinue PARAMETER SETTING Correct In-position Range (parameter 16) The correct in-position range varies according to the positioning accuracy requirement. The method for calculating the correct range is described below. ｒ ±y ｒ Target position ｙ θ Enlarged view Fig. 7.8 Correct In-position Range (1) If a table having radius r is installed on the output axis of ABSODEX, the setting of in-position range P (pulses) for issuing the positioning completion signal in the ±y (mm) range to the target position on the circumference is:...
  • Page 132 Discontinue PARAMETER SETTING (2) The in-position sampling frequency (parameter 17) should be generally "3" at the most if the in-position range is set at 200 to 300. Because a sampling cycle is 2msec, too many counts will cause a delay in the issuance of the positioning completion signal. (3) Conversion between angle α...

  • Page 133: Designation Of Equal Segment (G101) And Parameters

    Discontinue PARAMETER SETTING Designation of Equal Segment (G101) and Parameters Setting the parameters 37 (segment position range width for designation of equal segment) and 38 (rotation direction for designation of equal segment) for the equal segment designation (G101) program allows to specify rotation direction of the actuator at power-on start and motions after emergency stop.
  • Page 134 Discontinue PARAMETER SETTING (2) Motion of G91A-1F and G91A1F ① Parameter 38 = 1 (CW direction), or 2 (CCW direction) When within ① range for (a), Fig. 7.9, executing G101A4;G91A-1F will cause the actuator to move to 4H position. When within ② range, executing G101A4;G91A1F* will cause the actuator to move to 2H position.
  • Page 135 Discontinue PARAMETER SETTING (3) Motion of M 70 ① For Parameter 38 = 1 (CW direction) or 2 (CCW direction) Within the range ④ in the Fig. 7.9 (a), executing G101A4;M70; will cause CN3 M code to output the current segment position (segment position 3 .. bit 0 and 1 in the Figure).

  • Page 136: Using Filters

    Discontinue PARAMETER SETTING 10) Using Filters ABSODEX fitted to a low rigidity load equipment may resonate with the equipment. For such application, the built-in digital filters (low pass and notch filters) will help reduce resonance to some extent. Parameters 62 to 71 are for filters. For detail, refer to Table 7.1. (1) Characteristics of Filters Low pass filter helps attenuate signals in high frequency band, while notch filter helps attenuate signals in a specific frequency.
  • Page 137 Discontinue PARAMETER SETTING (2) Filter Switch Parameter 66 (filter switch) is used to set whether or not the four filters take effect. Each bit of the switches corresponds to respective filters, and the bit value "1" is for "effective" and "0" for "not effective." Low pass filter 1 switch Low pass filter 2 switch Notch filter 1 switch...
  • Page 138 Discontinue PARAMETER SETTING (4) Setting Example The following is an example of filter setting using communication codes. First, set the low pass filter 1 to 100 Hz and the notch filter 1 to 200 Hz. Communication code (_denotes space.) L7_62_100 Set the parameter 62 to 100.

  • Page 139: Integral Limiter

    Discontinue PARAMETER SETTING 11) Integral Limiter The integral limiter is related to integral control of the control system inside the controller and it can be entered with parameter 67 (integral limiter). If a load causing to exceed the allowable moment of inertia of the actuator with a larger margin is installed, the control system sometimes becomes unstable to disable settling.

