Oriental motor a STEP ARL Series User Manual
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Oriental motor a STEP ARL Series User Manual

Built-in controller type
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ARL Series
USER MANUAL
Thank you for purchasing an Oriental Motor product.
This manual describes product handling procedures and safety precautions.
•
Please read it thoroughly to ensure safe operation.
•
Always keep the manual where it is readily available.
Built-In Controller Type
HM-60010-2

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  • Page 1 HM-60010-2 ARL Series Built-In Controller Type USER MANUAL Thank you for purchasing an Oriental Motor product. This manual describes product handling procedures and safety precautions. • Please read it thoroughly to ensure safe operation. • Always keep the manual where it is readily available.

  • Page 2: Table Of Contents

    Table of contents 7 Operation ..........51 1 Introduction ......... 3 7.1 Setting the switch ........51 2 Safety precautions ......5 7.2 Positioning operation [controller mode]........52 3 Precautions for use......8 7.3 Continuous operation [controller mode]........55 4 Preparation ........11 7.4 Return-to-home operation 4.1 Checking the product ......

  • Page 3: Introduction

    The product described in this manual has been designed and manufactured for use in general industrial machinery, and must not be used for any other purpose. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure to observe this warning.

  • Page 4: Motor

    1 Introduction System configuration PC in which the MEXE02 Teaching pendant EZT1 ∗1 has been installed ∗1 The PC must be supplies Control power supply Driver by the customer. 24 VDC Battery Connect for absolute type only Sensor I/O connector (20 pins) Motor cable Motor User I/O connector (36 pins) ∗2...

  • Page 5: Safety Precautions

    2 Safety precautions 2 Safety precautions The precautions described below are intended to prevent danger or injury to the user and other personnel through safe, correct use of the product. Use the product only after carefully reading and fully understanding these instructions. Handling the product without observing the instructions that accompany a “Warning”...
  • Page 6 The product uses nickel-cadmium batteries. Dispose of the used batteries in accordance with local laws and regulations. If you have any questions regarding disposal of the product, please contact any Oriental Motor branch or sales office. −6−...
  • Page 7 2 Safety precautions Warning display Words of warning on handling are displayed on the driver and battery. Be sure to observe the information written on the label/plate when handling the driver or battery. • • Connecting warning label for electric shock (driver) Connecting warning label for electric shock (battery) Material: Polypropylene •...

  • Page 8: Precautions For Use

    3 Precautions for use 3 Precautions for use This section covers limitations and requirements the user should consider when using the product. • Use the supplied cable to connect the motor and driver. Always use the supplied cable to connect the motor and driver. If a flexible cable or cable of 3 m (9.8 ft.) or longer is to be used, the appropriate cable must be purchased separately.
  • Page 9 3 Precautions for use • Preventing electrical noise See “5.7 Installing and wiring in compliance with EMC Directive” on p.20 for measures with regard to noise. • Maximum torque of geared type motor Always operate the geared type motor under a load not exceeding the maximum torque. If the load exceeds the maximum torque, the gear will be damaged.
  • Page 10 3 Precautions for use • Battery backup (absolute type) Always charge the battery before using by referring to “6.6 Connecting/charging/disconnecting the battery” on p.25. Data can be backed up with a charged battery for a period of up to 15 days. Data may not be backed up correctly in the following conditions: •...

  • Page 11: Preparation

    4 Preparation 4 Preparation This section covers the points to be checked along with the names and functions of respective parts. 4.1 Checking the product Verify that the items listed below are included. Report any missing or damaged items to the branch or sales office from which you purchased the product.

  • Page 12: Combinations Of Motors And Drivers

    4 Preparation 4.2 Combinations of motors and drivers • The box ( ) will be filled with A (single shaft), B (double shaft) or M (with electromagnetic brake.) For ARL911 AD- and ARL911 CD- , indicates A (single shaft) or B (double shaft). indicates A (single shaft) or M (with electromagnetic brake).

