Oriental motor AZX Series Operating Manual
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Oriental motor AZX Series Operating Manual

Motorized actuator equipped
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Servo Motor
AZX Series /
Motorized Actuator
equipped with AZX Series
EtherNet/IP™ Compatible Driver
OPERATING MANUAL
Software Edition
Thank you for purchasing an Oriental Motor product.
This Operating Manual describes product handling procedures and safety precautions.
• Please read it thoroughly to ensure safe operation.
• Always keep the manual where it is readily available.
HM-60470-2
Introduction
Before starting operation
Operation
I/O signals
Power removal function
Control via EtherNet/IP
Parameter list
Troubleshooting
Extended function
Appendix

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  • Page 1 HM-60470-2 Servo Motor Introduction AZX Series / Before starting operation Motorized Actuator Operation equipped with AZX Series I/O signals EtherNet/IP™ Compatible Driver Power removal function OPERATING MANUAL Software Edition Control via EtherNet/IP Parameter list Troubleshooting Extended function Appendix Thank you for purchasing an Oriental Motor product.

  • Page 2: Table Of Contents

    Introduction Introduction .................................. 8 Before using the product ..................................8 Related operating manuals ..................................8 How to use operating manuals................................8 Screen display of MEXE02 software ..............................9 Overview of the product ............................10 Safety precautions ..............................11 Graphical symbols on the driver's front panel ........................... 12 Description of warning ..................................
  • Page 3 Macro operation .................................84 Types of macro operation .................................. 84 JOG operation ......................................85 High-speed JOG operation ................................87 Inching operation ....................................89 Combined JOG operation .................................. 91 Continuous operation ..................................93 Coordinates management ............................95 Overview of coordinates management ............................95 Coordinate origin ....................................100 Parameters related to ABZO sensor .............................101 Mechanism settings parameter ..............................102...
  • Page 4 I/O signals ..................................172 Input signals ......................................172 Output signals ......................................172 Operation of power removal function .........................173 Transition to power removal status ..............................173 Return from power removal status ..............................174 Failure detection of power removal function ...........................175 Related functions ..............................176 Input signal ......................................176 Output signals ......................................176 Parameters ......................................177 Alarms ........................................178...
  • Page 5 Operation I/O event R/W commands........................225 Base address of operation I/O event ............................225 Parameter IDs for operation I/O event R/W commands .......................225 Protect release commands .............................226 Extended operation data setting R/W commands.....................227 Parameter R/W commands .............................228 (p4) Base setting parameters ................................228 (p5) Motor &...
  • Page 6 Electronic damper function ................................281 Cumulative load ...............................282 Load factor monitor ..............................284 Latch function ................................285 Changing the function of the HOME PRESET switch ..................288 Change the assignment of the phase A and phase B outputs .................289 Simulating the driver operation ..........................290 Preparation and operating procedure for driver simulation mode ..................291 Coordinates ......................................293 Monitor ........................................294...
  • Page 7 Introduction This part explains the product overview and safety precautions in addition to the types and descriptions about operating manuals.  Table of contents Introduction ..........8 1-1 Before using the product ........8 1-2 Related operating manuals ......8 1-3 How to use operating manuals ....8 1-4 Screen display of MEXE02 software ..9 Overview of the product ......

  • Page 8: Introduction

    • Motorized Actuator Function Setting Edition How to use operating manuals To use the product, read both the Hardware Edition and the Software Edition (this document) of the AZX Series operating manuals. The Hardware Edition describes installation, connection, and others.

  • Page 9: Screen Display Of Mexe02 Software

    Introduction Screen display of MEXE02 software When the screen display of the MEXE02 software is described, it may be indicated using a number such as "(p4)" described in front of the parameter type. Example of description MEXE02 code Name Description Setting range Initial value Sets the starting speed for stored data...

  • Page 10: Overview Of The Product

    Overview of the product Overview of the product „ Control methods Operation is performed via Implicit communication (periodic communication) of EtherNet/IP. „ Setting methods of operation data and parameters Operation data and parameters can be set via EtherNet/IP or using the support software MEXE02. „...

  • Page 11: 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 12: Graphical Symbols On The Driver's Front Panel

    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, electric shock, or injury.

  • Page 13: Description Of Warning

    Safety precautions Description of warning A warning about handling precautions is described on the driver. Electrical hazard warning label Be sure to observe the description contents when handling the product. Material: PET...

  • Page 14: Precautions For Use

    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. Check on the Oriental Motor Website for the model of cables. 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 15 Before starting operation This part explains contents to be performed before starting operation.  Table of contents Operation preparation flow ....16 Copy the ABZO information (fixed value) to the driver ..... 17 Setting of resolution ......18 Home setting .......... 20 Backup of data ........

  • Page 16: Operation Preparation Flow

    Operation preparation flow Operation preparation flow Use the MEXE02 software to prepare for operation. The procedures for a motor and a motorized actuator are different. Prepare for operation according to a product used. Motors (Standard type / Geared type) Motorized actuators Setting of resolution p.18 Copying the setting value of the...

  • Page 17: Copy The Abzo Information (Fixed Value) To The Driver

    Copy the ABZO information (fixed value) to the driver Copy the ABZO information (fixed value) to the driver For parameters of a motorized actuator, the different values have been stored in the ABZO sensor and the driver, respectively. The values based on the product specifications such as the recommended macro operation or coordinate information are stored in the ABZO sensor of a motorized actuator.

  • Page 18: Setting Of Resolution

    Setting of resolution Setting of resolution Set the resolution when using in combination with a mechanism, such as a geared motor or a motorized actuator. If the "Electronic gear A" and "Electronic gear B" parameters are set, the resolution per revolution of the motor output shaft can be set.
  • Page 19 Setting of resolution z Calculation example 2: Rotary table • When a rotary table that moves by 360° per revolution should be moved by 0.01° per step. • Gear ratio: 10 (A geared motor with a gear ratio of 10 is used) Electronic gear B Travel amount per revolution Resolution on mechanism = 1,000 ×...

  • Page 20: Home Setting

    Home setting Home setting The home has not set at the time of shipment. Before starting operation, be sure to set the home. Perform the home setting only once initially. Once the home is fixed, the home information is retained even if the power supply is shut off.

  • Page 21: Backup Of Data

    Backup of data Backup of data There are two methods to backup the contents set in the MEXE02 software as shown below. „ Create to save the data file The data edited in the MEXE02 software or the data read from the driver is saved as a file. Click [Save As] under the [File] menu.
  • Page 23 Operation This part explains the operation functions and the parameters.  Table of contents Flow of settings necessary for Macro operation ........84 operation ..........24 5-1 Types of macro operation ......84 5-2 JOG operation ..........85 Stored data (SD) operation ....25 5-3 High-speed JOG operation ......

  • Page 24: Operation

    Before performing operation, read this section to understand the operation flow. : Describes in this manual. : Refer to AZX Series OPERATING MANUAL Hardware Edition. : The title of the reference description. Note that the title number in the reference destination may be changed. Use the title name when checking the reference destination.

  • Page 25: Stored Data (Sd) Operation

    Stored data (SD) operation Stored data (SD) operation Stored data operation is operation that sets the operation data such as the motor operating speed and position (travel amount) and executes. *Before starting operation, be sure to set the home. Types of stored data (SD) operation Operation type Speed Speed...
  • Page 26 Stored data (SD) operation „ Method of operation z Positioning stored data (SD) operation Setting the motor operating speed and position (travel amount), and other items as operation data can perform trapezoidal drive from the present position toward the target position. The motor starts rotating at the starting speed and accelerates until it reaches the operating speed.
  • Page 27 Stored data (SD) operation „ Setting method of target position There are three methods to set the target position as shown below. z Absolute positioning Set the target position on coordinates with the home as a reference. Example: Setting when moving from the present position "100" to the target position "400" Present position Target position Home...

  • Page 28: Setting The Data

    Stored data (SD) operation Setting the data There are three methods of settings for stored data operation as shown below. z Operation data The operation type, the target position, the operating speed, the acceleration/deceleration rate, the torque limiting value, etc. necessary for stored data operation are set. z Operation I/O event The condition to generate an event necessary for the event jump function, the next data number and linked method of the operation when an event is generated, etc.
  • Page 29 Stored data (SD) operation MEXE02 Name Description Setting range*1 Initial value code −256: No link [Stop] −2: Operation data number after next one [ ↓↓ (+2)] Next data number Sets the next data number. −1 −1: Next operation data number [ ↓...
  • Page 30 Stored data (SD) operation z Position, Speed, Starting/changing rate, Stopping deceleration, Drive-complete delay time The target position, the operating speed, and the acceleration/deceleration rate (acceleration/deceleration time) necessary for stored data operation are set. y Positioning operation y Continuous operation Speed Speed Position (travel amount) Operating speed...
  • Page 31 Stored data (SD) operation z Loop count, Loop offset, Loop end number If the loop count, the loop offset, and the loop end number are set, the loop function is enabled. "Loop function" on p.55) z (Low) I/O event number, (High) I/O event number If the (Low) I/O event number and the (High) I/O event number are set, the event jump function is enabled.
  • Page 32 Stored data (SD) operation „ Operation data number selection There are two methods to select the operation data number to be started as shown below. • Direct selection (D-SEL0 to D-SEL7) • Selection by M0 to M7 inputs The priority is in order of the direct selection, and the M0 to M7 inputs. z Direct selection The direct selection is a method in which the operation data number is set with parameters and selected with D-SEL0 to D-SEL7 inputs.
  • Page 33 Stored data (SD) operation „ Timing chart z Positioning operation 2 ms or more 2 ms or more START input M0 to M7 inputs S-ON input 2 ms or less 2 ms or less READY output 2 ms or less 2 ms or less MOVE output IN-POS output...