  • Page 140: Application Examples

    Discontinue APPLICATION EXAMPLES 8. APPLICATION EXAMPLES List of Application Examples Table 8.1 List of Application Examples Item Action Specification Point Product type Workpiece change Change the program according to the workpiece change without setup type. change Shortest route Random indexing Change the program according to the stopping indexing position.
  • Page 141 Discontinue APPLICATION EXAMPLES Product Type Change (1) Application Indexing action requiring product type change (2) Application example Perform four-segment indexing. Jigs for workpieces A and B are placed at 45° intervals as shown in Fig. 8.1. When workpiece A is supplied, stop the turntable in the position shown in the figure and, when workpiece B is supplied, stop the turntable at a position shifted by 45°.
  • Page 142 Discontinue APPLICATION EXAMPLES (3) Program key point (Creation example using Teaching Note) Program No. 0, for workpiece A Change the setting of "4. Shift amount of home position" to shift the indexing reference position. Program No. 1, for workpiece B Fig.
  • Page 143 Discontinue APPLICATION EXAMPLES Note 1: After a home positioning instruction input signal is supplied or NC code G28 (home positioning) is executed, a travel to the home position specified with parameter 3 (home position offset amount) occurs without relations to "4. Shift amount of home position" shown in Fig.
  • Page 144 Discontinue APPLICATION EXAMPLES Shortest Route Indexing (1) Application Workpiece stocker (2) Application example Designate one of four stocker positions to position there. Rotation follows the shortest route. (Rotation at larger than 180° does not occur.) Work place Fig. 8.3 Workpiece Stocker (3) Program key point Retrieve the workpiece on the shortest route.
  • Page 145 Discontinue APPLICATION EXAMPLES Program No. 2 G11; Change the unit of F to the time (sec) G101A4; Segment the full revolution into four. Shortest route absolute, stocker ② travel to workplace in 0.5 G90. 1A1F0. 5; sec. M30; End of program Program No.
  • Page 146 Discontinue APPLICATION EXAMPLES (Program example 2) In case of angle designation Program No. 1 G105G11; Change the unit of A to the angle (°) and unit of F to the time (sec). G90. 1A0F0. 5; Shortest route absolute, travel to 0° in 0.5 sec. (Stocker ①) End of program Program No.

  • Page 147: Caulking

    Discontinue APPLICATION EXAMPLES Caulking (1) Application Indexing table having a caulking process (or positioning pin insertion mechanism) (2) Application example Eight-segment indexing table including the caulking process. The caulking process restricts the output axis. (The output axis is restricted, too, when the positioning pin is inserted.) The ABSODEX used here is the type equipped with no brake.
  • Page 148 Discontinue APPLICATION EXAMPLES ③ Dwell setting If a brake is used, and if the friction force is large or rotation is slow, there may be position deviation. Braking may start before full settlement is obtained. In this case, use a dwell instruction (G4P ) to add a delay before the brake is applied, reduce the setting of parameter 16 (in-position range), or take other measures.
  • Page 149 Discontinue APPLICATION EXAMPLES (Program example 3) G11; Change the unit of F to the time (sec). G101A8; Segment the full revolution into eight. G91. 1; Full revolution incremental M69; Release the brake. A0F0. 5; Travel to the nearest station in 0.5 sec. N1M68;...

  • Page 150: Pick And Place (Oscillation)

    Discontinue APPLICATION EXAMPLES Pick and Place (oscillation) (1) Application Pick-and-place unit where each rotation is within a full revolution (2) Application example 180° oscillation To avoid the twist in the piping or wiring, rotation must be within a full revolution. A mechanical stopper is provided to stop moving beyond the operation range.
  • Page 151 Discontinue APPLICATION EXAMPLES After the power is turned on, ABSODEX assumes that the output axis is in a position between -180.000° and +179.999°. (If the power is supplied in the 190° position, the -170° position is recognized.) Accordingly define the 180° position in the banned zone if there is interfering matters in the full revolution.

  • Page 152: Indexing Table

    Discontinue APPLICATION EXAMPLES Indexing table (1) Application Return to the power-off indexing position and start to index. (2) Application example Use a four-segment indexing table and rotate clockwise. When work is started, return to the last indexing position of the previous day. Fig.
  • Page 153 Discontinue APPLICATION EXAMPLES ⑤ Direction of rotation "G90.1" causes the shortest route travel. After the power is turned on, a travel occurs to the designated indexing position on the shortest route even if the table has been manually moved. Execution of the number immediately after the saved one causes indexing to the position following the one indexed last time.
  • Page 154 Discontinue APPLICATION EXAMPLES Program No. 4 G11; Change the unit of F to the time (sec). G101A4; Segment a full revolution into four. G90. 1A3F0. 5; Shortest route absolute; travel to indexing position 3 in 0.5 sec. M70; Segment position output ("4" is output.) M30;...