  • Page 13: Names And Functions Of Parts

    4 Preparation • PN geared type Unit model Motor model Driver model Unit model Motor model Driver model ARL46 AD-N5- ARLM46 A-N5 ARL66 CD-N25- ARLM66 C-N25 ARLD12B-CD ARL46 AD-N7.2- ARLM46 A-N7.2 ARLD13A-AD ARL66 CD-N36- ARLM66 C-N36 ARLD12C-CD ARL46 AD-N10- ARLM46 A-N10 ARL66 CD-N50- ARLM66 C-N50 ARL46 CD-N5-...

  • Page 14: Driver

    4 Preparation Driver OPERATION LED Control power supply input terminals ALARM LED Emergency stop output terminal Axis-number setting switch Communication connector (CN1) Function switches Battery connector (CN4) Link connector (CN2) Sensor I/O connector (CN5) Motor connector (CN3) CHARGE LED User I/O connector (CN6) Main power supply input terminals Protective Earth Terminal (M4) Name...

  • Page 15: Installation

    5 Installation 5 Installation This chapter explains the installation location and installation method of the motor and driver, as well as the method for installing a battery. Also covered in this section are the installation and wiring methods that are in compliance with the relevant EMC Directives.

  • Page 16: Installing A Load

    5 Installation Tightening Effective Frame size Installation Type Nominal size torque depth of bolt [mm (in.)] method [N·m (oz-in)] [mm (in.)] 42 (1.65) 1 (142) 4.5 (0.177) − Standard 60 (2.36) 2 (280) − 85 (3.35) 3 (420) 42 (1.65) 2 (280) 8 (0.315) TH geared...

  • Page 17: Permissible Radial Load And Permissible Axial Load

    5 Installation • Installing on the flange surface (harmonic geared type) With a harmonic geared type (except an ARL98), a load can be installed directly to the gear using the load mounting holes provided on the flange surface. Load Flange Load mounting surface Bolts...

  • Page 18: Installing The Driver

    5 Installation Permissible radial load [N (lb.)] Frame Permissible Unit Distance from the tip of motor output shaft Type size Gear ratio axial load model 0 mm 5 mm 10 mm 15 mm 20 mm [mm (in.)] [N (lb.)] (0 in.) (0.20 in.) (0.39 in.) (0.59 in.)
  • Page 19 5 Installation Installation method To install a driver, attach it to a metal plate using driver mounting brackets or mount it to a DIN rail. In the presence of a great amount of vibration, do not use a DIN rail. Screw down the driver directly through the use of the driver mounting brackets.

  • Page 20: Installing The Battery (Sold Separately)

    5 Installation • Using driver mounting brackets Install the driver on a flat metal plate having excellent vibration resistance and heat conductivity. Attach the driver mounting brackets to the back of the driver, using supplied screws for the brackets (M3, four pcs.) Tightening torque: 0.5 to 0.6 N·m (71 to 85 oz-in) Install the driver by securing it with four bolts (not supplied) to the metal plate.
  • Page 21 • When extending the distance between the motor and driver, it is recommended that an optional motor connection cable (sold separately) be used, since the EMC measures are conducted using the Oriental Motor motor connection cable.
  • Page 22 5 Installation • Example of motor and driver installation and wiring Teaching pendant EZT1 Motor To sensor Pendant cable: 5 m (16 ft.) (Shielded cable) DC power Driver Mains filter supply (Shielded cable) User controller Sensor I/O cable (Shielded cable) Motor cable (Shielded cable) User I/O cable...

  • Page 23: Connection

    6 Connection 6 Connection This chapter explains how to connect/ground the motor, driver, power supply, sensor, or communication cable. 6.1 Connecting the motor Connect the motor cable and supplied cable for motor, and connect to the motor connector (CN2). • Have the connector plugged in securely.