  • Page 34: Positioning Sd Operation

    Stored data (SD) operation Positioning SD operation Positioning SD operation is operation that is executed with setting the motor operating speed, the position (travel amount), and other items to the operation data. When positioning SD operation is executed, the motor starts rotating at the starting speed and accelerates until it reaches the operating speed.
  • Page 35 Stored data (SD) operation „ Absolute positioning Set the target position on coordinates with the home as a reference. z Example: When the motor is operated from the command position 100 to the target position 8,600 Setting the operation data Position Speed Starting/changing rate...
  • Page 36 Stored data (SD) operation „ Incremental positioning (based on command position) Set the travel amount from the present command position to the target position. z Example: When the motor is operated from the command position 100 to the target position 8,600 Setting the operation data Position Speed...
  • Page 37 Stored data (SD) operation „ Incremental positioning (based on feedback position) Set the travel amount from the present feedback position to the target position. z Example: When the motor is operated from the feedback position 100 to the target position 8,600 Setting the operation data Position Speed...
  • Page 38 Stored data (SD) operation „ Wrap absolute positioning Set the target position within the wrap range to the operation data. z Example: When the motor is operated from the command position 100 to the target position 8,600 (Wrap setting range 18 revolutions, wrap offset ratio 50 %) Setting the wrap function Refer to "Wrap function"...
  • Page 39 Stored data (SD) operation „ Wrap proximity positioning Set the target position within the wrap range. Positioning SD operation is executed in the rotation direction near to the target position. z Example: When the motor is operated from the command position 100 to the target position 8,600 (Wrap setting range 18 revolutions, wrap offset ratio 50 %) Setting of wrap function MEXE02 code...
  • Page 40 Stored data (SD) operation „ Wrap forward direction absolute positioning Set the target position within the wrap range to the operation data. Positioning SD operation is always executed in the forward direction regardless the target position. z Example: When the motor is operated from the command position 100 to the target position 8,600 (Wrap setting range 18 revolutions, wrap offset ratio 50 %) Setting of wrap function MEXE02 code...
  • Page 41 Stored data (SD) operation „ Wrap reverse direction absolute positioning Set the target position within the wrap range. Positioning SD operation is always executed in the reverse direction regardless the target position. z Example: When the motor is operated from the command position 100 to the target position 8,600 (Wrap setting range 18 revolutions, wrap offset ratio 50 %) Setting of wrap function MEXE02 code...
  • Page 42 Stored data (SD) operation z Orbit comparison of positioning SD operation The wrap setting range should be 1 revolution, and the wrap offset ratio should be 50 %. "Wrap function" on p.103) The value in the square  represents the coordinate of the position where the motor stopped. Initial value o Value set in “Position”...

  • Page 43: Continuous Sd Operation

    Stored data (SD) operation Continuous SD operation Continuous SD operation is operation that is executed with setting the motor operating speed to the operation data. Setting a positive value to the operating speed continues to operate the motor at a constant speed in the forward direction and setting a negative value continues to operate it at a constant speed in the reverse direction.

  • Page 44: Link Method Of Operation Data

    Stored data (SD) operation Operating method 1. Turn the S-ON input ON. 2. Check the READY output is being ON. 3. Select the operation data number using the M0 to M7 inputs, and turn the START input ON. The READY output is turned OFF, and the motor starts operation. 4.
  • Page 45 Stored data (SD) operation „ No link (single-motion operation) Operation is executed once with a single operation data number. Related I/O signals Drive-complete delay time Internal speed command START input M0 to M7 inputs S-ON input MOVE output READY output IN-POS output SEQ-BSY output OPE-BSY output...
  • Page 46 Stored data (SD) operation „ Manual sequential operation Operation based on the operation data number set in the next data number is executed whenever the SSTART input is turned ON. This is a convenient method when multiple positioning operations are performed sequentially because there is no need to repeatedly select each operation data number.
  • Page 47 Stored data (SD) operation Timing chart 1. Turn the S-ON input ON. 2. Check the READY output is being ON. 3. Select the operation data number using the M0 and M7 inputs. 4. Turn the START input ON. The READY output is turned OFF, the SEQ-BSY output is turned ON, and the motor starts operation. 5.
  • Page 48 Stored data (SD) operation Related I/O signals Internal speed command START input SSTART input M0 to M7 inputs S-ON input MOVE output READY output IN-POS output SEQ-BSY output OPE-BSY output DELAY-BSY output SON-MON output MBC output D-END0 output D-END1 output D-END2 output M-ACT0 to M-ACT7 outputs M-CHG output...
  • Page 49 Stored data (SD) operation „ Automatic sequential operation Two or more operations are automatically executed in sequence. After one operation is completed, operation of the operation data number set in the "Next data number" is started after stop for the time set in the "Drive-complete delay time."...
  • Page 50 Stored data (SD) operation Timing chart 1. Turn the S-ON input ON. 2. Check the READY output is being ON. 3. Select the operation data number using the M0 and M7 inputs. 4. Turn the START input ON. The READY output is turned OFF, the SEQ-BSY output is turned ON, and the motor starts operation. 5.
  • Page 51 Stored data (SD) operation Related I/O signals Internal speed command START input M0 to M7 inputs S-ON input MOVE output READY output IN-POS output SEQ-BSY output OPE-BSY output DELAY-BSY output SON-MON output MBC output D-END0 output D-END1 output D-END2 output M-ACT0 to M-ACT7 outputs M-CHG output...
  • Page 52 Stored data (SD) operation „ Continuous sequential operation Operation based on the operation data number set in the "Next data number" is executed continuously without stopping the motor. If there is operation data that "0: No link" is set, the motor operates stored data operation sequentially and stops when the operation data of "No link"...
  • Page 53 Stored data (SD) operation Timing chart 1. Turn the S-ON input ON. 2. Check the READY output is being ON. 3. Select the operation data number using the M0 and M7 inputs. 4. Turn the START input ON. The READY output is turned OFF, the SEQ-BSY output is turned ON, and the motor starts operation. 5.
  • Page 54 Stored data (SD) operation Related I/O signals Internal speed command START input M0 to M7 inputs S-ON input MOVE output READY output IN-POS output SEQ-BSY output OPE-BSY output DELAY-BSY output SON-MON output MBC output D-END0 output D-END1 output D-END2 output D-END3 output M-ACT0 to M-ACT7 outputs M-CHG output...

  • Page 55: Sequence Function (Repetitive Operation)

    Stored data (SD) operation Sequence function (repetitive operation) There are three methods to link two or more operation data numbers to perform repetitive operation as shown below. The setting method of operation data varies depending on the number of repetitions. z Using the loop function ( next section) Use the loop function when operation is desired to repeat in the range of 2 to 255 times.
  • Page 56 Stored data (SD) operation z Example of use: When operation is transitioned to the operation data No. 2 after that from the operation data No. 0 to No. 1 is repeated three times. Setting the operation data Data Position Speed Starting/changing rate Stopping deceleration Operation type...
  • Page 57 Stored data (SD) operation z Offset of loop If an offset is set, the target position for positioning can be shifted by the amount set in the "Loop offset" while repeating the loop. Use for palletizing operation, etc. Example of use: When operation from the operation data No.
  • Page 58 Stored data (SD) operation „ Link function To perform repetitive operation infinitely, link from the operation data number where repetitive operation starts until that where it ends. Then, set the next operation data number of the operation data number where repetitive operation ends to that where it starts.

  • Page 59: Sequence Function (Branch Of Operation)

    Stored data (SD) operation Sequence function (branch of operation) „ Event jump function The event jump function is a function that branches the operation Event trigger detection Speed by ON-OFF of the signal set in the "Event trigger I/O"of the operation I/O event.
  • Page 60 Stored data (SD) operation z Types of event trigger „ ON edge „ OFF edge Trigger I/O Trigger I/O Trigger count Trigger count Internal timer Internal timer Event Event „ ON (msec) „ OFF (msec) Trigger I/O Trigger I/O Trigger count Trigger count Internal timer Internal timer...
  • Page 61 Stored data (SD) operation z Example of use: When absolute positioning operation of the operation data No. 0 is executed • Without R0 input: After operation of the operation data No. 0 is completed, the operation data No. 1 is started operating.

  • Page 62: Extended Operation Data Setting

    Stored data (SD) operation Extended operation data setting Specifications of operation data can be extended. „ Extended loop function The extended loop function is a function to execute loop operation for the number of times (256 times or more) that cannot be set in the operation data.
  • Page 63 Stored data (SD) operation Related extended operation data setting MEXE02 Initial Name Description Setting range code value Sets to the operation data number in Repeat start operation which extended loop operation is −1 data number −1: Disable started. 0 to 255: Operation data Sets the operation data number in number Repeat end operation...

  • Page 64: Stopping Movement

    Stored data (SD) operation „ Common setting and separate setting for acceleration/deceleration The acceleration/deceleration in stored data operation and continuous macro operation can be set as follows using the "Rate selection" parameter. • Common setting: The values set in the "Common acceleration rate or time" parameter and the "Common stopping deceleration"...
  • Page 65 Stored data (SD) operation „ Hardware overtravel Hardware overtravel is a function that limits the range of movement by installing the limit sensors (FW-LS, RV-LS) at the upper and lower limits of the moving range. If the "FW-LS/RV-LS input action" parameter is set, the motor can be stopped when the limit sensor is detected.

  • Page 66: Acceleration/Deceleration Unit

    Stored data (SD) operation 2-10 Acceleration/deceleration unit The unit of acceleration/deceleration can be set using the "Acceleration/deceleration unit" parameter. The acceleration/deceleration rate (kHz/s, ms/kHz) and acceleration/deceleration time (s) can be set as a unit. When "0: kHz/s" or "2: ms/kHz" is set When "1: s"...

  • Page 67: Direct Data Operation

    Direct data operation Direct data operation Overview of direct data operation Direct data operation is a function can start operation at the same time as rewriting of the data. It is suitable for applications that change the setting of the operation data frequently, such as changing the speed or travel amount according to a load.
  • Page 68 Direct data operation „ Application example 1 of direct data operation The position (travel amount) or the speed should be adjusted each time a load is changed because the feed rate is different in each load. z Setting example • Position (travel amount): Change as desired •...

  • Page 69: Output Data And Parameters Required For Direct Data Operation

    Direct data operation OUTPUT data and parameters required for direct data operation z Related Output data Initial Byte Name Description Setting range value 0: No setting 1: Absolute positioning 2: Incremental positioning (based on command position) 3: Incremental positioning (based on feedback position) Direct data operation This is used to set the operation 7: Continuous operation...
  • Page 70 Direct data operation „ Trigger setting This is a trigger to start operation at the same time as rewriting of data in direct data operation. The trigger setting is enabled only when the TRIG-MODE is set to "1: Start at ON level." z When the trigger setting is "0"...
  • Page 71 Direct data operation z When the data destination is set to "1: Buffer memory" If the TRIG is turned from OFF to ON or the data corresponding to the trigger is changed, the next direct data is saved in the buffer memory. When the data during operation is completed, operation of the buffer memory is automatically started.

  • Page 72: Return-To-Home Operation

    Return-to-home operation Return-to-home operation High-speed return-to-home operation High-speed return-to-home operation is operation to return to the mechanical home on the absolute coordinates set in advance. Since the home is recognized by the ABZO sensor, return-to-home operation can be executed at the same speed as that of the normal positioning operation without using an external sensor.
  • Page 73 Return-to-home operation „ Timing chart 1. Turn the S-ON input ON. 2. Check the READY output is being ON. 3. Turn the ZHOME input ON. The IN-POS output, the READY output, and the DCMD-RDY output are turned OFF, the MOVE output is turned ON, and the motor starts operation.