  • Page 155: Continuous Rotation

    Discontinue APPLICATION EXAMPLES Continuous Rotation (1) Application Stop the shaft, which keeps rotating during regular operation, at the designated position upon a stop input. (2) Application example Roll feeder ABSODEX Fig. 8.8 Roll Feeder (3) Program key point ① Continuous rotation "G07" Add a hyphen "-"...
  • Page 156 Discontinue APPLICATION EXAMPLES ③ After stop input After the stop input is issued, deceleration occurs according to the "G09" setting, followed by stoppage at the next indexing position. According to some timing of the stop input and the rotation speed and deceleration time, the stopping position may be a farther indexing position.
  • Page 157 Discontinue APPLICATION EXAMPLES — MEMO — [SMB-14E] — 8-18 —...

  • Page 158: Gain Adjustments 1) What Is Gain Adjustment

    Discontinue GAIN ADJUSTMENT 9. GAIN ADJUSTMENTS What is Gain Adjustment? Gain adjustment indicates adjustment of the servo gain suitable for the installed load to achieve operation of the ABSODEX at the best performance. Gain adjustments are made by the DIP switches, G1 and G2 on the front panel. ABSODEX uses PID servo system, which provides three gain parameters, P (proportional), I (integration), and D (differentiation).
  • Page 159 Discontinue GAIN ADJUSTMENT (3) Preparation for Gain Adjustments Before starting gain adjustments, ABSODEX unit must be firmly fixed to the machine, and install load such as a table to the output axis. Make sure that there is no interference to the rotating part. Gain adjustments require a personal computer or a dialog terminal which has RS-232C port.

  • Page 160: Gain Adjustment Method

    Discontinue GAIN ADJUSTMENT Gain Adjustment Method Use DIP switches G1 and G2 on the front panel to adjust the gain. The gain adjustment flowchart is shown below. Use a regular screwdriver or the START like to change the DIP switch setting on the driver panel.

  • Page 161: Approximate Gain Setting

    Discontinue GAIN ADJUSTMENT [GH] Approximate Gain Setting An approximate G2 setting for the GH Series with G1 setting at "8" is shown. 負荷慣性モーメントとゲイン設定値（G2）の目安 Moment of inertia of load and approximate gain setting (G2) 1000 AX4150G AX4300G AX4500G 0 1 2 3 4 5 6 7 8 9 A B C D E F ゲイン設定値（G2）...

  • Page 162: Alarms

    Discontinue ALARMS 10. ALARMS An error to ABSODEX will display an alarm number in the 7 segment LED on the front of the driver. At the same time, alarm outputs of I/O (CN3-44 and 45) will also be ON. (Alarm output is made with the negative logic.) Alarm Display and Description The table 10.1 lists alarm displays and their description.
  • Page 163 Discontinue ALARMS Table 10.1 Alarm (2/2) Alarm Description Alarm Output Remarks Display Parameters 8 and 9 settings are exceeded. Software limit over Alarm 2 Or ±18 revolutions are exceeded. Emergency stop by Alarm 2 dialog terminal Alarm 1 Resolver abnormal Error in position detector Alarm 2 No M answer...
  • Page 164 Discontinue ALARMS [GH] Table 10.2 Additional Alarms for GH Type Alarm Description Alarm Output Remarks Display Actuator and driver The combination between the Alarm 1 combination error actuator and driver is incorrect. Actuator communication Alarm 1 Failure to receive actuator data error Alarm 2 Alarm 3...

  • Page 165: Servo Status For Alarms

    Discontinue ALARMS Servo Status for Alarms Alarm: 1, 2, 4, 5, 6, 9 (parameter 23 = 3), A, F and L Servo OFF Alarm: 0, 3, 7, 9 (parameter 23 = 1), C, E, H and P Servo ON When an alarm occurs while an NC program is executed, the program execution will be terminated to turn into the servo conditions as described above.

  • Page 166: Maintenance And Troubleshooting

    1. Fuse Models complying with 19195 (10A, 250VAC) WICKMAN EU directives (-K) 2. SELEX valve AX-0002 AX-0003 (Note) 3. Cooling fan (2408NL-04W-B20) Note: The AX-0003 is the NMB made fan with the connector added by CKD. [SMB-14E] — 11-1 —...