  • Page 24: Grounding The Motor And Driver

    6 Connection • Applying a voltage over the specification will increase the temperature rise in the Note electromagnetic brake and may damage the motor. Conversely, insufficient voltage may prevent the brake from releasing. • Be sure to connect the varistor (supplied) to protect the switch contacts and prevent noise. •...

  • Page 25: Connecting The Control Power Supply And Emergency Stop Output

    6 Connection Driver for single-phase 100-115 V Driver for single-phase 200-230 V Single-phase 100-115 V Single-phase 200-230 V 50/60 Hz Pin assignment of main power supply input terminals Pin No. Signal name Description Main power supply input Frame Ground Screw size of main power supply input terminal and applicable lead wire •...

  • Page 26: Composition Of Emergency Stop Output

    6 Connection battery if the driver is not to be powered up for at least 15 days. Failure to do so may cause battery fluid leakage and/or decreased performance. Pin assignment of battery connector Pin No. Signal name Description ＋ Battery power supply input Battery power supply GND Disconnecting method...

  • Page 27: Connecting The User I/O And Sensor I/O

    6 Connection 6.8 Connecting the user I/O and sensor I/O Assembling the I/O connector Solder the shielded cable to the connector pins and assembling the connector. Shielded cable is not supplied. Use a shielded cable with a size of AWG28 to 26 (0.08 to 0.14 mm •...
  • Page 28 6 Connection Connecting the user I/O (controller mode) • Pin assignment of user I/O connector (CN6) Signal name Description Direction Signal name Description Direction − Power supply GND for − N24 (GND) Power supply GND for I/O N24 (GND) Alarm Output ASG1 Encoder...
  • Page 29 6 Connection • Connection example User controller Driver 24 VDC P24 24 VDC input Data setting input START ACL/CK FREE Control input STOP HOME/PRESET 24 VDC P24-FWD FWD- +/- direction P24-RVS continuous operation RVS- 1, 19 30 VDC or less MOVE END/OUTR Control output...
  • Page 30 6 Connection Connecting the user I/O (driver mode) • Pin assignment of user I/O connector (CN6) Signal name Description Direction Signal name Description Direction Power supply GND for − − N24 (GND) Power supply GND for I/O N24 (GND) Alarm Output ASG1 Encoder...
  • Page 31 6 Connection • Connection example User controller Driver 24 VDC P24 24 VDC input ACL/CK FREE C.OFF Control input PRESET 24 VDC P24-FP +/- direction P24-RP pulse input 1, 19 30 VDC or less END/OUTR TIM./OUT0 Control output OUT1 ASG1 BSG1 ASG2+ Encoder output...

  • Page 32: Connecting The Communication Cable

    6 Connection Connecting the sensors (controller mode) It is enabled in the controller mode. It is disabled in the driver mode. • Pin assignment of sensor I/O connector (CN5) Pin No. Signal name Description Pin No. Signal name Description ∗1∗2 Power supply output for ∗1∗2 Power supply output for...

  • Page 33: About Control Input/Output (I/O) [Controller Mode]