  • Page 74: Return-To-Home Operation

    Return-to-home operation Return-to-home operation Return-to-home operation is operation to detect the home using an external sensor. It is executed to return from the present position to the home when the main power supply and the control power supply is turned on or positioning operation is completed. There are three types of return-to-home operation shown below.
  • Page 75 Return-to-home operation Related parameters MEXE02 Initial Name Description Setting range code value −2,147,483,648 to Preset position Sets the preset position. 2,147,483,647 steps JOG/HOME/ZHOME command Sets the time constant for the 1 to 200 ms filter time constant command filter. JOG/HOME/ZHOME torque 0 to 10,000 Sets the torque limiting value.
  • Page 76 Return-to-home operation Related parameters MEXE02 Initial Name Description Setting range code value Sets whether to use the SLIT input together 0: Disable (HOME) SLIT detection when returning to the home. 1: Enable (HOME) ZSG signal Sets whether to use the ZSG output 0: Disable detection together when returning to the home.
  • Page 77 Return-to-home operation „ Operation sequence z 3-sensor mode When the limit sensor is detected during operation, the motor rotates in the reverse direction and pulls out of the limit sensor. The motor operates at the (HOME) Operating speed and stops when the ON edge of the HOME sensor is detected.
  • Page 78 Return-to-home operation When using the HOME sensor only (rotating machine etc.) If the limit sensor is not used, in case of a rotating mechanism for example, the sequence is as follows. Starting position of Starting direction of return-to-home Starting direction of return-to-home return-to-home operation operation: Positive direction operation: Negative direction...
  • Page 79 Return-to-home operation When the SLIT input and/or the ZSG output are used concurrently Even after return-to-home operation is completed, operation is continued until an external signal is detected. If an external signal is detected while the HOME sensor is ON, return-to-home operation is completed. Starting direction of return-to-home Starting direction of return-to-home Home detection signal...
  • Page 80 Return-to-home operation z 2-sensor mode The motor operates in the starting direction of return-to-home at the (HOME) Starting speed. When the limit sensor is detected, the motor rotates in the reverse direction and pulls out of the limit sensor at the (HOME) Last speed. After pulling out of the limit sensor, the motor operates according to the value set in the (HOME) Backward steps in 2 sensor home-seeking at the (HOME) Starting speed, and stops.
  • Page 81 Return-to-home operation When the SLIT input and/or the ZSG output are used concurrently Even after return-to-home operation is completed, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is completed. Starting direction of return-to-home Starting direction of return-to-home Home detection signal operation: Positive direction...
  • Page 82 Return-to-home operation z One-way rotation mode The motor operates in the starting direction of return-to-home at the (HOME) Operating speed, and it decelerates to a stop when the HOME sensor is detected. After that, the motor pulls out of the range of the HOME sensor at the (HOME) Last speed, operates according to the value set in the (HOME) Operating amount in uni-directional home- seeking at the (HOME) Starting speed, and stops.
  • Page 83 Return-to-home operation When the SLIT input and/or the ZSG output are used concurrently Even after return-to-home operation is completed, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is completed. Starting direction of return-to-home Starting direction of return-to-home Home detection signal operation: Positive direction...

  • Page 84: Macro Operation

    Macro operation Macro operation Macro operation is an operating method that turns a specific input signal ON to automatically execute operation corresponding to the signal. Macro operation includes JOG operation, inching operation, and continuous operation. The travel amount, the operating speed, the acceleration/deceleration, the stopping deceleration, etc. for each operation are set with parameters.

  • Page 85: Jog Operation

    Macro operation JOG operation In JOG operation, the motor operates continuously in one direction while the FW-JOG input or the RV-JOG input is being ON. If the signal having input is turned OFF, the motor decelerates to a stop. The motor operation can be stopped by inputting the operation stop signal.
  • Page 86 Macro operation „ Timing chart 1. Turn the S-ON input ON. 2. Check the READY output is being ON. 3. Turn the FW-JOG input (or RV-JOG input) ON. The READY output is turned OFF, the MOVE output is turned ON, and the motor starts operation. 4.

  • Page 87: High-Speed Jog Operation

    Macro operation High-speed JOG operation In high-speed JOG operation, the motor performs continuous operation in one direction while the FW-JOG-H input or the RV-JOG-H input is being ON. If the signal having input is turned OFF, the motor decelerates to a stop. The motor operation can be stopped by inputting the operation stop signal.
  • Page 88 Macro operation „ Timing chart 1. Turn the S-ON input ON. 2. Check the READY output is being ON. 3. Turn the FW-JOG-H input (or RV-JOG-H input) ON. The READY output is turned OFF, the MOVE output is turned ON, and the motor starts operation. 4.

  • Page 89: Inching Operation

    Macro operation Inching operation In inching operation, the motor performs positioning operation when the FW-JOG-P input or the RV-JOG-P input is turned from OFF to ON. The motor stops when it rotates by the number of steps set in "(JOG) Travel amount" parameter. „...
  • Page 90 Macro operation „ Timing chart 1. Turn the S-ON input ON. 2. Check the READY output is being ON. 3. Turn the FW-JOG-P input (or RV-JOG-P input) ON. The IN-POS output and the READY output are turned OFF, the MOVE output is turned ON, and the motor starts operation.

  • Page 91: Combined Jog Operation

    Macro operation Combined JOG operation In combined JOG operation, operation transitions in order of inching operation, JOG operation, and high-speed JOG operation while the FW-JOG-C input or the RV-JOG-C input is ON. The motor starts operation when the FW-JOG-C input or the RV-JOG-C input is turned from OFF to ON, and it decelerates to a stop when the input of an ON state is turned OFF.
  • Page 92 Macro operation „ Timing chart 1. Turn the S-ON input ON. 2. Check the READY output is being ON. 3. Turn the FW-JOG-C input (or RV-JOG-C input) ON. The READY output is turned OFF, the MOVE output is turned ON, and the motor starts inching operation. 4.

  • Page 93: Continuous Operation

    Macro operation Continuous operation The motor performs continuous operation at the operating speed corresponding to the operation data number being selected while the FW-POS input or the RV-POS input is ON. When the operation data number is changed during continuous operation, the speed will be changed. When the FW-POS input or the RV-POS input is turned OFF, the motor decelerate to a stop.
  • Page 94 Macro operation „ Timing chart 1. Turn the S-ON input ON. 2. Check the READY output is being ON. 3. Turn the FW-POS input (or RV-POS input) ON. The READY output is turned OFF, the MOVE output is turned ON, and the motor starts operation. 4.

  • Page 95: Coordinates Management

    Coordinates management Overview of coordinates management The AZX Series manages the position coordinates of the motor with the ABZO sensor (mechanical multi-rotation absolute sensor). The present coordinates are mechanically recorded inside the ABZO sensor. Therefore, even if the output shaft is rotated by an external force when the control power supply is in an OFF state, the absolute coordinates with respect to the home can be maintained.
  • Page 96 Coordinates management z Example of factory setting of the motor To use coordinates both in forward and reverse directions, 1,800 revolutions are divided into positive and negative revolutions, 50 % for each direction. Motor output shaft –900 to 900 revolutions –900 rev 900 rev z Setting example of motorized actuator...
  • Page 97 Coordinates management „ Wrap function The wrap function is a function to automatically preset the position information of the present position when the number of revolutions of the motor output shaft exceeds the set range. Setting the wrap offset can restrict the operation area of equipment or control an index table with coordinates on the positive and negative sides.
  • Page 98 Coordinates management z Setting example of index table This is an example in which the index table is made rotate once when the motor output shaft rotates by 18 revolutions. • Gear ratio of motor:18 Concept of initial coordinate To rotate the index table in both directions, 18 revolutions are divided into positive and negative revolutions, 50 % for each direction.
  • Page 99 Coordinates management z Relation between the wrap function and the 32-bit counter inside the driver The 32-bit counter inside the driver outputs the position information of the motor as the number of steps regardless of whether the wrap function is enabled or disabled. When the wrap function is enabled, the relation between the wrap coordinate and the 32-bit counter is shown below.

  • Page 100: Coordinate Origin

    Coordinates management Coordinate origin There are two types of homes for the AZX Series, a mechanical home and an electrical home. When coordinates are set, the ABSPEN output is turned ON. The following operations cannot be executed if coordinates are not set.

  • Page 101: Parameters Related To Abzo Sensor

    Parameters related to ABZO sensor With the AZX Series, the specifications of the ABZO sensor and parameters based on the pre-assembled mechanism to the motor are written in the ABZO sensor in advance. Normally, the setting of the ABZO sensor is prioritized than a parameter set via EtherNet/IP or using the MEXE02 software.

  • Page 102: Mechanism Settings Parameter

    Coordinates management „ When parameters of the wrap function are set z Setting example: When the wrap range is set to −50 to 50 revolutions 1. Change the "Initial coordinate generation & wrap coordinate setting" parameter to "1: Manual setting." 2.

  • Page 103: Initial Coordinate Generation & Wrap Coordinate Parameters

    Coordinates management Initial coordinate generation & wrap coordinate parameters These are parameters to be used when the coordinate system is generated. „ Wrap function Refer to p.97 for the wrap function. z Related operation types Set the wrap function when performing stored data operation shown below. •...
  • Page 104 Coordinates management z Setting example When setting the "Initial coordinate generation & wrap range offset ratio" parameter to "50 %" and the "Initial coordinate generation & wrap range offset value" parameter to "0 step" Example 1: Coordinates when the wrap setting range is 1 revolution and the resolution is 1,000 P/R MEXE02 code Name Setting value...
  • Page 105 Coordinates management z Setting condition of the "Initial coordinate generation & wrap setting range" parameter When the wrap range satisfies the following conditions, continuous rotation in the same direction can be performed while the home is maintained. 1,800 Condition 1) = To be an integer Wrap setting range Electronic gear B...
  • Page 106 Coordinates management „ Wrap offset function The position of the boundary point of the wrap range can be offset by using the mechanical home as a reference. The wrap offset is set with the "Initial coordinate generation & wrap range offset ratio" parameter and the "Initial coordinate generation &...

  • Page 107: Mechanism Limit

    Coordinates management „ RND-ZERO output The RND-ZERO output is a signal that is output for each division boundary point when the wrap range is divided evenly with the home as a reference. The number of divisions can be set with the "The number of the RND-ZERO output in wrap range" parameter. The RND-ZERO output is output when the "Wrap setting"...

  • Page 108: Mechanism Protection

    Coordinates management Mechanism protection In the case of a motorized actuator, the maximum values for the starting speed and operating speed are stored in the ABZO sensor at the time of shipment. (Fixed value) If the motor is operated in excess of the fixed value of the ABZO sensor, an alarm of Operation data error will be generated.
  • Page 109 Coordinates management Information that can be output in the I/O position output function is as follows. z Present coordinates The coordinates of the present position is sent in 32-bit data. Set the position information to be output using the "MON-REQ0 output data selection" parameter and the "MON- REQ1 output data selection"...
  • Page 110 Coordinates management z Present position plus alarm code The present position information and the alarm code are send in succession. Output example: When the feedback position and the alarm code are output while an alarm of Hardware overtravel (alarm code: 66h) is generated with the feedback position 300 steps. •...
  • Page 111 Coordinates management „ Pulse request function The pulse request function is a function to transmit the present position (absolute position) to the host controller using the phase A and phase B outputs. When the encoder counter of the host controller and the phase A and phase B outputs of the driver are connected to execute the pulse request function, the present position of the driver can be output as phase A and phase B pulses.