  • Page 167: Troubleshooting

    Discontinue MAINTENANCE AND TROUBLESHOOTING (3) Parts Replacement Intervals and Replacing Method ① Fuse Replacement Timing: There is no need for periodic replacement. Replace the fuse if it is blown. Check the wiring without fail if the fuse is blown as leakage or a short circuit may be causes.
  • Page 168 8 hours. Request CKD to replace it with a new one. When solution leak or open pressure relief valve are found in the periodical inspection, immediately request CKD to repair.
  • Page 169 Discontinue MAINTENANCE AND TROUBLESHOOTING Troubleshooting Table 11.3 Troubleshooting (1/4) Symptom Probable Cause Countermeasures 1. Power does not turn Voltage is not measured Check the power system. (confirmed by a tester). Fuse inside the driver is blown. Repair the driver. (Refer to (11.1). (3). ①.) 2.
  • Page 170 Discontinue MAINTENANCE AND TROUBLESHOOTING Table 11.3 Troubleshooting (2/4) Symptom Probable Cause Countermeasures 7. Alarm 1 lights. The actuator is loosely tightened. Retighten the bolts. Retighten without fail. Load is excessive. Reduce speed. DC power (24V) is not supplied for Supply 24VDC (Refer to 3. 2). brake built-in series.
  • Page 171 Discontinue MAINTENANCE AND TROUBLESHOOTING Table 11.3 Troubleshooting (3/4) Symptom Probable Cause Countermeasures 11. Alarm 6 lights. Power voltage is low. Check the power system. Instantaneous power failure has Check the power system. occurred. Power resumed immediately after Turn off power, and turn power off.
  • Page 172 When the output axis of the actuator is manually rotated without power-on with the driver and actuator connected, torque pulsation may be felt, but this is not abnormal condition. When the above countermeasures will not help troubleshooting, contact CKD. [SMB-14E]...

  • Page 173: System Initializing

    Discontinue MAINTENANCE AND TROUBLESHOOTING System Initializing System initializing means to clear all NC programs, and set parameters to the default values. For this, dialog terminal or a personal computer is required. Procedure: ① Connect the dialog terminal to CN1. ② Select terminal mode on the dialog terminal, and input L17_12345 ③...

  • Page 174: Communication Functions

    Discontinue COMMUNICATION FUNCTIONS 12. COMMUNICATION FUNCTIONS Through RS-232C port (CN1), operation mode switching and data setting can be done with a dedicated dialog terminal or a personal computer. Communication Codes (1) Kinds of Code Communication codes are classified into three code groups starting with M, S, and L, each having the functions as described below.
  • Page 175 Discontinue COMMUNICATION FUNCTIONS (3) NC Program Input (L11) and its Return Value Inputting NC program to the ABSODEX driver will send out NC program following L11. The return value is "0" for normal, and if there is a problem with the sent NC program, the block number in question and the error content number are returned.

  • Page 176: Communication Code List

    Discontinue COMMUNICATION FUNCTIONS Communication Code List (1) Operation Mode Switching Table 12.2 Operation Mode Switching Code Code Description Input Data Type Remarks Power-on mode. (Note) Automatic mode M1 CR Mode in which programs are run continuously. Mode in which programs are executed block by Single block mode M2 CR block.
  • Page 177 Discontinue COMMUNICATION FUNCTIONS (2) Motion Instructions Table 12.3 Motion Instruction Codes Code Description Input Data Type Remarks Auto run, single block Start S1 CR Same function as CN3 program start input Program operation S2 CR Same function as CN3 program stop input stop S3_[NC data]CR MDI &...
  • Page 178 Discontinue COMMUNICATION FUNCTIONS (3) Data Input and Output Table 12.4 Data Input and Output Code (1/3) Code Description Input Data Type Output Data Type Alarm Number Output L1 CR [Alarm Number] CR LF (Example) ALM1_ALM2----CR LF I/O Status Output L2_[IO Address] CR [IO Data] CR LF (Note) 4 digit, HEX display 4 digit, HEX display...
  • Page 179 Discontinue COMMUNICATION FUNCTIONS Table 12.4 Data Input and Output Code (2/3) Code Description Input Data Type Output Data Type Not to be used Parameter Data L9_[Parameter Number]CR [Data]CR LF Output (Example) (Example) L9_8 CR 135168 CR LF (Pulse unit) (EEPROM data output) L9_8A CR 90 CR LF (Angle unit) (EEPROM data output)
  • Page 180 Discontinue COMMUNICATION FUNCTIONS Table 12.4 Data Input and Output Code (3/3) Code Description Input Data Type Output Data Type Change of Program L18_[Current Program Number] 0 CR LF Number _[New program number] CR (Example) L18_100_200 CR O100 changed to O200. Output of the Next L19 CR [NC Program] CR LF...