    6 Connection Daisy chain connection Daisy chain connection is effective when setting data using the EZT1. A maximum of 16 drivers can be connected in a “daisy chain” using optional controller link cables (sold separately). With controller link cable, connect the link connector (CN2) on the driver directly connected to the EZT1, to the communication connector (CN1) on the second driver.
  • Page 34 6 Connection • M0 to M5 input Select desired positioning operation data. Use binary code to specify the data number. The selected value should be held until an operation based on the selected profile is executed. Selected data 00 (Sequential operation) •...
  • Page 35 6 Connection • STOP input The STOP input is used to stop the operating motor. Set the stop pattern using the I/O parameter “stop action” (initial setting: deceleration stop). Also, set the input logic using the I/O parameter “STOP input logic” (initial setting: normally open). When an operation is stopped via the STOP input, the data set for the operation will be cleared so that the non-executed data will not be executed when the operation is resumed via the START input.
  • Page 36 6 Connection Immediate stop+electromagnetic brake operation+current OFF 4 ms or more STOP input 100 ms or more START input 6 ms or less MOVE output ∗1 END output ∗1 Motor operation Stop Delay when the motor is not excited time =200 ms or less 10 ms or less Motor excitation...
  • Page 37 6 Connection • ACL/CK input When the alarm is generated, this signal functions as the ACL input. When using the current position output function, this signal functions as the CK input. ACL input When any of the driver’s protective functions has actuated, the ALM output turns OFF. To cancel the protective function, reset the ALM output to ON by turning the ACL input ON to OFF.
  • Page 38 6 Connection • FWD (FP), RVS (RP) input These inputs serve as + direction (FWD input) / − direction (RVS input) continuous operation inputs in the controller mode. FWD, RVS input When the FWD input is ON, the motor operates in the + direction. When the RVS input is ON, the motor operates in the −...
  • Page 39 6 Connection Output signals • END/OUTR output This output normally functions as the END output If the current position output function is to be used, this output functions as the OUTR output. END output END output turns ON when positioning operation is complete. Following the completion of positioning operation, END output turns ON when the rotor has positioned within ±1.8°...
  • Page 40 6 Connection • T-UP/OUT1 output This output normally functions as the T-UP output If the current position output function is to be used, this output functions as the OUT1 output. T-UP output T-UP output turns ON when the load is pushed. The END output will not turn ON. If the load is not pushed, the motor is stopped after the END output turns ON.
  • Page 41 6 Connection • ASG, BSG output ASG and BSG outputs are available in two types: transistor open-collector output and line-driver output. Use either type to suit the input system of the counter unit and other functions of the controller. The use of ASG and BSG outputs requires separate 5 or 24 VDC power supply. ASG output: Outputs pulse while the motor operates.
  • Page 42 6 Connection Checksum (8 bit) The 48 bits of current position data and status information are divided into bytes, and all bytes are added up. The checksum represents the lowest eight bits in the result obtained by a total of six additions (addition of six bytes). The checksum provides the information used to check if the current position data, status and alarm code have been read correctly.

  • Page 43: About Control Input/Output (I/O) [Driver Mode]

    6 Connection 6.11 About control input/output (I/O) [driver mode] Input signals • PRESET input When the PRESET input becomes ON, the current position is preset. A desired preset position can be selected in the I/O parameter “preset position” (initial setting: 0). The absolute-type driver writes data to the NV memory upon completion of return-to-home operation and when a PRESET signal is input.
  • Page 44 6 Connection • FWD (FP), RVS (RP) input These inputs serve as + direction (FP input) / − direction (RP input) pulse inputs in the driver mode. Input a pulse train corresponding to the pulse input mode from the user controller. The waveform of the input pulse signal must have sharp rises and falls, as shown in figure.
  • Page 45 6 Connection FP, RP input (phase-difference input mode) When the FP input pulse train leads the RP input pulse train by 90°, the motor operates in the + direction. When the RP input pulse train leads the FP input pulse train by 90°, the motor operates in the − direction The maximum input pulse frequency is 50 kHz (multiplied by 4).
  • Page 46 6 Connection When the C.OFF input turned ON FREE input Motor excitation Not excited 6 ms or less 6 ms or less MBC output ∗ ∗ Timings at which the MBC output turns ON/OFF are indicated. To find out the operating time of the electromagnetic brake, check the electromagnetic brake specification.
  • Page 47 6 Connection • TIM./OUT0 output This output normally functions as the TIM. output If the current position output function is to be used, this output functions as the OUT0 output. TIM. output The TIM. output turns ON every time the motor output shaft has turned 7.2°. (When the resolution Pulse train input is set to 1000 P/R)
  • Page 48 6 Connection • Current position output The current position data recognized by the driver is output. It takes 0.5 to 1 second to read the data. The data is output as a 56-bit data signal consisting of the current position data, status, alarm code and checksum. The data format is shown below.

