Page 1 AXD SERIES DRIVER FOR DIRECT DRIVE ACTUATOR Parallel I/O Specifications INSTRUCTION MANUAL Before operating the product, read this instruction manual without fail. Among all, carefully read the description related to safety. Keep this instruction manual in a safe place so that you can read it at any time when necessary.
Page 2: Introduction
ABSODEX is a direct drive indexing unit developed to drive intermittently operated turntables or the like of general industrial assembling machines and testing machines flexibly and accurately. This instruction manual is exclusively for ABSODEX AXD Series. It is inapplicable to other types.
Page 3: For Safety Operation
FOR SAFETY OPERATION When designing or manufacturing equipment incorporating this product, you are obligated to manufacture safe equipment. To do so, check that the mechanism of the equipment and the electric control for controlling the mechanism assure the safety of the system. For safety of the design or management of the equipment, strictly observe the organization standards and the regulations.
Page 4 <Type of WARNING symbols> A general mark that indicates A mark that prohibits the act of prohibited acts (what not to do). touching the device. A mark that prohibits the act of A general mark that indicates the inserting a finger. danger of electric shock or burn.
Page 5: Precautions For The Product
Precautions for the Product DANGER Do not attach or remove connectors with the power on.  A malfunction, failure, or electric shock may be caused. Do not operate in explosive or fire atmosphere. Do not use the product for the following purposes: ...
Page 6 WARNING A person with sufficient knowledge and experience should handle the product.  The product is designed and manufactured as equipment/component for general industrial machinery. Observe the use of the product within the specification.  The products cannot be used out of its intrinsic specification. ...
Page 7: Table Of Contents
CONTENTS INTRODUCTION ....................2 FOR SAFETY OPERATION .................. 3 Precautions for the Product ....................5 CONTENTS ......................7 PRODUCT CONFIGURATION .............. 12 System Configuration ..................12 Instruction Manual for the Product............14 OPERATION FLOW ................15 Installation and Connection Check ............17 Creation of Test Operation Program ............19 Gain Adjustment ...................20 Home Position Determination..............26 Test Operation ....................26...
Page 8 HOW TO USE ..................56 Pin Arrangement and Signal Name ............57 How to Use General I/O Signals ...............62 Pulse String Input Signals ................82 Encoder Output Function ................86 Application Example of I/O Signal ............87 Operation Panel ................... 100 PARAMETER SETTING ............... 102 Parameters and Contents .................
Page 9 Using Filters ....................129 Positioning Completion Signal Outputting Time ......... 132 Controlled Stop upon Alarm Valid/Invalid ........... 132 In-position Signal Output Mode .............. 133 Mode Selection of I/O Signal ..............133 Integral Limiter ................... 134 PROGRAM ..................... 135 General Description ..................135 Operation Mode ...................
Page 10 APPLICATION EXAMPLES ..............174 Product Type Change ................. 174 Shortest Route Indexing ................176 Crimping ......................179 Pick and Place (Oscillation) ..............181 Indexing Table ..................... 184 Continuous Rotation ................... 186 MAINTENANCE AND TROUBLESHOOTING ........188 Maintenance Inspection ................190 Troubleshooting ...................
Page 11 Installation Method ..................215 TERMS OF WARRANTY ..............218 REFERENCE INFORMATION ............. 219 Driver Specifications .................. 219 2023-09-22 SM-A61663-A/2...
Page 12: Product Configuration
PRODUCT CONFIGURATION System Configuration BASIC SETTING ITEMS NC programs are input at a PC. Required parameters are input in the same way. Gain is adequately set. BASIC DRIVE METHODS A program to be executed is selected at the PLC. Start signal is input at the PLC. System Configuration Example <System Configuration>...
Page 13 When using a circuit breaker, select one that has high frequency counter measures for inverter use. List of Peripheral Devices Components Product Name, Model Manufacturer Product Driver AXD Series AX1R Series Actuator AX2R Series Optionally AX4R Series available Corporation Power cable AXP-CBLM1-□□□...
Page 14: Instruction Manual For The Product
This instruction manual is “SM-A61663.” The instruction manuals related to this product are as follows: Driver Actuator SM-A83981 SM-A61663 AX1R Series (This instruction manual) AXD Series AX2R Series Parallel I/O Specifications AX4R Series SM-A63468 AXD Series CC-Link specifications Setup software...
Page 15: Operation Flow
OPERATION FLOW In this chapter, the purpose is to operate ABSODEX. Functions are configured in the following way when the product is shipped from the factory. Forced stop input (CN3-17) Valid (I/O signal necessary; in case of no input, forced stop (servo-off) 7-segment LED display 9.2.