  • Page 181: Changing The Baud Rate

    Discontinue COMMUNICATION FUNCTIONS Changing the Baud Rate The default setting of the baud rate is 9600 baud. To change, turn the rotary switch (SW1) inside the driver in the desired position. For details, refer to Chapter 15. DRIVER SPECIFICATIONS. Table 12.5 Changing the Baud Rate Setting Baud rate 1200...
  • Page 182 Discontinue COMMUNICATION FUNCTIONS Note: To use the dialog terminal (AX0170H), adjust to 9600 baud [default setting]. Note: Do not touch the other switches except for SW1. Make sure to disconnect the power before changing CAUTION: the switch setting to avoid possible electric shock. Even after disconnecting the power, keep away for approximately five minutes until the electric charge accumulated in capacitors are discharged.

  • Page 183: Communication Methods

    Discontinue COMMUNICATION FUNCTIONS Communication Methods Writing data into and reading from ABSODEX driver using communication codes requires a dialog terminal or a personal computer. (1) Communication Examples The following are the examples of control method of ABSODEX using the communications. Connect the dialog terminal or a PC and communicate.
  • Page 184 Discontinue COMMUNICATION FUNCTIONS (2) Example of RS-232C Interface Cable Connection ① PC side Dsub 25-pin PC Side (PC9801 Series) Driver Side Signal name Pin No. Pin No. Signal name FGND DGND Connector: Dsub 25-pin Plug: XM2A-2501 Hood: XM2S-2511 [Omron] Fig. 12.2 Example of RS-232C Cable Connection (Dsub 25-pin) ②...
  • Page 185 Discontinue COMMUNICATION FUNCTIONS ③ PC side Dsub 9-pin (DOSV machine) PC Side (DOSV machine) Driver Side Signal name Pin No. Pin No. Signal name FGND DGND FG ◎ Connector: D-sub 9-pin Plug: XM2D-0901 [Omron] Hood: XM2S-0913 [Omron] Fig. 12.4 Example of RS-232C Cable Connection (Dsub 9-pin) [SMB-14E] —...
  • Page 186 Discontinue COMMUNICATION FUNCTIONS N0. 7 and 9 pins of CN1 are designed for use with a CAUTION: dedicated dialog terminal. When connecting other than this to CN1, do not connect to No. 7 and 9 pins so that the driver will not be damaged by incorrect wiring.
  • Page 187 Discontinue COMMUNICATION FUNCTIONS — MEMO — [SMB-14E] — 12-14 —...

  • Page 188: Support For European Standard

    Discontinue SUPPORT FOR EUROPEAN STANDARD 13. SUPPORT FOR EUROPEAN STANDARD [H] The following models of ABSODEX are certified to EN standards by Tuf Lineland. (The support is provided with optional models.) Models Certified to European Standards Table 13.1 List of Models Certified to European Standards Model Series Actuator...

  • Page 189: Applicable Standards

    Discontinue SUPPORT FOR EUROPEAN STANDARD The 3-phase 200VAC or 200 to 230VAC specification driver can be used for the single phase if the maximum output torque of the model is within 50N-m. In this case, connect the rated single-phase power across L1 and L2. Applicable Standards (1) Low voltage directives Driver: EN50178...

  • Page 190: Precautions On Operation In Europe (Eu Member Country)

    Discontinue SUPPORT FOR EUROPEAN STANDARD Precautions on Operation in Europe (EU member country) (1) Installation condition Be sure to observe the following installation conditions to operate our product safely. Installation category: Category II Pollution degree: Class 2 (2) Protection against electric shock The product is designed to comply with class I, where only basic isolation is provided.
  • Page 191 Discontinue SUPPORT FOR EUROPEAN STANDARD (6) Dialog terminal Check if the dialog terminal complies with the standard applied to the final product in which ABSODEX is installed. For the judgment of danger, refer to EN1050. For robots, refer to EN775, ANSI/RIA R15.06 and ISO 10218. (7) Test operation Perform test operation in the final installation state according to the description given in EN50178 (insulation resistance 9.4.5.4, visual inspection 9.4.1, and operation test 9.4.7).
  • Page 192 Discontinue SUPPORT FOR EUROPEAN STANDARD (11) Emergency stop The category of the stopping function of the equipment in which ABSODEX is installed depends on the danger degree. Category 2 is insufficient for the emergency stop in most cases. Use an electromagnetic switch or other electric parts to shut off from the main power supply or take similar measures.