  • Page 112: Torque Limiting Function

    Torque limiting function Torque limiting function The maximum output torque of the motor can be limited. Sets when limiting the output torque of the motor according to a load. When the TRQ-LMT input is turned ON, the torque limiting function is enabled. Related operation data MEXE02 Name...
  • Page 113 I/O signals This part explains input signals and output signals.  Table of contents Overview of I/O signals ......114 Input signals .........136 1-1 Overview of input signals ......114 4-1 Operation control .........136 1-2 Overview of output signals .......116 4-2 Coordinates management ......151 1-3 Setting contents of input signals and 4-3 Management of driver ........154 output signals ..........117...

  • Page 114: Overview Of I/O Signals

    Overview of I/O signals Overview of I/O signals Overview of input signals „ Direct input Direct input (DIN) is a method in which a signal is input directly by connecting the I/O cable to the connector. If the composite input function is used, a single input can turn two signals ON simultaneously, achieving saving of wiring.
  • Page 115 Overview of I/O signals „ Virtual input Virtual input (VIR-IN) is a method in which a signal set in virtual input is input by using output of a signal set in the virtual input source. No wiring is required and this function can be used together with direct I/O because of the input method using the internal I/O.

  • Page 116: Overview Of Output Signals

    Overview of I/O signals Overview of output signals „ Direct output Direct output (DOUT) is a method in which a signal is output directly by connecting the I/O cable to the connector. If the composite output function is used, the logical combination result of two output signals can be output in a single signal.

  • Page 117: Setting Contents Of Input Signals And Output Signals

    Overview of I/O signals „ User output User output (USR-OUT) is a method in which a signal is output by using the internal I/O. Assign two types of signals (A and B) to a single user output. USR-OUT is output when the logical combination of A and B is established.
  • Page 118 Overview of I/O signals z ON signal dead-time MEXE02 code Name Description Setting range Initial value DIN0 ON signal dead-time DIN1 ON signal dead-time DIN2 ON signal dead-time Sets the ON signal dead-time of 0 to 250 ms DIN. DIN3 ON signal dead-time DIN4 ON signal dead-time DIN5 ON signal dead-time ON signal dead-time...
  • Page 119 Overview of I/O signals „ Virtual input z Virtual input function MEXE02 code Name Description Setting range Initial value Virtual input (VIR-IN0) 0: No function function Virtual input (VIR-IN1) 0: No function function Selects an input signal to be Input signals list assigned to VIR-IN.
  • Page 120 Overview of I/O signals z Virtual input 1 shot signal mode MEXE02 code Name Description Setting range Initial value Virtual input (VIR-IN0) 1 shot signal mode Virtual input (VIR-IN1) 0: 1-shot signal 1 shot signal mode Enables the 1-shot signal function is disabled function of VIR-IN.
  • Page 121 Overview of I/O signals z Composite logical combination MEXE02 code Name Description Setting range Initial value DOUT0 composite logical combination DOUT1 composite logical combination DOUT2 composite logical combination Sets the composite logical combination of 0: AND DOUT. 1: OR DOUT3 composite logical combination DOUT4 composite logical combination...
  • Page 122 Overview of I/O signals „ User output z User output source A function MEXE02 code Name Description Setting range Initial value User output (USR-OUT0) 128: CONST-OFF source A function Sets the output source A of Output signals list USR-OUT. p.125 User output (USR-OUT1) 128: CONST-OFF source A function...

  • Page 123: Signals List

    Signals list Signals list Assign I/O signals using the MEXE02 software or via industrial network. Input signals list To assign signals via EtherNet/IP, use the "Assignment number" in the table instead of the signal name. Refer to "4 Input signals" on p.136 for details about each signal. Assignment Signal name Function...
  • Page 124 Signals list Assignment Signal name Function number D-SEL7 Execute direct data operation. FW-JOG Execute JOG operation in the forward direction. RV-JOG Execute JOG operation in the reverse direction. FW-JOG-H Execute high-speed JOG operation in the forward direction. RV-JOG-H Execute high-speed JOG operation in the reverse direction. FW-JOG-P Execute inching operation in the forward direction.

  • Page 125: Output Signals List

    Signals list Output signals list To assign signals via EtherNet/IP, use the "Assignment number" in the table instead of the signal name. Refer to "5 Output signals" on p.156 for details about each signal. Assignment Signal name Function number Not used Set when the output terminal is not used.
  • Page 126 Signals list Assignment Signal name Function number FW-POS_R RV-POS_R M0_R M1_R M2_R M3_R M4_R M5_R M6_R M7_R TEACH_R MON-REQ0_R MON-REQ1_R MON-CLK_R PLSM-REQ_R R0_R Output in response to an input signal. R1_R R2_R R3_R R4_R R5_R R6_R R7_R R8_R R9_R R10_R R11_R R12_R R13_R...
  • Page 127 Signals list Assignment Signal name Function number Output when high-speed return-to-home operation or return-to-home operation HOME-END is completed, or position preset is executed. ABSPEN Output when coordinates have been set. ELPRST-MON Output when the electrical home coordinates are enabled. After preset, this signal is turned ON when preset is required again before the PRST-DIS motor is operated.
  • Page 128 Signals list Assignment Signal name Function number Output the status of the M0 input corresponding to the operation data number M-ACT0 during operation. Output the status of the M1 input corresponding to the operation data number M-ACT1 during operation. Output the status of the M2 input corresponding to the operation data number M-ACT2 during operation.
  • Page 129 Signals list Assignment Signal name Function number Output when the corresponding information is generated. INFO-RBT Refer to p.270 for the information list.

  • Page 130: Signal Type

    Signal type Signal type Direct I/O Direct I/O is I/O to be accessed via the I/O signal connector. „ Assignment to input terminals Use parameters to assign the input signals to the input terminals DIN0 to DIN5. Refer to "2-1 Input signals list" on p.123 for input signals that can be assigned. Connector Terminal Connector...
  • Page 131 Signal type „ Assignment to output terminals Use parameters to assign the output signals to the output terminals DOUT0 to DOUT5. Refer to "2-2 Output signals list" on p.125 for output signals that can be assigned. Connector Terminal Connector Terminal Initial value Initial value terminal number...
  • Page 132 Signal type „ Connection example with a current sink output circuit Values in parentheses ( ) in the figure are initial values. Host controller Driver IN0 (ZHOME) 4.7 kΩ 2.2 kΩ IN1 (FREE) 4.7 kΩ 2.2 kΩ IN2 (STOP) 4.7 kΩ 2.2 kΩ...
  • Page 133 Signal type „ Connection example with a current source output circuit Values in parentheses ( ) in the figure are initial values. Host controller Driver 24 VDC IN0 (ZHOME) 4.7 kΩ 2.2 kΩ IN1 (FREE) 4.7 kΩ 2.2 kΩ IN2 (STOP) 4.7 kΩ...

  • Page 134: Remote I/O

    Signal type Remote I/O Remote I/O is I/O to be accessed via EtherNet/IP. „ Assignment to input signals Use parameters to assign the input signals to R-IN0 to R-IN15 of remote I/O. Refer to "2-1 Input signals list" on p.123 for input signals that can be assigned. Remote I/O signal name Initial value Remote I/O signal name...
  • Page 135 Signal type „ Assignment to output signals Use parameters to assign the output signals to R-OUT0 to R-OUT15 of remote I/O. Refer to "2-2 Output signals list" on p.125 for output signals that can be assigned. Remote I/O signal name Initial value Remote I/O signal name Initial value...

  • Page 136: Input Signals

    Input signals Input signals Operation control „ Excitation switching signals These signals are used to switch the motor excitation state between excitation and non-excitation. z S-ON input Turning the S-ON input ON causes the motor to put into an excitation state. Turning it OFF causes the motor to put into a non-excitation state.
  • Page 137 Input signals z FREE input Turning the FREE input ON causes the motor current to shut off and the motor to put into a non-excitation state. The output shaft can be rotated manually since the motor holding force is lost. In the case of an electromagnetic brake motor, the electromagnetic brake is also in a sate of releasing the motor shaft.
  • Page 138 Input signals When the motor is in a non-excitation state 1. When the FREE input is turned ON, the electromagnetic brake is in a state of releasing the motor shaft. 2. When the FREE input is turned OFF, the electromagnetic brake is in a state of holding the motor shaft. FREE input S-ON input READY output...
  • Page 139 Input signals „ Operation stop signals These signals are used to stop the motor operation. The IN-POS output is not turned ON even if the operation stop signal is turned ON. z CLR input Turning the CLR input ON causes the position deviation counter to clear and the position deviation between the command position and the feedback position to set to zero.
  • Page 140 Input signals z STOP-SOFF input Turning the STOP-SOFF input ON causes the motor to stop according to the setting of the "STOP/STOP-SOFF input action" parameter. When the operation is stopped, the motor puts into a non-excitation state and the remaining travel amount is cleared.
  • Page 141 Input signals 2 ms or more STOP-SOFF input S-ON input 60 ms or less READY output 2 ms or less MOVE output 2 ms or less Internal speed command 220 ms or less 10 ms or less Excitation Motor excitation Non-excitation 60 ms or less 60 ms or less...
  • Page 142 Input signals How to stop the motor when the STOP-SOFF input is turned ON is "Immediate stop" 1. When the STOP-SOFF input is turned ON during operation, the motor stops at the command position at the time when the ON status of the STOP-SOFF input was detected, and puts into a non-excitation state. 2.
  • Page 143 Input signals How to stop the motor when the STOP input is turned ON is "Deceleration stop" (when the motor stops while the STOP input is ON) 1. When the STOP input is turned ON during operation, the motor starts the stopping movement. 2.
  • Page 144 Input signals How to stop the motor when the STOP input is turned ON is "Deceleration stop" (when the motor does not stop while the STOP input is ON) 1. When the STOP input is turned ON during operation, the motor starts the stopping movement. Even after the STOP input was turned OFF, the motor continues the deceleration operation until it stops.
  • Page 145 Input signals z FW-BLK input, RV-BLK input Turning the FW-BLK input or the RV-BLK input ON causes the operation to stop according to the setting of the "FW- BLK/RV-BLK input action" parameter. Turning the FW-BLK input ON causes the operation in the forward direction to stop, and turning the RV-BLK input ON causes that in the reverse direction to stop.
  • Page 146 Input signals 2 ms or more FW-BLK input S-ON input 2 ms or less READY output 2 ms or less MOVE output 2 ms or less Internal speed command Excitation Motor excitation Non-excitation Hold Electromagnetic brake Release When the setting of the FW-BLK/RV-BLK input action is "Deceleration stop" (when the motor does not stop while the FW-BLK input is ON) 1.
  • Page 147 Input signals When the setting of the FW-BLK/RV-BLK input action is "Immediate stop" 1. When the FW-BLK input is turned ON during operation in the forward direction, the motor stops. 2. The motor stops at the command position at the time when the ON status of the FW-BLK input was detected. 2 ms or more FW-BLK input S-ON input...
  • Page 148 Input signals z D-SEL0 to D-SEL7 inputs Turning any of the D-SEL0 to D-SEL7 inputs ON causes stored data operation based on the set operation data number to start. Operation can be performed only by turning any of the D-SEL0 to D-SEL7 inputs ON, the steps of selecting the operation data number can be saved.
  • Page 149 Input signals z NEXT input Turning the NEXT input ON during operation causes the present operation to forcibly transition to the operation data number linked. If the next data number is not set, the present operation is continued. This is a signal necessary when performing a different operation on the way of continuous operation.
  • Page 150 Input signals Setting example 2: Link multiple continuous operations having different speeds with continuous sequential operation, and change the operating speed in a desired timing. Setting the operation data Starting/ Stopping Data Speed Next data Operation type changing rate deceleration Link [Hz] number...