Page 16 Check if the ABSODEX is installed and 2.1. Installation and Connection Check connected correctly. Use the AX-Tools to build a program easily. 2.2. Creation of Test Operation Program 2.3. Gain Adjustment 2.3.1. Auto Tuning 2.3.4. Manual Tuning Adjust to the gain matching the load. Use the home position offset function to 2.4.
Page 17: Installation And Connection Check
Installation and Connection Check Fix the ABSODEX unit securely. The full performance of ABSODEX is not achieved with unstable installation or with a loose base or stand. Install the load securely, too. A loosely installed load or one with loose bolts will cause oscillation. For details, refer to “3. INSTALLATION.”...
Page 18 Next, connect all of the actuator, driver and power supply as well as peripheral devices. For details, refer to “1. PRODUCT CONFIGURATION.” <Connection Example> ABSODEX Actuator (Encoder cable) unit (Power cable) Driver unit Molded case Noise filter Electromagnetic circuit breaker contactor (optional) 3 phases 200 VAC Regenerative...
Page 19: Creation Of Test Operation Program
Creation of Test Operation Program Gain adjustment is necessary for the operation of ABSODEX. Gain adjustment is made for each load so that ABSODEX operates in the best state. Create a four-segment program used for a gain adjustment and test operation using the AX- Tools.
Page 20: Gain Adjustment
Gain Adjustment WARNING Keep hands away from the rotating part as sudden motion may take place during gain adjustments or trial run.  Make sure of the safety in the full revolution of the actuator before turning it on to adjust.
Page 21 Auto Tuning Gain adjustment is necessary for the operation of ABSODEX. Gain adjustment is made for each load so that ABSODEX operates in the best state. Here, the gain adjustment method using the auto tuning function is described. <Action of Work Torque> ○...
Page 22 Auto Tuning Flowchart The flowchart of auto tuning is shown below. <Auto Tuning Flowchart> 始め START At the terminal mode of the AX-Tools, enter commands necessary for auto AX-Tools と接続し、 tuning. Connect the unit with the AX- 電源を投入 Tools and turn the power ON. Set PRM122 (G2) to “-1.”...
Page 23 Auto Tuning Using AX-Tools Use the “Tuning Function” of the AX-Tools to perform auto tuning more easily. 1. Launch the AX-Tools and open the gain adjustment tab dialog box. To start auto tuning, press the “Load Estimation (Step 1)” button. Adjust the angle of oscillating If the friction load is...
Page 24 3. Before oscillation begins, confirmation is requested for. To continue, press “OK.” 4. After the actuator has stopped oscillating, auto tuning is finished. (The cycle may take several tens of seconds according to the load.) For details, refer to the “AX-Tools instruction manual.” 2023-09-22 SM-A61663-A/2...
Page 25 Manual Tuning The gain adjustment flowchart is shown below. <Manual Tuning Flow Chart> 始め START With push buttons on the driver panel or AX-Tools, set G1 to “8,” and G2 to “0.” The shipment settings are “8” (G1) and “-1” (G2.) This setting assumes operation with almost no load.
Page 26: Home Position Determination
Home Position Determination (Unnecessary for Test Operation.) The home position can be set at any position using the home position offset adjustment function of the AX-Tools. For details, refer to the “AX-Tools instruction manual.” Test Operation Create a program for a test operation using the AX-Tools. For details, refer to the “AX-Tools instruction manual.”...
Page 27: Wiring
Wiring Driver Panel Description A terminal strip and connectors, etc. are located on the front panel of the driver. <AXD-S Type Driver Panel> AXD-S AXD-H Alarm display 7-segment LED (5 digits) Operation Buttons Main power USB mini-B connector Regenerative resistor connection terminal Not used Encoder cable connector...
Page 28 <AXD-H Type Driver Panel> AXD-S AXD-H Alarm display 7-segment LED (5 digits) Operation Buttons Main power USB mini-B connector Regenerative resistor connection terminal Not used Encoder cable connector Main power LED Control power Safety function connector Not used Actuator output I/O connector terminal Brake terminal...
Page 29: Installation
INSTALLATION DANGER Do not attach or remove connectors with the power on.  A malfunction, failure or electric shock may be caused. Do not operate in explosive or fire atmosphere. WARNING Do not remove devices until the safety is confirmed. The brake built-in actuator series do not completely clamp the output axis in all cases.
Page 30 CAUTION When carrying the actuator, do not hold the connector, connector mount or draw-out cable.  The connector part may be damaged or disconnected. Actuators and the drivers are not water-proof type.  For using them where water or oil may be splashed, provide a protective means for the actuator and the driver.
Page 31: Driver Installation
Driver Installation Precautions for Installation of Driver The ABSODEX driver is not designed for dust-tight and water-proof construction. Make sure that appropriate protection is provided for the driver so that dust, water, and oil will not ingress the driver. When installing the ABSODEX driver, make a space of 50 mm or more on an upper surface and lower surface, and 20 mm or more on a side surface from a structural object such as an adjacent driver, another device and wall.