  • Page 193: Installation Method

    Discontinue SUPPORT FOR EUROPEAN STANDARD Installation Method Figs. 13.2 and 13.3 indicate installation methods. Install the designated filter and ferrite core in the inputs and outputs of the driver and build in a conductive enclosure. Strip the motor and resolver cables of sheath and use a grounding (FG) clamp or the like to make the shield into contact with the enclosure.
  • Page 194 Discontinue SUPPORT FOR EUROPEAN STANDARD Enclosure 筐 体 Driver ド ラ イ バ Ｃ Ｋ Ｄ ABSODEX D R IV ER H TY PE Surge protector サ ー ジ プ ロ テ ク タ MON. POWER Ferrite core フ ェ ラ イ ト コ ア POWER A C1 00 V 5 0 /6 0H z...
  • Page 195 Discontinue SUPPORT FOR EUROPEAN STANDARD Wind each of 2mm U, V and W cables 9 turns. Fig. 13.4 Ferrite Core 1 Table 13.4 Parts to be Used Specification Applicable to Model Manufacturer Parts 3 phases HF3020C-TOA SOSHIN ELECTRIC CO., LTD. Input filter Single phase NF2015A-OD...
  • Page 196 Discontinue SUPPORT FOR EUROPEAN STANDARD Table 13.5 Rated Input Current of Driver and Rated Current of Circuit Breaker Rated Input Rated Current of Driver Model Rated Voltage Current (A) Circuit Breaker (A) Single-phase 100 to 115VAC, 50/60Hz AX9006H 3-phase 200 to 230VAC, 50/60Hz Single-phase 200 to 230VAC, 50/60Hz Single-phase 100 to 115VAC, 50/60Hz AX9009H...
  • Page 197 Discontinue SUPPORT FOR EUROPEAN STANDARD On the actuator side, strip the motor and resolver cables of the sheath as close to the actuator as possible, and ground the shield. (Refer to Fig. 13.5.) Grounding (FG) clamp Equipment (conductive part) Fig. 13.5 Grounding Example on Actuator Side [SMB-14E] —...
  • Page 198 Discontinue SUPPORT FOR EUROPEAN STANDARD Connect the grounding cable to the protective grounding terminal of the accessory bracket of the ABSODEX driver to assure safety. (One of two brackets is provided with protective grounding terminals.) Leave part A (NC terminal) unconnected. Refer to Figs.
  • Page 199 Discontinue SUPPORT FOR EUROPEAN STANDARD P OW E R 3AC2 00V 50/6 0Hz CN 1 C N3 AB S OD E X B K+ B K- C KD ABS ODEX MOD EL : AX9 022H -K SERI AL:1 2345 67 MADE IN JAPAN Bracket with protective Grounding terminal installation...
  • Page 200 Discontinue SUPPORT FOR EUROPEAN STANDARD Fig. 13.8 indicates the installation method of the driver. The driver can be installed on either the front or back side. Fix in the correct position, using bolts. Blanking hole 抜 き 穴 Grounding cable ア...
  • Page 201 Discontinue SUPPORT FOR EUROPEAN STANDARD The end of the accessory motor cable is shown in Fig. 13.9. The cable to be connected with the ferrite core is shorter by 350mm than the FG, BK+ and BK- cables. ４ 芯 の 場 合 In case of 4-conductor cable ６...

  • Page 202: Actuator Specifications

    Discontinue ACTUATOR SPECIFICATIONS 14. ACTUATOR SPECIFICATIONS AX1000 Series [H] Series with high precision (indexing accuracy, output axis runout accuracy, etc.) Table 14.1 Actuator Specifications Item AX1022 AX1045 AX1075 AX1150 AX1210 1. Continuous Output Torque (N·m) 2. Maximum Output Torque (N·m) 3.