  • Page 151: Coordinates Management

    Input signals z FW-JOG-P input, RV-JOG-P input Turning the FW-JOG-P input ON causes inching operation in the forward direction to execute and turning the RV- JOG-P input ON causes that in reverse direction to execute. z FW-JOG-C input, RV-JOG-C input Turning the FW-JOG-C input ON causes combined JOG operation in the forward direction to execute and turning the RV-JOG-C input ON causes that in reverse direction to execute.
  • Page 152 Input signals „ Coordinate preset signals This signal is used to preset the mechanical home or the electrical home. z P-PRESET input Turning the P-PRESET input ON can rewrite the command position and the feedback position to the value set in the "Preset position"...
  • Page 153 Input signals „ Coordinate information monitor function signals These signals are used for the coordinate information monitor function. Refer to p.108 for details about the coordinate information monitor function. z MON-REQ0 input, MON-REQ1 input Select information to be output by the I/O position output function. Turning the MON-REQ input ON causes the information selected with each parameter to output.

  • Page 154: Management Of Driver

    Input signals Management of driver „ Status releasing signals These signals are used to release the signal or status that is not released automatically. z ALM-RST input If an alarm is generated, the motor will stop. At this time, turning the ALM-RST input from OFF to ON causes the alarm to reset (the alarm will be reset at the ON edge of the ALM-RST input).
  • Page 155 Input signals z SPD-LMT input Turning the SPD-LMT input ON causes the operating speed to limit. Related parameters MEXE02 Initial Name Description Setting range code value SPD-LMT speed limit type Selects the setting method of the speed 0: Ratio selection limit value.

  • Page 156: Output Signals

    Output signals Output signals Management of driver „ Driver status indication signals z ALM-A output, ALM-B output If an alarm is generated, the ALM-A output is turned ON and the ALM-B output is turned OFF. At the same time, the PWR/ALM LED on the driver will blink in red, and the motor will stop.

  • Page 157: Management Of Operation

    Output signals Management of operation „ Operation status indication z READY output The READY output is turned ON when stored data operation, macro operation, and return-to-home operation are ready to start. Input the operation start command to the driver after the READY output is turned ON. The READY output is turned ON when all of the following conditions are satisfied.
  • Page 158 Output signals z IN-POS output After completion of positioning operation, when the motor was converged in a position of the "IN-POS positioning completion signal range" parameter against the command position, the IN-POS output is turned ON. IN-POS positioning Target position completion signal range IN-POS output Related parameters...
  • Page 159 Output signals When the "VA mode selection" parameter is set to "2: Speed at feedback position & command position (only internal profile) When the motor feedback speed falls in the setting range of the "VA detection speed range" parameter with the target speed as a center, the VA output is turned ON.
  • Page 160 Output signals z HOME-END output The HOME-END output is turned ON in the following cases. • When high-speed return-to-home operation is completed. • When return-to-home operation is completed. • When the position preset is executed and coordinates are set. This signal is turned OFF in the following state. •...
  • Page 161 Output signals z ZV output When the feedback speed is equal to or less than the speed set in the "ZV detection speed range" parameter with the operating speed 0 r/min as a center, the ZV output is turned ON. Feedback speed Operating speed: 0 r/min ZV detection speed range...
  • Page 162 Output signals „ Motor position indication These signals are output according to the motor position. z ZSG output This signal is turned ON every time the feedback position of the motor increases by one round from the position having preset by "ZSG preset" of the MEXE02 software or the maintenance command "ZSG-PRESET" of EtherNet/IP. Related parameter MEXE02 Initial...
  • Page 163 Output signals z MAREA output The MAREA output is turned ON when the motor is within the set area. Related parameter MEXE02 Initial Name Description Setting range code value 0: Feedback position (ON after operation) 1: Command position (ON after Sets the criterion to turn the MAREA MAREA output operation)
  • Page 164 Output signals z AREA0 to AREA7 outputs The AREA outputs are turned ON when the motor is inside the set area. They are turned ON when the motor is inside the area even if the motor stops. Related parameters MEXE02 Initial Name Description...
  • Page 165 Output signals When the "AREA range setting mode" parameter is "1: Offset/width setting from the target position" O set Motor operation Width Width AREA output z FW-SLS output, RV-SLS output When the command position is exceeded the range set in the "Software limit" parameter when the "Software overtravel"...

  • Page 166: Latch Information Indication

    Output signals Latch information indication Refer to "5 Latch function" on p.285 for details about the latch function. z JUMP0-LAT output, JUMP1-LAT output The JUMP0-LAT output is turned ON when the (Low) I/O event number trigger is detected, and the JUMP1-LAT output is turned ON when the (High) I/O event number trigger is detected.

  • Page 167: Timing Chart

    Timing chart Timing chart „ Power ON 10 s or more Control power supply 2 s or less 1 s or less SYS-RDY output Fixed (output is set, and input is enabled) Not xed 4 s or less 1 s or less Preparation for EtherNet/IP Ready communication...
  • Page 168 Timing chart „ I/O signals (when the output is switched according to the ON edge of the input signal) Input signal (ON) Input signal (OFF) 2 ms or less 2 ms or less Output signals „ I/O signals (when the output is switched with the ON/OFF edge of the input signal) Input signal 2 ms or less 2 ms or less...
  • Page 169 Power removal function  Table of contents Overview of power removal function ..........170 Notes when using the power removal function .........171 I/O signals ..........172 3-1 Input signals ...........172 3-2 Output signals ..........172 Operation of power removal function ..........173 4-1 Transition to power removal status ..173 4-2 Return from power removal status ..174 4-3 Failure detection of power removal function ............175...

  • Page 170: Overview Of Power Removal Function

    Overview of power removal function Overview of power removal function The power removal function is a function that stops supplying the power to the motor by the hardware. This function shuts off the drive signal of the inverter circuit, which controls the motor current, by two input channels (HWTO1 input, HWTO2 input).

  • Page 171: Notes When Using The Power Removal Function

    Notes when using the power removal function Notes when using the power removal function z If the power removal function is activated, the output shaft may be rotated by external forces (gravity on a vertical axis, etc.). To hold the output shaft in position, install an external brake mechanism or equivalent.

  • Page 172: O Signals

    I/O signals I/O signals Input signals „ HWTO1 input, HWTO2 input These signals are used to activate the power removal function. Provide individual contacts for operating the HWTO1 input and the HWTO2 input. Specification External device Driver • Input voltage: 24 VDC±10 % 24 VDC 4.7 kΩ...

  • Page 173: Operation Of Power Removal Function

    Operation of power removal function Operation of power removal function Transition to power removal status If both the HWTO1 input and the HWTO2 input are turned OFF, the driver transitions to the power removal status, and the power supplying to the motor is shut off by the hardware, causing the motor to put into a non-excitation state. In the power removal status, the status of the motor and driver will be as follows.

  • Page 174: Return From Power Removal Status

    Operation of power removal function Return from power removal status If both the HWTO1 input and the HWTO2 input are turned ON, the power removal status is released. At this time, the motor remains in a non-excitation state. To excite the motor, turn the ETO-CLR input ON in a state where the S-ON input is ON (initial value: enabled at the ON edge).

  • Page 175: Failure Detection Of Power Removal Function

    Operation of power removal function Failure detection of power removal function Monitoring the input status of the HWTO1 and HWTO2 inputs and the output status of the EDM output relative to the inputs can detect the failure of the power removal function. When the power removal function is properly operated, the combination of each signal is any of the following.

  • Page 176: Related Functions

    Related functions Related functions Input signal „ ETO-CLR input After both the HWTO1 input and the HWTO2 input are turned ON to release the power removal function, if the ETO-CLR input is turned ON in a state where the S-ON input is ON, the motor puts into an excitation state. Related parameter MEXE02 Initial...

  • Page 177: Parameters

    Related functions Parameters „ ETO reset ineffective period The motor cannot be excited even if the ETO-CLR input is turned ON until the time set in the "ETO reset ineffective period" parameter is elapsed. Related parameter MEXE02 Initial Name Description Setting range code value...

  • Page 178: Alarms

    Related functions „ Signal criterion of ETO-CLR input If the "ETO reset action (ETO-CLR)" parameter is set to "2: ON-level," the motor can be excited at the ON level of the ETO-CLR input instead of the ON edge. (Initial value: ON edge) Related parameter MEXE02 Initial...
  • Page 179 Related functions „ Alarm of HWTO input circuit error If a time after either the HWTO1 input or the HWTO2 input is turned OFF until the other input is turned OFF exceeds the value set in the "HWTO delay time of checking dual system" parameter, an alarm will be generated. (HWTO input circuit error, alarm code 53h) At this time, the PWR/ALM LED blinks twice in red repeatedly.
  • Page 181 Control via EtherNet/IP This part explains how to control via EtherNet/IP.  Table of contents Guidance ..........182 Communication specifications ..185 Setting of IP address ......186 3-1 Setting method of IP address ....186 3-2 When using the IP address setting switches ............186 3-3 When setting with parameters ....188 3-4 When setting with DHCP server ....188 Implicit message ........189...

  • Page 182: Guidance

    Guidance Guidance If you are new to this product, read this section to understand the operation flow. This is an example how to set the operation data and start the motor using a scanner. STEP 1 Installation and connection  STEP 2 Before starting operation ...
  • Page 183 Guidance STEP 1 Check the installation and the connection. The figure shows models for three-phase 200 to 240 VAC input. Driver Connect to +24V, 0V Control Required power supply Scanner Connect to CN2 Cable for encoder*1*2 Connect to CN5 or CN6 Connect to CN3 EtherNet/IP cable Cable for motor*1...
  • Page 184 Guidance STEP 4 The scanner starts the motor. As an example, this section explains how to perform the following positioning operation. z Setting example • Operation data number: 1 • Position: 5,000 steps • Other settings: Initial values z Operation processing flow Descriptions are given using the scanner as the subject.