Page 32  Driver Installation Direction If the driver is installed horizontally, air stays inside the driver to deteriorate heat radiation and raise the internal temperature, possibly causing failure of the driver. Install the driver in the erected state without fail. <Driver Installation Direction> Cannot be installed Cannot be installed Can be installed...
Page 33: About Cable
About Cable Use the dedicated cable (optionally available) without fail for the wiring between the actuator and driver. Avoid excessive forces or scratches on wiring in the installed state. CAUTION Do not remodel the power cable or the encoder cable (optionally available). A remodeled cable will cause malfunction and failure.
Page 34 Product Configuration This product consists of the items specified in the table below. Check that all items are delivered when unpacking for the first time. <Product Configuration> Name Quantity 1. Driver Unit 2. Handling Precautions 3. Accessories Main power supply connector 06JFAT-SBXGF-I or [J.S.T.MFG.CO.,LTD.] 06JFAT-SBXGGKS-A...
Page 35: Wiring Method
Wiring Method Connection to Power and Actuator (CN4A, CN4B, CN5)  L1, L2, L3 (CN4A), L1C, L2C (CN4B) Connect to the power supplies using the connectors provided. To use with 3-phase power supply, connect the 50/60 Hz power cables to the L1, L2, L3, L1C, and L2C terminals.
Page 36 How to insert the cable into the connector Use the provided operating lever to insert the power supply insertion section of the plug connector. Remove the plug connector from the equipment before inserting it. Operating lever Sheath Conductor 9 mm DANGER The L1, L2, L3, L1C, L2C, U, V, and W terminals are charged with high voltages.
Page 37  Power Supply and Circuit Breaker Capacities <Power Supply and Circuit Breaker Capacities> Power Supply Capacity (kVA) Note 1 Breaker Capacity (A) Actuator Model Driver Model Max. value Rated value Rated current AX1R-022 AX1R-045 AX1R-075 AX2R-006 AX2R-012 AXD-S AX2R-018 AX4R-009 AX4R-022 AX4R-045 AX4R-075...
Page 38  Connecting CN3 (I/O Signal) This port is used for connecting to a PLC etc. for I/O signals. Connector model (cable side) Model 10150-3000PE (plug) AXP-CN-NP1 (CKD Corporation) 10350-52A0-008 (shell) Manufacturer Sumitomo 3M Limited This connector is supplied as accessory for driver.
Page 39 CAUTION When connecting an inductive load such as the relay and solenoid in the output, add a surge absorber in parallel to the load to protect the output port.  Be careful of the polarity when connecting.  The reverse polarity may cause the output circuit to be damaged. <Recommended Product>...
Page 40  CN3: Connecting a Pulse String Input An example of connection with a host pulse generator is shown below. When connecting one actually, check the specifications of the pulse generator to be used. Use twisted pair shielded cables to avoid malfunctions caused by noise. The cable must be within 1 m long.
Page 41 <Connection Example 2> Line driver output The line driver can be used for the pulse input circuit of the ABSODEX while it supports open collector outputs. The maximum input pulse frequency of the line driver output is 4 Mpps. <Connection Example 2 of Pulse String Input> Pulse generator ABSODEX パルス発生装置...
Page 42  Pulse String Input Specification <Pulse String Input Circuit> 19, 21 ピン 19 and 21 pins 120Ω 20, 22 ピン 20 and 22 pins Rated voltage : 5 V ±10% Max. input frequency ... Line driver 4 Mpps ... Open collector 250 Kpps The logic with the active photocoupler of the pulse string input circuit is “TRUE”...
Page 43 Wiring of Pulse String Input Signals Shown below is a wiring example in relation to the programmable logic controller for activating ABSODEX in the pulse string input mode. <PLC to be Used> Manufacturer of PLC Name of Unit Model CPU unit Q03UDVCPU Mitsubishi Electric Power unit...
Page 44 Wiring a System Operating with Encoder Outputs Shown below is a wiring example of a system in which the encoder output is counted with the counter unit of the programmable logic controller. <PLC to be Used> Manufacturer of PLC Name of Unit Model CPU unit CS1G-CPU42H...
Page 45 Wiring for Safety Function CN6: Safety function Connect to a safety relay or the like. The safety function employed in this product, STO: Safe Torque Off, is such that the power that can cause rotation of actuator is not applied. To use the safety function, purchase an optional STO cable.
Page 46 <Wiring Example of Safety Input Signal> Use a micro current switching relays or an open collector output transistor for a contact. Turn on when a contact is closed, and turn off when the contact is open. ドライバ Driver スイッチ Switch （CN6）...