  • Page 203: Ax2000 Series

    Discontinue ACTUATOR SPECIFICATIONS AX2000 Series [H] Small diameter series convenient for cable wiring and piping; compact models (AX2006 and AX2012) and models with a hollow fixed shaft (AX2021 and AX2042) are provided. Table 14.2 Actuator Specifications Item AX2006 AX2012 AX2021 AX2042 1.

  • Page 204: Ax3000 Series

    Discontinue ACTUATOR SPECIFICATIONS AX3000 Series [H] Compact and space saving design series Table 14.3 Actuator Specifications Item AX3022 AX3045 AX3075 1. Continuous Output Torque (N·m) 2. Maximum Output Torque (N·m) 3. Maximum Rotation Speed (rpm) 100 (180) (Note 1) 4. Allowable Axial load 2200 5.

  • Page 205: Ax4000 Series

    Discontinue ACTUATOR SPECIFICATIONS AX4000 Series [H] Large hollow hole diameter convenient for cable wiring and piping Series with many models and options Table 14.4 Actuator Specifications Item AX4009 AX4022 AX4045 AX4075 1. Continuous Output Torque (N·m) 2. Maximum Output Torque (N·m) 3.
  • Page 206 Discontinue ACTUATOR SPECIFICATIONS Table 14.5 Actuator Specifications Item AX4150 AX4300 AX4500 1. Continuous Output Torque (N·m) 2. Maximum Output Torque (N·m) 3. Maximum Rotation Speed (rpm) 4. Allowable Axial load 20000 5. Allowable Moment Load (N·m) 6. Output Axis Inertia Moment 0.2120 0.3260 0.7210...
  • Page 207 Discontinue ACTUATOR SPECIFICATIONS Table 14.6 Specifications of Electromagnetic Brake (option) AX4075 AX4022 Applicable Model AX4150 AX4045 AX4300 1. Type Non-backlash dry off-brake 2. Rated voltage 24VDC 3. Power supply capacity 4. Rated current 1.25A 2.30A 5. Static friction torque 35N·m 200N·m 6.

  • Page 208: Ax5000 Series

    Discontinue ACTUATOR SPECIFICATIONS AX5000 Series [H] Series with built-in pneumatic brake; best for post-stop load application work because the output axis is clamped when it is stopped Table 14.7 Actuator Specifications Item AX5022 AX5045 AX5075 AX5150 AX5210 1. Continuous Output Torque (N·m) 2.
  • Page 209 Discontinue ACTUATOR SPECIFICATIONS The brake torque indicates the value at a pneumatic CAUTION: pressure of 0.5MPa. The brake is applied with a pneumatic pressure and released with a spring force. Do not use it to decelerate or stop the rotating output axis.

  • Page 210: Ax8000 Series

    Discontinue ACTUATOR SPECIFICATIONS AX8000 Series [H] Series best for rotation positioning in environment prone to water splashes or much dust Table 14.8 Actuator Specifications Item AX8045 AX8070 1. Continuous Output Torque (N·m) 2. Maximum Output Torque (N·m) 3. Maximum Rotation Speed (rpm) 100 (180) (Note 1) 4.
  • Page 211 Discontinue ACTUATOR SPECIFICATIONS Table 14.9 Actuator Test Specifications Item AX8045 AX8070 1. Table Top Verticality (mm) 0.015 2. Side Run-out on Table Top (mm) 0.015 3. Degree of Parallel Between Table Top 0.02 and Housing Bottom (mm) 4. Degree of Right Angle Between Table 0.02 Top and Housing Side (mm)
  • Page 212 Discontinue ACTUATOR SPECIFICATIONS AX2000 Series [GH] Series featuring easy maintenance due to compatibility between actuator and driver [GH] Table 14.10 Actuator Specifications Item AX4150G AX4300G AX4500G 1. Continuous Output Torque (N·m) 2. Maximum Output Torque (N·m) 3. Maximum Rotation Speed (rpm) 4.
  • Page 213 Discontinue ACTUATOR SPECIFICATIONS [GH] Table 14.11 Specifications of Electromagnetic Brake (option) Applicable Model AX4150G/AX4300G 1. Type Non-backlash dry off-brake 2. Rated voltage 24VDC 3. Power supply capacity 4. Rated current 2.3A 5. Static friction torque 200N·m 6. Armature release time (brake-on) Within 50msec 7.