  • Page 49: Sensor I/O Specification [Controller Mode]

    6 Connection ∗6 REQ input ∗2 ∗4 CK input 6 ms or less ∗1, ∗3 ∗5 ∗7 OUTR output OUT0 output OUT1 output 3 times Once Twice 27 times 28 times The REQ input is always enabled. When the REQ input is ON during operation, the current position data, status and alarm code are transmitted.

  • Page 50: Turning On The Power To The Driver

    6 Connection 6.13 Turning on the power to the driver Confirm that no external force is applied to the load or output shaft of the motor. Turn on the power supply to the driver. A green OPERATION LED turns on. If the OPERATION LED does not turn on, cycle the power.

  • Page 51: Operation

    7 Operation 7 Operation This chapter explains the operations, stopping actions and coordinate position management that can be performed using the driver. Data required for operation is set with the MEXE02 or EZT1. For details on how to set data, etc., refer to each operating manual.

  • Page 52: Positioning Operation [Controller Mode]

    7 Operation 7.2 Positioning operation [controller mode] Positioning operation can be performed in the following three modes: • Single-motion operation ..performed for single-motion profiles. • Linked-motion operation ..performed continuously for two or more motion profiles. • Sequential operation .... performed based on the next data No. every time an operation signal is input. Selecting the positioning data No.
  • Page 53 7 Operation Linked-motion operation When a motion profiles are chosen for which “linked-motion” is selected as the operation function, positioning operation is performed continuously over successive “linked-motion” data, without stopping the motor. A maximum of 4 motion profiles can be linked. If operation data includes data for which “single-motion” is set, the motor will stop after the positioning with respect to the “single-motion”...
  • Page 54 7 Operation • Selecting No.00 for the first operation When a START input is turned ON with No.00 selected, a single-motion operation is performed based on data No.01. When a START input is turned ON again, a linked-motion operation is performed based on data Nos.02, 03 and 04, in that order.

  • Page 55: Continuous Operation [Controller Mode]

    7 Operation 7.3 Continuous operation [controller mode] The motor operates continuously while the FWD or RVS input is ON. If the driver’s protective function is actuated, turn the FWD or RVS input OFF. If the FWD input is turned ON, the motor will operate in the + direction. If the RVS input is turned ON, the motor will operate in the - direction.
  • Page 56 7 Operation Operation sequence of the 3-sensor mode - - - Broken line indicates a home offset move. Starting position Starting direction of Starting direction of of return-to-home return-to-home operation: + (CW) side return-to-home operation: - (CCW) side operation HOMELS HOMELS + side + side...

  • Page 57: Push-Motion Operation [Controller Mode]

    7 Operation Operation sequence of the push-motion mode - - - Broken line indicates a home offset move. Starting position Starting direction of Starting direction of of return-to-home return-to-home operation: + (CW) side return-to-home operation: - (CCW) side operation - side + side - side + side...

  • Page 58: Manual Operation

    7 Operation 7.6 Manual operation The operations can be performed manually using the MEXE02 or EZT1. The wiring condition and operation of the motor and driver can be checked in the manual operation mode. Refer to each operating manual for the procedure to perform manual operation. 7.7 Stop operation Soft limit stop Soft limits are limiting values set by software.

  • Page 59: Setting Parameters

    8 Setting parameters 8 Setting parameters In order to operate the motor, it is necessary to set not only the motion profile data, but also data that defines the motor operating environment. Such data is referred to as parameters. Parameters are set via using the MEXE02 or EZT1. For details on how to set parameters, refer to each operating manual.

  • Page 60: I/O Parameters

    8 Setting parameters 8.2 I/O parameters Parameter Description Setting range Initial value Imd stop ∗1 Set how the motor should stop when a STOP input is Dec stop Stop action Dec stop turned ON. Imd stop + MB + C.OFF Dec stop + MB + C.OFF ∗1 Stop input logic...