Page 47 <Wiring Example of Monitor Output Signals> Turn on when it is electrically conducted between the terminals, and turn off when it is released between the terminals. Driver ドライバ (CN6) EDM+ 外部機器 External device EDM- +12～24V Item Description Insulation method Photocoupler insulation Maximum load voltage 30 VDC Maximum load current...
Page 48 WARNING The optional electromagnetic brake is for retention only and cannot be used for braking. Brake outputs (BK+, BK-) and other inputs and outputs (other than CN6) are not safety-related.  Do not design a safety system using these functions. Power module failure may cause the actuator to move in a range equivalent to approximately 18°...
Page 49 About Electromagnetic Brake TB1: Brake output Connect an electromagnetic brake. In a system equipped with an optional electromagnetic brake or with an electromagnetic brake installed outside the ABSODEX by the user and controlled by the ABSODEX program, take care of the following points. ...
Page 50  Recommended Circuit for Electromagnetic Brake <Recommended Circuit 1 for Electromagnetic Brake> ABSODEX Driver External power (Attached to the Actuator unit 24 VDC unit) Protection device (Prepared by Customer) Electromagnetic brake Surge protective device Electromagnetic External power brake lead (diode, etc.) unit 24 VDC (blue, approx.
Page 51 <Recommended Circuit 2 for Electromagnetic Brake> Relay (4-pole) リレー（4 極） External power unit (Prepared 保護素子外部電源 DC24V External power unit Protection device （お客様用意） 24 VDC (Prepared Customer) 外部電源 DC24V 24 VDC (Prepared (attached to the Actuator unit) （アクチュエータ本体に添付）（お客様用意） by Customer) （お客様用意）...
Page 52  How to Activate the Electromagnetic Brake Execute NC code M68 or M69 in the NC program or supply a brake release input (CN3-18) to open or close across the BK+ and BK- terminals of the ABSODEX driver, thereby controlling the operation under an external power supply voltage of 24 VDC.
Page 53 CAUTION Note that the magnetic force of the electromagnetic brake may cause stuck iron powder or effects on measuring instruments, sensors, or other devices. If a stand or the like is located below, draw a preliminary design with a space reserved to accept the wrench handle length.
Page 54 Wiring of Regenerative Resistor When wiring a regenerative resistor, connect it to B1/P, B2 terminal. As the contact of the thermostat will be activated (opened) when the regenerative resistance overheats, make wiring to shut off the main power supply at that timing. The contact specification of the thermostat is contact current 5 A at 125 VAC, and contact current 3.5 A at 250 VAC.
Page 55 Connection to Other Terminal Blocks  CN1 (USB-miniB) This port is a serial port, which interfaces with a personal computer etc. For the communication method via USB-miniB, refer to “7. COMMUNICATION FUNCTIONS (CN1: USB).” Driver (AX-Tools installed) USB port (mini-B type) ...
Page 56: How To Use
HOW TO USE WARNING Servo off (including safety function, forced stop and alarm), brake release, and system reset (including resetting via network) with the output axis being rotated due to an unbalanced load, etc. may cause the actuator to rotate. ...
Page 57: Pin Arrangement And Signal Name
This chapter describes the specifications and usage of I/O signals exchanged at the connector (CN3) connected mainly with a programmable logic controller. Driver I/O cable Pin Arrangement and Signal Name <I/O Power Supply> Pin No. Signal Name NPN Connection Note 1 PNP Connection Note 1 Input signal power...
Page 58 <CN3 Input Signal> Reference Signal Name Logic Judgment Remarks Section Program No. selection input (bit 0) Positive Level Program No. selection input (bit 1) Positive Level Program No. selection input (bit 2) Positive Level Select or enter the Program No. selection input (bit 3) Positive Level program number to...
Page 59 <CN3 Output Signal> Forced Reference Signal Name Logic Remarks Stop Section ・When NC code M20 to M27 is M code output (bit 0) Positive executed, M code output (bit 1) Positive the M code corresponding to the number bits of the first digit is M code output (bit 2) Positive output.
Page 60  I/O Output State at Power-on After the in-position output is turned on and ABSODEX is ready to receive a start input, the start input wait output is turned on. Turn the servo state output on or off according to the outputting conditions. Other outputs are turned off.
Page 61 <CN3 Pulse String Input Signal> Pin No. Signal Name Remarks PULSE/UP/phase A One of the following input modes can be selected with the setting of PRM42: -PULSE/-UP/phase -A ・Pulse/direction inputs ・Up/down inputs DIR/DOWN/phase B ・A/B phase input -DIR/-DOWN/phase -B The setting at the time of shipment is the pulse/direction input.