  • Page 185: Communication Specifications

    Communication specifications Communication specifications Communication standards EtherNet/IP (conforms to CT18) Vendor ID 187: Oriental Motor Co., Ltd. Device type 43: Generic Device Transmission rate 10/100 Mbps (autonegotiation) Communication mode Full duplex/Half duplex (autonegotiation) Shielded twisted pair (STP) cable Cable specifications straight-through/crossover cable, category 5e or higher is recommended Output (scanner →...

  • Page 186: Setting Of Ip Address

    Setting of IP address Setting of IP address The IP address, subnet mask, and default gateway are XXX. XXX. XXX. configured as shown in the figure, respectively. Fourth octet Third octet Second octet First octet Setting method of IP address The following three methods can be used to set the IP address, subnet mask, and default gateway.
  • Page 187 Setting of IP address z Fourth octet Set the fourth octet of the IP address using the IP address setting switches (IP ADDR ×16, ×1). The IP address setting switches are hexadecimal numbers. Convert the IP address from decimal to hexadecimal to set. Factory setting: ×16: 0, ×1: 0 (Setting of parameter or DHCP server is enabled) Setting example Setting of switches...

  • Page 188: When Setting With Parameters

    Setting of IP address When setting with parameters Set both the IP address setting switches of the driver to “0” and the “Configuration Control” parameter to “0: Parameter. ” The parameters and the DHCP server cannot be used in combination. Related parameters MEXE02 Initial...

  • Page 189: Implicit Message

    Implicit message Implicit message Implicit message format This section shows transfer contents of implicit message. The order of data is in little-endian format. Contents of implicit message cannot be changed since they are fixed. Byte Input (driver → scanner) Output (scanner → driver) 0, 1 Remote I/O (R-OUT) Remote I/O (R-IN)

  • Page 190: Input Data

    Implicit message Input data Data transferred from a driver to a scanner is called Input data. „ Input data format Contents of the Input data are as follows. The order of data is in little-endian format. Assembly Instance Attribute Byte Size (byte) Description 0, 1...
  • Page 191 Implicit message z Operation data number selection_R Name Description M0_R M1_R M2_R M3_R Output in response to an input signal. M4_R M5_R M6_R M7_R 8 to 15 Reserved 0 is returned. z Fixed I/O (OUT) This is the I/O accessed via EtherNet/IP. Assignments of signals cannot be changed.
  • Page 192 Implicit message z Command position Name Description This indicates the present command position. 0 to 31 Command position When the wrap function is enabled, the value on the wrap coordinates is indicated. z Torque monitor Name Description This indicates the output torque presently generated as a percentage of the 0 to 15 Torque monitor rated torque.

  • Page 193: Output Data

    Implicit message z Assignable monitor Name Description This indicates the value of the parameter set in the "Assignable monitor 0 to 31 Assignable monitor n* address n" parameter. * n: 0 to 3 Output data Data transferred from a scanner to a driver is called Output data. „...
  • Page 194 Implicit message „ Details of Output data z Remote I/O (R-IN) This is the I/O accessed via EtherNet/IP. The assignments of signals can be changed using the "R-IN input function" parameters. Name Description Initial assignment R-IN0 R-IN1 R-IN2 R-IN3 R-IN4 R-IN5 R-IN6 R-IN7...
  • Page 195 Implicit message z Fixed I/O (IN) This is the I/O accessed via EtherNet/IP. Assignments of signals cannot be changed. 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. S-ON This is used to put the motor into an excitation state.
  • Page 196 Implicit message z Direct data operation starting/changing rate Name Description Setting range Initial value This is used to set the starting/ Direct data operation 1 to 1,000,000,000 0 to 31 changing rate or the starting/changing 1,000,000 starting/changing rate (1 = 0.001)* time for direct data operation.

  • Page 197: Processing Order Of Implicit Communication

    Implicit message Processing order of Implicit communication The processing order of Implicit communication is shown below. Data writing  Setting of operation command  Data reading • If multiple operation commands are set in the Implicit message format, the operation command of direct data operation is prioritized.

  • Page 198: Data Writing

    Implicit message Data writing This section explains the flow that data is written from the scanner to the driver via Implicit communication. „ Area of Implicit message format used Input (transfer from driver to scanner) Output (transfer from scanner to driver) Byte Description Byte...

  • Page 199: Data Reading

    Implicit message Data reading This section explains the flow that data is read from the driver to the scanner via Implicit communication. There are the following two methods to read data. • Use an area of "Read data" • Use an area of "Assignable monitor" „...
  • Page 200 Implicit message „ When an area of assignable monitor is used z Area of Implicit message format used Input (transfer from driver to scanner) Byte Description 40 to 55 Assignable monitor 0 to assignable monitor 3 z Flow that data is read from Scanner Driver Read the parameter value set in the "Assignable monitor...

  • Page 201: 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. Stored data (SD) operation As an example, this section explains how to execute the following positioning operation.
  • Page 202 Example of execution for operation 4. Set the following operation data. • Output (scanner → driver) Byte Description Setting value Note 34, 35 Write parameter ID 3105 Parameter ID of "Position" of operation data No. 1 36 to 39 Write data 5,000 Position: 5,000 steps 5.

  • Page 203: Macro Operation

    Example of execution for operation 11. Check the READY has been turned OFF. • Input (driver → scanner) Byte Description Signal name Response 4, 5 Fixed I/O (OUT) READY 12. Turn the START OFF. • Output (scanner → driver) Byte Description Signal name Setting value 4, 5...

  • Page 204: Direct Data Operation

    Example of execution for operation Direct data operation 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). „...
  • Page 205 Example of execution for operation 6. Turn the TRIG OFF. • Output (scanner → driver) Byte Description Signal name Setting value 4, 5 Fixed I/O (IN) TRIG TRIG Data Write value DCMD-RDY TRIG_R S-ON READY MOVE Internal speed command The torque limiting function is not activated if the TRQ-LMT remains in an OFF state. The motor torque is output up to the peak torque.
  • Page 206 Example of execution for 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 207 Example of execution for operation 6. Set the following data. • Output (scanner → driver) Byte Description Setting value Note 4, 5 TRIG-MODE [bit 9 of fixed I/O (IN)] Start at ON level 6, 7 Direct data operation operation type Absolute positioning 8 to 11 Direct data operation position...
  • Page 209 Parameter list This part describes the parameter lists to be set via EtherNet/IP. Data and parameters described here can also be set using the MEXE02 software.  Table of contents Timing for parameter to update ..210 Parameter R/W commands ....228 8-1 (p4) Base setting parameters ....228 Maintenance commands ....211 8-2 (p5) Motor &...

  • Page 210: 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 stored in the RAM or the non-volatile memory. The parameters in the RAM are erased once the control power supply is shut off, but the parameters in the non-volatile memory are remained to store even if the control power supply is shut off.

  • Page 211: 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. When executing a command other than "Alarm history details," set the parameter ID to the write parameter ID and turn the WR-REQ ON.
  • Page 212 Maintenance commands „ Configuration Configuration can be executed when all of the following conditions are satisfied. • An alarm is not being generated. • The motor is not operated. • The following commands are not executed via EtherNet/IP. − Batch data initialization −...

  • Page 213: Monitor Commands

    Monitor commands Monitor commands Monitor commands are used to monitor the command position, the command speed, the alarm and information history, etc. All commands are used for read (READ). Parameter ID Name Description 0040h Present alarm This indicates the alarm code presently being generated. This indicates the latest alarm history.
  • Page 214 Monitor commands Parameter ID Name Description • This indicates the target command position in operations shown below as absolute coordinates. Positioning SD operation, inching operation, high-speed return- to-home operation, return-to-home operation (during offset movement), positioning direct data operation 006Fh Target position •...
  • Page 215 Monitor commands Parameter ID Name Description 0089h Sequence history 10 008Ah Sequence history 11 This indicates the history of operation data numbers executed 008Bh Sequence history 12 until now. “−1” is displayed when stopped. During operation, the 008Ch Sequence history 13 value same as the “Present operation data number”...
  • Page 216 Monitor commands Parameter ID Name Description Alarm history details (Operation 1288 0508h information 1) Alarm history details (Feedback 1289 0509h position) This indicates the content of the alarm history specified by the Alarm history details (Elapsed time 1290 050Ah “Alarm history details” of the maintenance command. from Boot) [ms] (Alarm history p.255)
  • Page 217 Monitor commands Parameter ID Name Description 1472 05C0h Latch monitor status (NEXT) Latch monitor command position 1473 05C1h (NEXT) Latch monitor feedback position 1474 05C2h (NEXT) Latch monitor target position 1475 05C3h (NEXT) Latch monitor operation number 1476 05C4h (NEXT) Latch monitor number of loop 1477 05C5h...
  • Page 218 Monitor commands Parameter ID Name Description 1510 05E6h FFT Value (4th peak) This indicate the result of the fast Fourier transform (FFT) analysis for the target set in the “FFT target” parameter. 1511 05E7h FFT Frequency (4th peak) „ Direct I/O The arrangement of bits for direct I/O is indicated.
  • Page 219 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 220 Monitor commands Parameter ID Description Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 D-END7 D-END6 D-END5 D-END4 D-END3 D-END2 D-END1 D-END0 Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 M-ACT7...

  • Page 221: 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.224 for how to use the base address. Base address of each operation data number Base address Operation...
  • Page 222 Operation data R/W commands Base address Operation Base address Operation Base address Operation Base address Operation data data data data number number number number 7808 1E80h No. 148 8672 21E0h No. 175 9536 2540h No. 202 10400 28A0h No. 229 7840 1EA0h No.

  • Page 223: 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.221) For example, in the case of the setting item "Position,"...

  • Page 224: 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 Incremental positioning Incremental positioning Operation type...

  • Page 225: 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 226: 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. Parameter ID Initial Name Description Key code value Inputs the key code to access the 20519253 0020h Backup DATA access key...

  • Page 227: Extended Operation Data Setting R/W Commands

    Extended operation data setting R/W commands Extended operation data setting R/W commands Parameters for extended operation data setting can be set. Parameter ID Name Description Setting range Initial value Update Sets the starting/changing rate Common acceleration 0140h or the starting/changing time in rate or time common setting.

  • Page 228: Parameter R/W Commands

    Parameter R/W commands Parameter R/W commands These commands are used to write or read parameters. (p4) Base setting parameters Parameters that “−” is described in the parameter ID cannot be set via EtherNet/IP. Set them using the MEXE02 software. Parameter ID Name Description Setting range...