  • Page 214: Driver Specifications 1) General Specifications

    Discontinue DRIVER SPECIFICATIONS 15. DRIVER SPECIFICATIONS General Specifications Table 15.1 H Type Driver Specifications Item Description ① 200VAC±10%, 3 phase (standard) (Note 1) ② 100VAC±10%, single phase (optional code J1) 1. Power ③ 220VAC-10% to 230VAC +10%, 3 phase (J2 option) (Note 1) (Note 2) 2.
  • Page 215 Discontinue DRIVER SPECIFICATIONS [GH] Table 15.2 GH Type Driver Specifications Item Description 1. Power 200VAC-10% to 230VAC +10%, 3 phase 2. Power frequency 50/60Hz 3. Configuration Open modular type (driver, and controller) When used: 0 to 50℃, Humidity: 20 to 90%RH, 4.

  • Page 216: Performance Specifications

    Discontinue DRIVER SPECIFICATIONS Performance Specifications Table 15.3 H Type Driver Performance Specifications Item Description 1. Number of Controlled 1 axis, 540672 pulses/rotation (Name: Axis "A") Axes 2. Angle Setting Unit Degree, pulse, and number of indexes 3. Angle Setting 0.001°, 1 pulse (= About 2.4 seconds [0.00067 degrees] Minimum Unit 4.
  • Page 217 Discontinue DRIVER SPECIFICATIONS [GH] Table 15.4 GH Type Driver Performance Specifications Item Description 1. Number of Controlled 1 axis, 540672 pulses/rotation (Name: Axis "A") Axes 2. Angle Setting Unit Degree, pulse, and number of indexes 3. Angle Setting 0.001°, 1 pulse (= About 2.4 seconds [0.00067 degrees] Minimum Unit 4.
  • Page 218 Discontinue DRIVER SPECIFICATIONS Analog, digital, and frame ground (Protective earth) are short circuited within the driver. Programs and parameters are re-writable up to 100,000 times. For external, and installation dimensions, refer to the equipment brochure. The NC program is stored in intermediate codes and the number of characters that can be entered is not constant.

  • Page 219: I/O Signal Specifications

    Discontinue DRIVER SPECIFICATIONS I/O Signal Specification For the layout and signal name of the I/O pins of the connector (CN3) connected with the programmable logic controller, refer to Chapter 5. "HOW TO USE I/O." For the connection method, refer to Chapter 3. "SYSTEM CONFIGURATION AND WIRING." RS -232C Signal Specifications (1) Communication Specifications Table 15.5 RS-232C Signal Specifications...

  • Page 220: Appendix 1 Program Chart

    Discontinue APP. 1 PROGRAM CHART APPENDIX 1 PROGRAM CHART ( / ) Machine Name: Model: AX System Name: Serial No. Program No. Block No. NC Code Remarks [SMB-14E] — I —...

  • Page 221: Appendix 2 Parameter Record Table

    Discontinue APP. 2 PARAMETER RECORD TABLE APPENDIX 2 PARAMETER RECORD TABLE (1/3) Machine Name: Model: AX System Name: Serial No. Copy of Parameter Description Unit Setting Range Initial Value Setting Value Cam Curve 1:MS, 2:MC, 3:MT, 1 to 5 4:TR, 5:MC2 Acceleration and deceleration time of 0.01 to 50.0 MC 2 curve...
  • Page 222 Discontinue APP. 2 PARAMETER RECORD TABLE APPENDIX 2 PARAMETER RECORD TABLE (2/3) Machine Name: Model: AX System Name: Serial No. Parameter Copy of Description Unit Setting Range Initial Value Setting Value In-position sampling times 1 to 2000 Times Upper limit for the amount of position 1 to 540672 10000 Pulse...
  • Page 223 Discontinue APP. 2 PARAMETER RECORD TABLE APPENDIX 2 PARAMETER RECORD TABLE (3/3) Machine Name: Model: AX System Name: Serial No. Parameter Copy of Description Unit Setting Range Initial Value Setting Value Pulse rate change 1:1 time, 2: 2 times, 3: 4 times, 1 to 5 4: 8 times, 5:16 times I/O program number selection method...

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