Page 62: How To Use General I/O Signals
How to Use General I/O Signals This section explains general I/O signals, the contents and use. Some of general I/O signals vary in using method depending on the parameter setting. “5. PARAMETER SETTING” should be read together.  The start input, program stop input, continuous rotation stop input, answer input, home return command input, reset input, ready return input, and program number setting inputs (first and second digits) are inputs supplied upon detection of the rising edge.
Page 63 Program No. Selection Method <I/O Signals to be Used>  Program No. selection input bit 0 to 3 (CN3-5 to 8)  Program setting input second digit / Program No. selection input bit 4 (CN3-9)  Program setting input first digit / Program No. selection input bit 5 (CN3-10) ...
Page 64 <4 bit binary double selection (PRM36 = 2)> Same as in <4 bit BCD double selection (PRM36 = 1: default setting)>, Bit 0 to 3 (CN3-5 to 8) for program selection input enables to set the second and first digit data in this order. The number data is specified by 4 bit BCD.
Page 65 <Example> To enter program number “1” in method “4 bit BCD double selection“ of “4.2.1 Program No. Selection Method.” when the program number setting is already “26.” If only the units digit program number signal enters “1,” “2” at the tens digit remains valid and program number “21”...
Page 66  When PRM36 is Set to 4 or 5 After the start input is supplied, selected programs are executed one by one from the first one. How the actuator moves after a forced stop differs by the setting of PRM36 (Selection switching of I/O program numbers).
Page 67  If a program is started using the S1 communication command after the program number has been set using the L16 communication command, the program set with L16 is started. (Status of the I/O program number selection bit is ignored.) ...
Page 68 <6 bit binary selection with start (PRM36 = 5, program number is set after forced stop)> The second digit (CN3-9) in the program setting input is used for bit 4 of the program number selection input, and the first digit (CN3-10) in the program setting input is used for bit 5 of the program number selection input.
Page 69  If the distance from the forced stop position to the target position is short, Alarm 1 due to an increase in acceleration can be triggered by the rotation speed designation program. If the rotation speed designation program is to be used, the device shall be operated by a separate program intended for restoration action.
Page 70 NC Program Execution Method <I/O Signals to be Used>  Start input (CN3-13)  Start input standby output (CN3-43)  Program stop input (CN3-14) <PRM to be Used>  PRM52 = 1: Function selection for I/O input signal CN3-14 (bit 9) * If the program stop input is used Turn on start input (CN3-13) after program number setting.
Page 71 Home Positioning Instruction Input <I/O Signals to be Used>  Home positioning instruction input (CN3-12) The built-in absolute type position detector in ABSODEX does not necessarily require home positioning upon power-on start. If equipment system configuration requires home positioning, it can be achieved by home positioning instruction input (CN3-12).
Page 72 Forced Stop Input <I/O Signals to be Used>  Forced stop input (CN3-17)  Reset input (CN3-11) This is a negative logic input signal and it is valid when PRM23 (forced stop input) is “1” or “3”. (Default setting: 3; servo OFF after stop). When this signal is turned on, program execution is stopped.
Page 73 Brake Release Input <I/O Signals to be Used>  Brake release input (CN3-18)  Start input (CN3-13)  Positioning completion output (CN3-42) The brake is released while this signal is turned on even if the brake is applied. If a forced stop is supplied when the brake is applied, the brake remains applied even after the equipment is reset.
Page 74 Servo-on Input <I/O Signals to be Used>  Servo-on input (CN3-14)  Start input (CN3-13)  Start input standby output (CN3-43)  Servo state output (CN3-47) <PRM to be Used>  PRM52 = 0: Function selection for I/O input signal CN3-14 (bit 9) This function makes it possible to turn the servo on/off with an I/O signal.
Page 75  This function is an alternative to “program stop input.”  The servo state output is issued after about 100 msec since the servo-on input changes.  Leave at least 100 msec for the servo-on/off switching timing to avoid malfunctioning. No input is accepted in intervals d or e shown in “Timing Chart of Servo-on Input”...
Page 76 Confirmation Method of Positioning Completion <I/O Signals to be Used>  Positioning completion output (CN3-42)  Answer input (CN3-16) <PRM to be Used>  PRM13: Answer input after completion of positioning and home return  PRM47: Positioning completion output time ...
Page 77 M Code Output Timing <I/O Signals to be Used>  M code output bit 0 to 7 (CN3-33 to 40)  M code strobe output (CN3-50)  Answer input (CN3-16) <PRM to be Used>  PRM54 = 0: Function selection for I/O input signal CN3-16 (bit 11) Executing M20 to 27 of NC code will turn on the corresponding M code output bit 0 to 7 (CN3- 33 to 40).