  • Page 229: P5) Motor & Mechanism (Coordinates/Jog/Home Operation) Setting Parameters

    Parameter R/W commands Parameter ID Name Description Setting range Initial value Update −2,147,483,648 to 01C6h Preset position Sets the preset position. 2,147,483,647 steps 0: Use real motor 1: Virtual motor (when ABZO not connected = Situation for coordinates or no ABZO information) Driver simulation I/O can be simulated using 2: Virtual motor (when...
  • Page 230 Parameter R/W commands Parameter ID Initial Name Description Setting range Update value JOG/HOME/ZHOME Sets the time constant for the 015Eh command filter time 1 to 200 ms command filter. constant JOG/HOME/ZHOME 015Fh Sets the torque limiting value. 0 to 10,000 (1 = 0.1 %) 1,000 torque limit value 0: 2-sensor...
  • Page 231 Parameter R/W commands Parameter ID Initial Name Description Setting range Update value Initial coordinate Sets the offset ratio of the wrap 01CBh generation & wrap 0 to 10,000 (1=0.01 %) 5,000 range. range offset ratio Initial coordinate Sets the offset amount of the −536,870,912 to 01CCh generation &...

  • Page 232: P6) Alarm & Information Setting Parameters

    Parameter R/W commands z Value that can be set in the "Initial coordinate generation & wrap setting range" parameter Wrap setting range [rev] 12.0 25.0 72.0 200.0 12.5 30.0 75.0 225.0 14.4 36.0 90.0 300.0 15.0 37.5 100.0 360.0 18.0 40.0 112.5 450.0...
  • Page 233 Parameter R/W commands Parameter ID Initial Name Description Setting range Update value Driver temperature 01A0h information (INFO- 40 to 85 °C DRVTMP) Torque limiting time 0: Disable 01A1h information (INFO-TLC- 1 to 10,000 ms TIME) Speed information 0: Disable 01A2h (INFO-SPD) 1 to 12,000 r/min Position deviation...
  • Page 234 Parameter R/W commands Parameter ID Initial Name Description Setting range Update value INFO action (Assigned 1952 07A0h I/O status information (INFO-USRIO)) INFO action (Position 1953 07A1h deviation information (INFO-POSERR)) INFO action (Driver temperature 1954 07A2h information (INFO- DRVTMP)) INFO action (Motor temperature 1955 07A3h...
  • Page 235 Parameter R/W commands Parameter ID Initial Name Description Setting range Update value INFO action (Reverse operation prohibition 1969 07B1h information (INFO-RV- OT)) INFO action (Cumulative load 0 1970 07B2h information (INFO- CULD0)) INFO action (Cumulative load 1 1971 07B3h information (INFO- CULD1)) INFO action (Tripmeter 1972...

  • Page 236: P7) I/O Action And Function Parameters

    Parameter R/W commands (p7) I/O action and function parameters Parameter ID Initial Name Description Setting range Update value 0: Immediate stop for both STOP and STOP-SOFF inputs 1: Deceleration stop for STOP input, immediate stop for Sets how to stop the motor when STOP/STOP-SOFF STOP-SOFF input 1792...
  • Page 237 Parameter R/W commands Parameter ID Initial Name Description Setting range Update value Sets the speed limit value as "Value." This is enabled when the SPD-LMT speed 1808 0710h “SPD-LMT speed limit type 1 to 4,000,000 Hz 1,000 limit value selection” parameter is set to “1: Value.
  • Page 238 Parameter R/W commands Parameter ID Initial Name Description Setting range Update value 0: Feedback position (ON after operation) 1: Command position (ON after Sets the criterion to turn the MAREA output MAREA output ON and the status operation) 1818 071Ah source of the MAREA output after 2: Feedback position (MAREA...
  • Page 239 Parameter R/W commands Parameter ID Initial Name Description Setting range Update value AREA6 positive • AREA positive direction 1868 074Ch direction position/ position/offset offset Sets the positive direction AREA6 negative position or offset from the target 1869 074Dh direction position/ position for the AREA output.

  • Page 240: P8) Direct-In Function Selection (Din) Parameters

    Parameter R/W commands Parameter ID Initial Name Description Setting range Update value D-SEL5 operation 1893 0765h number selection D-SEL6 operation Sets the operation data number 0 to 255: Operation data 1894 0766h number selection corresponding to the D-SEL input. number D-SEL7 operation 1895 0767h...

  • Page 241: P9) Direct-Out Function Selection (Dout) Parameters

    Parameter R/W commands Parameter ID Name Description Setting range Initial value Update 2240 08C0h DIN0 ON signal dead-time 2241 08C1h DIN1 ON signal dead-time 2242 08C2h DIN2 ON signal dead-time Sets the ON signal dead- 0 to 250 ms time of DIN. 2243 08C3h DIN3 ON signal dead-time...

  • Page 242: P10) Remote-I/O Function Selection (R-I/O) Parameters

    Parameter R/W commands Parameter ID Name Description Setting range Initial value Update DOUT0 composite inverting 2208 08A0h mode DOUT1 composite inverting 2209 08A1h mode DOUT2 composite inverting Changes ON-OFF 2210 08A2h mode setting of the 0: Non invert composite output 1: Invert DOUT3 composite inverting 2211...
  • Page 243 Parameter R/W commands Parameter ID Name Description Setting range Initial value Update 2318 090Eh R-IN14 input function 0: No function Selects an input signal to Input signals list be assigned to R-IN. p.249 2319 090Fh R-IN15 input function 0: No function 2320 0910h R-OUT0 output function...

  • Page 244: P11) Ext-In & Vir-In & Usr-Out Function Selection (Extend) Parameters

    Parameter R/W commands (p11) EXT-IN & VIR-IN & USR-OUT function selection (Extend) parameters Parameter ID Name Description Setting range Initial value Update Virtual input (VIR-IN0) 2368 0940h 0: No function function Virtual input (VIR-IN1) 2369 0941h 0: No function function Selects an input signal to be Input signals list assigned to VIR-IN.
  • Page 245 Parameter R/W commands Parameter ID Name Description Setting range Initial value Update User output (USR-OUT0) 128: 0964h 2404 source B function CONST-OFF Sets the output source B of Output signals list USR-OUT. p.250 User output (USR-OUT1) 128: 2405 0965h source B function CONST-OFF User output (USR-OUT0) 2406...

  • Page 246: P12) Communication & I/O Function Parameters

    Parameter R/W commands Parameter ID Name Description Setting range Initial value Update Differential output (EXT- This function is enabled 2430 097Eh OUTA) OFF delay time on I/ when the "Differential O mode output function selection" 0 to 250 ms parameter is set to "8: Differential output (EXT- IO-OUT.

  • Page 247: P13) Adjustment & Function Parameters

    Parameter R/W commands 8-10 (p13) Adjustment & Function parameters Parameter ID Initial Name Description Setting range Update value 0: “Load inertia setting” Load inertia setting Selects the setting method of the 0120h parameter is used mode selection load inertia. 1: Automatic Sets the ratio of the load inertia to the motor rotor inertia.
  • Page 248 Parameter R/W commands Parameter ID Initial Name Description Setting range Update value Damping control Sets the frequency of vibration to be 700 to 20,000 2064 0810h 10,000 frequency suppressed. (1=0.01 Hz) Sets the gain for damping control 2065 0811h Damping control gain 0 to 100 % (vibration suppression control).

  • Page 249: I/O Signals Assignment List

    I/O signals assignment list I/O signals assignment list Input signals To assign signals via industrial network, use the "Assignment number" in the table instead of the signal name. Assignment Assignment Assignment Signal name Signal name Signal name number number number No function HOME FREE...

  • Page 250: Output Signals

    I/O signals assignment list Output signals To assign signals via industrial network, use the "Assignment number" in the table instead of the signal name. Assignment Assignment Assignment Signal name Signal name Signal name number number number No function RV-POS_R HOME-END FREE_R M0_R ABSPEN...
  • Page 251 I/O signals assignment list Assignment Signal name number M-ACT3 M-ACT4 M-ACT5 M-ACT6 M-ACT7 D-END0 D-END1 D-END2 D-END3 D-END4 D-END5 D-END6 D-END7 INFO-USRIO INFO-POSERR INFO-DRVTMP INFO-MTRTMP INFO-OVOLT INFO-UVOLT INFO-TLCTIME INFO-LOAD INFO-SPD INFO-START INFO-ZHOME INFO-PR-REQ INFO-EGR-E INFO-RND-E INFO-FW-OT INFO-RV-OT INFO-CULD0 INFO-CULD1 INFO-TRIP INFO-ODO INFO-TRQ INFO-STLTIME...
  • Page 253 Troubleshooting This part explains alarm and information functions.  Table of contents Detection of communication errors ............254 1-1 Communication timeout ......254 1-2 IP address conflict .........254 Alarms ............255 2-1 Alarm reset ............255 2-2 Alarm history ..........255 2-3 Generation condition of alarms ....257 2-4 Alarm list ............257 2-5 Timing chart ...........264 Information ...........266...

  • Page 254: Detection Of Communication Errors

    Detection of communication errors Detection of communication errors This chapter explains a function to detect that an error occurred in EtherNet/IP. Communication timeout If Implicit communication is interrupted due to disconnection of the EtherNet/IP 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 255: 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 256 Alarms The R-I/O output is monitored internally even if industrial network is not used. If an output signal that is desired to monitor is assigned to the R-OUT output, the number of monitors when an alarm is generated can be increased. z Sub code of operation data error (alarm code 70h) Sub code Cause of alarm...

  • Page 257: Generation Condition Of Alarms

    Alarms Generation condition of alarms Alarms shown in the table will be generated if the generation condition is exceeded. Alarm code Alarm name Generation condition Main circuit overheat 85 °C (185 °F) Overvoltage 400 V Motor overheat 85 °C (185 °F) Overspeed 6,000 r/min Command pulse error...
  • Page 258 Alarms Number Alarm Motor of times Alarm type Cause Remedial action How to reset code excitation LED blinks • Check the input voltage of the main power supply. • The main power supply voltage exceeded the • Reduce a load. permissible value.
  • Page 259 Alarms Number Alarm Motor of times Alarm type Cause Remedial action How to reset code excitation LED blinks The command pulse Command pulse Reduce the frequency of Any of reset Non- frequency exceeded the error the command pulse. operations excitation specification value.
  • Page 260 Alarms Number Alarm Motor of times Alarm type Cause Remedial action How to reset code excitation LED blinks • If the regeneration resistor RGB200 is not used, short the TH1 and TH2 terminals of the CN1 connector. • Connect the regeneration resistor RGB200 properly.
  • Page 261 Alarms Number Alarm Motor of times Alarm type Cause Remedial action How to reset code excitation LED blinks • An unanticipated load was applied while return-to- home operation was • Check the load. performed. • Reconsider the sensor • The installation positions installation positions and of the FW-LS and RV-LS the starting direction of...
  • Page 262 Alarms Number Alarm Motor of times Alarm type Cause Remedial action How to reset code excitation LED blinks When the "HWTO mode selection" parameter is set HWTO input Turn the HWTO1 input and Any of reset Non- to "1: Alarm is present, ” the detection the HWTO2 input ON.
  • Page 263 Alarms Related parameters MEXE02 Initial Name Description Setting range code value Excessive position deviation Sets the condition in which the excessive 1 to 30,000 alarm position deviation alarm is generated. (1=0.01 rev) Sets the function of the network bus error 0: Disable Network bus error alarm alarm.