  • Page 61: Speed Parameters

    8 Setting parameters Parameter Description Setting range Initial value Reduce vibration and shock when the motor is started Speed filter 1 to 100 ms and stopped. Switching motor Sets the rotating direction of the motor output shaft. operating direction Sets the direction in which the motor will rotate when +Dir −Dir ←...

  • Page 62: Home Parameters [Controller Mode]

    8 Setting parameters 8.5 Home parameters [controller mode] Parameter Description Setting range Initial value 2+TIM 2+SLT 2+TIM+SLT Set the mode of return-to-home operation and whether 3+TIM Return mode or not other signals are used. 3+SLT 3+TIM+SLT Push Push+TIM Push+SLT Push+TI+SL Starting speed of Sets the starting speed of return-to-home operation 1 to 500,000 Hz...

  • Page 63: Inspection

    9 Inspection It is recommended that periodic inspections be conducted for the items listed below after each operation of the motor. Should you encounter any abnormality, immediately stop using the controller and call your nearest Oriental motor sales office. Inspection items •...

  • Page 64: Alarm

    10 Alarm 10 Alarm The driver has protective functions to protect itself from rising ambient temperatures, poor connections with power supply and motor cables, abnormal operations and the like. 10.1 Driver alarm When a protective function is triggered, the ALARM LED on the front panel blinks, ALARM output turns OFF, and simultaneously the motor current is shut off in order to stop the motor.
  • Page 65 10 Alarm No. of Alarm EZT1 Display on Motor action Cause Remedial action code input blinks Reset the alarm using ACL Both the +LS and −LS input, and then check the logic LS Logic Error sensors were detected in of the installed sensors and the the sensor-enable mode.
  • Page 66 10 Alarm No. of Alarm EZT1 Motor action Cause Remedial action Display on code input blinks In the single-motion operation, check the operation data exceeds the soft limits. In the The motor reached a soft Soft Lim Detected linked-motion operation, check limit position.

  • Page 67: Alarm Reset

    10 Alarm 10.2 Alarm reset If the ALM output turned OFF as a result of actuation of any of the driver's protective functions, reset the ALM output (turn the signal ON) by either of the following operations: • Input an ACL signal once. •...

  • Page 68: Specifications

    11 Specifications 11 Specifications General specifications Motor Driver Protective range IP20 IP10 −10 to +50 °C (+32 to +122 °F) Ambient (non-freezing) 0 to +40 °C (+32 to +104 °F) temperature Harmonic geared type: 0 to +40 °C (non-freezing) (+32 to +104 °F) (non-freezing) Operation Humidity 85% or less (non-condensing)

  • Page 69: Options (Sold Separately)

    12 Options (sold separately) 12 Options (sold separately) Motor connection cable The cable supplied with the ARL series is all you need to connect the motor and driver. Take note, however, that if you wish to connect the motor and driver over a distance of 5 m (16.4 ft.) or more, the supplied cable is not long enough and you must use a connection cable set or extension cable set.
  • Page 70 12 Options (sold separately) • Connection cable set A cable is needed to connect the motor and driver. The cable set for electromagnetic brake motors consists of two cables, one for motor and the other for electromagnetic brake. • • For standard motors For electromagnetic brake motors Model...
  • Page 71 12 Options (sold separately) Data setting software The data setting software lets you set operation data and parameters using a PC. The software comes with a PC interface cable [5 m (16.4 ft.)]. The cable is connected to a USB port on the PC. Model: MEXE02 Teaching pendant It provides data setting functions and position/alarm monitoring functions.
  • Page 72 • Unauthorized reproduction or copying of all or part of this manual is prohibited. If a new copy is required to replace an original manual that has been damaged or lost, please contact your nearest Oriental Motor branch or sales office.

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