Page 78 Segment Position Output Timing <I/O Signals to be Used>  M code output bit 0 to 7 (CN3-33 to 40)  Segment position strobe output (CN3-49)  Answer input (CN3-16) <PRM to be Used>  PRM54 = 0: Function selection for I/O input signal CN3-16 (bit 11) Executing M70 of NC code (segment position output), when segment number is designated using NC code G101 will output the current segment position in binary in the M code output bit 0 to 7 (CN3-33 to 40).
Page 79 Other I/O Signals  Reset Input (CN3-11) Release the alarm. Effective only for alarm. For detail of alarms, refer to “11. ALARMS.”  Ready Return Input (CN3-15) in the return process of the safety function. This function is an alternative to the “continuous rotation Enter to validate this function.
Page 80  Output 1 and 2 during Indexing (CN3-46 and 47) These are the output that is made during motion. According to the settings of PRM33 (output 1 during indexing) and PRM34 (output 2 during indexing) with 0 selected for PRM56 (output 1 during indexing) or PRM57 (output 2 during indexing), the output is turned on, and it is turned off when the positioning completion signal is issued.
Page 81  Home Position Output (CN3-46) If PRM56 is set at “1” (home position output), home position output CN3-46 is issued each time the user coordinate origin is passed. <Home Position Output Timing> Home position of user coordinate ユーサ座標原点 -100 パルス 100 パルス...
Page 82: Pulse String Input Signals
Pulse String Input Signals Using Pulse String Input Signals <I/O Signals to be Used>  PULSE/UP/phase A (CN3-19)  -PULSE/-UP/phase -A (CN3-20)  DIR/DOWN/phase B (CN3-21)  -DIR/-DOWN/phase -B (CN3-22) The following two methods can be used to drive an actuator in the pulse string input mode. ...
Page 83 Kinds of Pulse String Input Signals This function provides pulse string inputs for pulse and direction, up and down, and A and B phases (90° phase difference). <Kind of Pulse String Input> Pulse Direction DOWN Phase A Phase B 90゜ The driver is set for pulse and direction inputs at default.
Page 84 Instruction Pulse Specifications The pulse width input should be made to satisfy the following conditions. <Conditions> t1 ≥ 1.25 μsec t2 ≥ 5 μsec t1/t3 ≤ 50% <Pulse/Direction Inputs> パルス Pulse 方向 Direction “TRUE” “FALSE” <Up/down Inputs> “FALSE” アップ “FALSE” ダウン...
Page 85 Pulse Rate and Rotation Numbers  Inputs for Pulse/ Direction and Up and Down Pulse rate can be changed using PRM35 (pulse rate change). The actuator can be set in motion with the multiplications of the rotation and movement set by the parameter.
Page 86: Encoder Output Function
Encoder Output Function <I/O Signals to be Used>  Phase A (CN3-23)  Phase -A (CN3-24)  Phase B (CN3-25)  Phase -B (CN3-26)  Phase Z (CN3-27)  Phase -Z (CN3-28) The output is a pulse string output in the line driver type A-/B- and Z-phases. The encoder output is effective in all operation modes.
Page 87: Application Example Of I/O Signal
Application Example of I/O Signal Basic Flow of I/O Signals In this section, the basic I/O signal flow starting at program number selection followed by starting and stopping is described. <Motion Example> Four-segment indexing (Direction of rotation: clockwise) <Motion Example> 0°...
Page 88 Key Point to Program Number Selection  If the number of programs is 32 or fewer, set PRM36 (I/O program number selection method switching) at “3” (5-bit binary) to finish program number entry in one cycle.  After the power is turned on, program number “0” is automatically selected. If the number of programs is one, leave program number “0”...
Page 89 Note 1: Supply the program number selection, setting and start input signals after checking that the start input wait output signal is ON. Note 2: Turn the start input signal off after checking that the start input signal is supplied and the start input wait output is turned off.
Page 90 Restoration Action Procedure after Forced Stop There are several restoration patterns. The pattern varies according to the action to be taken after the forced stop.  Key Point to Restoration Action After Forced Stop <When PRM36 is Set to 1, 2, or 3> a) After supplying the reset signal, supply a home positioning instruction signal.
Page 91 The forced stop input is valid if PRM23 is set at “1” or “3.”  With restoration action c), travel to the target position before the forced stop input occurs. Therefore if manual rotation is made after the servo is turned off, rotation opposite to the indexing direction or multiple rotations may occur.
Page 92 <Timing Chart After Forced Stop During Rotation (From 0° to 90° Position) Caused by Program Example 1> <Timing Chart 3> 強制停止入力 Forced stop input AX 停止 AX stop （パラメータ 21「強制停止時の減速レート」に従い、減速停止します。） (Deceleration and stop are caused according to Parameter 21 “Deceleration rate for forced stop.”) アラーム出力...