  • Page 264: 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 instantaneously. 2.
  • Page 265 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 instantaneously. 2. Remove the cause of the alarm before turning the ALM-RST input ON. The alarm is reset, and the ALM-B output and the READY output are turned ON.

  • Page 266: 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 267 Information MEXE02 Name Description Setting range Initial value code Load factor information (INFO- 0: Disable LOAD) 1 to 10,000 (1 = 0.1 %) 0: Disable Torque information (INFO-TRQ) 1 to 10,000 (1 = 0.1 %) Settling time information Sets the condition in which the 0: Disable (INFO-STLTIME) information is generated.
  • Page 268 Information MEXE02 Name Description Setting range Initial value code INFO action (Forward operation prohibition information (INFO- FW-OT)) INFO action (Reverse operation prohibition information (INFO- RV-OT)) INFO action (Cumulative load 0 information (INFO-CULD0)) INFO action (Cumulative load 1 information (INFO-CULD1)) INFO action (Settling time information (INFO-STLTIME)) 0: Only the bit output is ON Sets the bit output, the INFO...

  • Page 269: 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 270: Information List

    Information Information list Description Bit output signal Cause Clear condition The output signal set in the “INFO-USRIO The output signal set in the “INFO- Assigned I/O status INFO-USRIO output selection” parameter was turned USRIO output selection” parameter was turned OFF. The deviation between the command The deviation between the command position and the feedback position...
  • Page 271 Information Description Bit output signal Cause Clear condition Preset was executed by the position preset Preset request INFO-PR-REQ Preset was completed. or return-to-home operation. The resolution set in the “Electronic gear A” Electronic gear The resolution was set in the range of INFO-EGR-E parameter and the “Electronic gear B”...
  • Page 272 Information Description Bit output signal Cause Clear condition Configuration The parameter that required executing INFO-CFG Configuration was executed. request Configuration was changed. The parameter that required rebooting was Reboot request INFO-RBT Reboot was executed. changed. If information of “Preset request” was generated for 100 ms or more in a state where the "Information auto clear"...

  • Page 273: Troubleshooting And Remedial Actions

    Troubleshooting and remedial actions 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 cannot be operated properly, refer to the contents provided in this chapter and take an appropriate remedial action.
  • Page 275 Extended function  Table of contents Gain tuning ...........276 Change the assignment of the phase A and phase B outputs....289 1-1 Setting of load inertia .........276 1-2 Setting of motor response ......276 Simulating the driver operation ..290 Vibration suppression ......279 8-1 Preparation and operating procedure for driver simulation mode .......291 2-1 Command filter ..........279...

  • Page 276: Gain Tuning

    Gain tuning Gain tuning The motor response in reaction to the command can be adjusted according to the load inertia and the mechanical rigidity. Setting of load inertia Set the load inertia according to the load inertia of equipment. Related parameters MEXE02 Initial Name...
  • Page 277 Gain tuning MEXE02 Initial Name Description Setting range code value When the speed is constant, the deviation between the command position and the actual position can be reduced to shorten the settling time. Speed feed-forward 0 to 100 % If it is set to 100 %, the deviation will be approximately 0 %.
  • Page 278 Gain tuning „ Control devices block diagram (position control) In the figure, "+" indicates addition and "-" indicates subtraction. The description which is surrounded by a box (  ) is the parameter name. Speed feed-forward Control device Control device Control device Speed loop position command...

  • Page 279: Vibration Suppression

    Vibration suppression Vibration suppression Command filter Using the command filter to adjust the motor response can suppress the motor vibration. There are two types of command filters, LPF (speed filter) and moving average filter. Related parameters MEXE02 Initial Name Description Setting range code value...

  • Page 280: Resonance Suppression

    Vibration suppression „ Moving average filter Select "2: The moving average filter is selected" in the "Command filter setting" parameter, and set the "Command filter time constant" parameter. The motor response can be adjusted. In addition, the positioning time can be shortened by suppressing the residual vibration during positioning operation.

  • Page 281: Damping Control

    Vibration suppression MEXE02 Initial Name Description Setting range code value Resonance suppression Sets the frequency of vibration to be 100 to 3,200 Hz 1,000 control D frequency suppressed. Sets the gain to suppress the vibration. Resonance suppression Increasing the value causes the motor response 0 to 100 % control D gain to the deviation to lower.

  • Page 282: Cumulative Load

    Cumulative load Cumulative load The driver obtains the load factor in the motor operation pattern as an area, and it can notify as information if the integrated area (load) exceeds a certain value. This is a useful function that can be used as a guide for the motor life and the aged deterioration of equipment.
  • Page 283 Cumulative load „ “Cumulative load value count divisor” parameter The upper limit to count the cumulative load is 2,147,483,647. If the operating time is long, the cumulative load may increase, making it difficult to manage or exceeding the upper limit. In this case, use the "Cumulative load value count divisor"...

  • Page 284: Load Factor Monitor

    Load factor monitor Load factor monitor There are two methods to monitor the load factor of the motor as shown below. • Torque monitor: This indicates the output torque presently generated as a percentage of the rated torque. • Load factor monitor: This indicates the motor output power presently generated as a percentage of the maximum output power in the continuous duty region.

  • Page 285: Latch Function

    Latch function Latch function The latch function is a function that saves the instantaneous operation information in the driver when the operation is switched by an event jump or the operation is stopped. For example, if operation is switched by the NEXT input during continuous operation, the operation information at the moment of switching is latched.
  • Page 286 Latch function z JUMP0-LAT output, JUMP1-LAT output The JUMP0-LAT output is turned ON when the (Low) I/O event number trigger is detected. The JUMP1-LAT output is turned ON when the (High) I/O event number trigger is detected. When the LAT-CLR input is turned from OFF to ON, the JUMP0-LAT output and the JUMP1-LAT output are turned OFF.
  • Page 287 Latch function „ Monitor of operation information There are two types of monitors for operation information having saved, event monitor and latch monitor. The monitor value cannot be checked with the MEXE02 software. Check via EtherNet/IP. z Event monitor The command position and feedback position are saved in the event monitor. The value is overwritten each time the latch trigger is generated.

  • Page 288: Changing The Function Of The Home Preset Switch

    Changing the function of the HOME PRESET switch In the AZX Series, the function of the P-PRESET input is assigned to the HOME PRESET switch. Therefore, simply pressing the HOME PRESET switch can set the present position as the home.

  • Page 289: Change The Assignment Of The Phase A And Phase B Outputs

    Change the assignment of the phase A and phase B outputs Change the assignment of the phase A and phase B outputs The phase A (ASG) output and the phase B (BSG) output are assigned to the I/O connector of the driver at the time of shipment.

  • Page 290: Simulating The Driver Operation

    Simulating the driver operation Simulating the driver operation Using the driver simulation mode can simulate coordinates and I/O status without connecting a motor. If the motor is connected, the simulation closer to the actual operation can be made using the information of the ABZO sensor.

  • Page 291: Preparation And Operating Procedure For Driver Simulation Mode

    Simulating the driver operation Preparation and operating procedure for driver simulation mode „ Preparation z When a motor is not connected When simulating a motorized actuator, be sure to connect the actuator to the driver. Driver Connect to +24V, 0V Control MEXE02 software power supply...
  • Page 292 Simulating the driver operation „ Operating procedure This section explains how to simulate the driver operation without connecting a motor using the MEXE02 software. 1. Turn on the control power supply and the main power supply of the driver. 2. Click [Basic settings] under [Parameter] in the tree view of the MEXE02 software. 3.

  • Page 293: Coordinates

    Simulating the driver operation Coordinates „ Home In the driver simulation mode, the position when the control power supply is turned on is set as the home regardless of whether or not a motor is connected. The home can be set again by return-to-home operation or the position preset. However, the home information of the ABZO sensor cannot be rewritten.

  • Page 294: Monitor

    Simulating the driver operation Monitor This section explains contents that can be checked with the status monitor of the MEXE02 software during simulation. The following describes the displayed items that are different from those at the normal time. Item Description ...

  • Page 295: I/O Signals

    Simulating the driver operation „ Return-to-home operation z Return-to-home operation When the HOME input is turned ON, the simulation of return-to-home operation is started. However, since a motor does not operate in the driver simulation mode, an external sensor cannot be detected. Therefore, to simulate return-to-home operation, it is necessary to turn the sensor input ON intentionally.

  • Page 296: Using General Signals

    Using general signals Using general signals The R0 to R15 inputs are general-purpose signals. Using the R0 to R15 inputs, I/O signals of the external device can be controlled by the host controller via the driver. Direct I/O of the driver can be used as an I/O module. „...
  • Page 297 Using general signals MEXE02 Name Description Setting range Initial value code 144: DOUT0 (Normal) output function HOME-END DOUT1 (Normal) output function 138: IN-POS Selects an output signal to be Output signals list DOUT2 (Normal) output function 0: No function assigned to DOUT. p.250 DOUT3 (Normal) output function 132: READY...
  • Page 299 Appendix  Table of contents Relation between operation types and operation data/parameters ..300 Indication of LEDs ........302...

  • Page 300: Relation Between Operation Types And Operation Data/Parameters

    Relation between operation types and operation data/parameters Relation between operation types and operation data/parameters Return-to-home operation MEXE02 Name code Operation data − − − −  Operation I/O event − − − −  Extended operation data setting − − −...
  • Page 301 Relation between operation types and operation data/parameters Macro operation MEXE02 Name code Operation data − − − − −  Operation I/O event − − − − −  Extended operation data setting − − − − − − Starting speed −...

  • Page 302: Indication Of Leds

    Indication of LEDs Indication of LEDs „ PWR/ALM LED This LED indicates the status of the driver. LED status Description Green No light No light The control power supply is not turned on. Light No light The control power supply is being on. An alarm is being generated.
  • Page 303 Indication of LEDs „ NS LED This LED indicates the communication status of EtherNet/IP. LED status Description Green • This is in an offline state. No light No light • The control power supply of the driver is not turned on. Blinking No light This is in an online state.
  • Page 304 • Please contact your nearest Oriental Motor o ce for further information. Technical Support Tel:800-468-3982 Singapore Korea 8:30am EST to 5:00pm PST (M-F) Tel:1800-842-0280 Tel:080-777-2042 www.orientalmotor.com www.orientalmotor.com.sg www.inaom.co.kr Schiessstraße 44, 40549 Düsseldorf, Germany Tel:1800-806-161 4-8-1 Higashiueno, Taito-ku, Tokyo www.orientalmotor.com.my Technical Support Tel:00 800/22 55 66 22 110-8536 Japan www.orientalmotor.de...

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