Page 93 b) If the travel instruction and M0 (start input wait) are described in the same block After the reset signal is supplied, the second start input causes restoration to the indexing action. <Program No. 2> G11; Change the unit of F to the time (seconds). G101A4;...
Page 94 Main Power Supply Sequence The main power and control power are separated from each other with this product. When a serious alarm (where both alarm outputs 1 and 2 are issued) occurs, you can use an electromagnetic contactor or the like to shut down only the main power in trouble. <Timing Chart>...
Page 95 Sequence of Safety Function The safety function employed in this product, STO: Safe Torque Off, is such that the power that can cause rotation of actuator is not applied. The above function is activated upon the input contacts of external devices such as the safety relay unit are opened.
Page 96 The sequence for using the safety function is shown below. <Example> 1. After stopping the actuator, set the servo-on input (CN3- 14) to OFF. 2. Make sure the servo state output (CN3-47) is OFF, and open the contacts on external devices (i.e., request to enable the safety function).
Page 97 <Monitor Output Signal (EDM)> A monitor output signal (EDM) is an output signal used for detecting error of safety input. This signal is monitored by external detection, and abnormality such as disconnection is detected by changing the safety input signal. When both safety input signals 1 and 2 are turned OFF, the monitor output signal turns ON.
Page 98 <Timing Chart> 20 msec or longer 20msec 以上外部機器の接点 Contact of external device (Open 接点が開（セーフティ機能を要求）（機能作動時に開） Contact is open (request to when the function is in operation) enable the safety function) サーボオン入力 Servo-on input 20msec 以上 20 msec or longer レディ復帰入力...
Page 99 WARNING Brake outputs (BK+, BK-) and other inputs and outputs (other than TB1) are not safety-related.  Do not design a safety system using these functions. Power module failure may cause the actuator to move in a range equivalent to approximately 18° in output axis. Before using the safety function, make sure to conduct a comprehensive risk assessment of the final application.
Page 100: Operation Panel
Operation Panel Use the operation panel to display the driver status and adjust the gain. <Appearance of Operation Panel> 7 セグメント LED 7-segment LED, 7 セグメント LED 7-segment LED, 5 桁目 (上位桁) 5th digit (the upper digit) 1st digit (the lowest digit) 1 桁目...
Page 101 Operation Buttons <Function List> Button Operation mode Description Status display Displays the next item ▲ Gain adjustment (G1) Writes the value of G1 (PRM121) plus 1 Gain adjustment (G2) Writes the value of G2 (PRM122) plus 1 Status display Displays the previous item ▼...
Page 102: Parameter Setting
PARAMETER SETTING Various parameters are available for ABSODEX to set motion conditions. * Before executing [Parameter Setting], be sure to execute the [Load (ABSODEX)] command to load parameters saved in the driver into the editing work. Parameters and Contents <Parameter List (1/13)> Description Setting Range Initial Value...
Page 103 <Parameter List (2/13)> Description Setting Range Initial Value Unit Setting Acceleration and deceleration time for home 0.1 to 2.0 Feasible positioning Sets acceleration and deceleration times for home positioning. Acceleration and deceleration take place in accordance with the curve. Home return stop 1 to 2 Feasible Determines if the home return is to be made by “stop”...
Page 104 <Parameter List (3/13)> Description Setting Range Initial Value Unit Setting Answer input for positioning and home 1 to 2 Feasible position return 1: Required: Answer input will turn positioning completion output OFF. 2: Not required: Positioning completion output is made at 100 msec. The output time can be changed with PRM47 (output time of positioning completion signal).
Page 105 <Parameter List (4/13)> Description Setting Range Initial Value Unit Setting AX2R-006 5,947 Note) AX2R-012 1 to 5,947 (about 330 rpm) AX2R-018 AX1R-022 AX1R-045 4,866 Note) AX4R-009 1 to 4,886 (about 270 rpm) AX4R-022 AX4R-045 2,883 Note) AX1R-075 1 to 2,883 Resolution (about 160 AX4R-075...
Page 106 When the resolution is set to 540,672 P/rev 540,672 : 1 full revolution pulse When the resolution is set to 2,097,152 P/rev 2,097,152 : 1 full revolution pulse The motion amount [pulse] exceeding the set value for every 2 msec will cause Alarm 1. Note 1 The rotation speed N [rpm] with the per-2 msec motion amount P [pulses] is: = per-1 msec motion amount (pulses) / 1 full revolution pulse...
Page 107 <Parameter List (5/13)> Description Setting Range Initial Value Unit Setting Resolution Settings 1 to 180 Pulse/ msec Feasible 540,672 P/rev Deceleration rate for forced stop Resolution Settings 1 to 698 Pulse/ msec Feasible 2,097,152 P/rev When the resolution is set to 540,672 P/rev Speed deceleration will take place for every 1 msec for a forced stop.
Page 108 <Parameter List (6/13)> Description Setting Range Initial Value Unit Setting Delay time for forced stop servo-off 0 to 2,000 1,000 msec Feasible Sets delay time for servo-off by forced stop (CN3-17) input causing deceleration and stop when PRM23 is set to 3 (servo-off after stop). Forced stop input 1 to 3 feasible...
Page 109 <Parameter List (7/13)> Description Setting Range Initial Value Unit Setting Output 1 during indexing 0 to 99 Feasible Enables to set the output 1 (CN3-46) to be made at what percentage of motion during positioning motion. 0% setting for no output. The output is not issued upon entry of home return (CN3-12) or NC code G28.
Page 110 <Parameter List (8/13)> Description Setting Range Initial Value Unit Setting Pulse string input 1 to 4 feasible 1: Pulse/Direction 2: Forward rotation/Reverse rotation 3: A/B phase 4 times 4: A/B phase 2 times Resolution Settings 0 to 540,671 270,335 Pulse feasible 540,672 P/rev Power-on coordinate...
Page 111 <Parameter List (9/13)> Description Setting Range Initial Value Unit Setting Resolution Settings 0 to 135,168 135,168 pulse/rev feasible 540,672 P/rev Encoder output resolution Resolution Settings 0 to 524,288 524,288 pulse/rev feasible 2,097,152 P/rev Specify the resolution of encoder output. Enter the number of output pulses of the pulse string output signal. Note 1 When the resolution is set to 540,672 P/rev The A-/B-phase output pulse of the driver counted in four multiples is 4 to 540,672 pulses/rev.
Page 112 <Parameter List (10/13)> Description Setting Range Initial Value Unit Setting Function selection of I/O input signal CN3-14 0 to 1 (bit 9) feasible DI_9 0: Servo-on input 1: Program stop input After entering, turn the power off then on again to validate the setting. Function selection of I/O input signal CN3-15 0 to 1 (bit 10)
Page 113 <Parameter List (11/13)> Description Setting Range Initial Value Unit Setting Cutoff frequency for low pass filter 1 10 to 1,000 AX1R Series AX2R Series AX4R-009 AX4R-022 AX4R-045 Feasible Note 1 AX4R-075 AX4R-150 AX4R-300 AX4R-500 AX4R-10W Cutoff frequency for low pass filter 2 10 to 1,000 Feasible Note 1...
Page 114 <Parameter List (12/13)> Description Setting Range Initial Value Unit Setting Integral gain 0.0 to 65,536.0 feasible Note 1 The integral gain is stored. Proportional gain 0.0 to 65,536.0 feasible Note 1 The proportional gain is stored. Differential gain 0.0 to 65,536.0 feasible Note 1 The differential gain is stored.
Page 115 <Parameter List (13/13)> Setting Description Initial Value Unit Range Setting Regenerative resistor value 0.1 to 1,000.0 40.0 feasible Set a resistance value [Ω] of the regenerative resistor. Set it to 40 when an optional regenerative resistor is used. After entering, turn the power off then on again to validate the setting. Regeneration capacity 0.0 to 1,000.0 feasible...
Page 116: Types And Characteristics Of Cam Curve
Types and Characteristics of Cam Curve With ABSODEX, an arbitrary cam curve can be selected with the setting of PRM1. <Cam Curve List> Name Explanation Acceleration and Speed Curves Modified sine curve (MS) Speed The modified sine curve is a cycloid curve (sine curve) with the acceleration peak shifted forth or back (modified).
Page 117  Speed Pattern of Cam Curve MC2 If the rotation speed is designated as a unit of “F” in the NC program, using G10, the speed pattern changes according to the angle of travel as shown below. 速度 Speed <Speed Pattern of MC2> Designated 指定速度...
Page 118: Amount Of Home Position Offset And Home Positioning Motion
Amount of Home Position Offset and Home Positioning Motion ABSODEX with an absolute type position detector has one home position in one rotation, which is called an actuator home position. The home position of the coordinate system which NC programs refers to is called the user coordinate system home position.
Page 119: Precautions For Software Limit
Precautions for Software Limit Using PRM8 (software limit coordinate A), PRM9 (software limit coordinate B), and PRM10 (software limit effective/not effective), software limit can be set. The following precautions should be taken for using software limit.  The home positioning explained in “5.3. Amount of Home Position Offset and Home Positioning Motion”...
Page 120  Alarm will not occur even if the output axis angle of the ABSODEX is within the motion banned range at the time of power-on start. If the first motion instruction in such condition is to the permitted range, ABSODEX will operate normally. For (a) in “Home Position &...
Page 121: Judgment Of In-Position
Judgment of In-position When position deviation within ± in-position range is continuously confirmed after the specified number of sampling times, in-position output signal is output. Judgment and output will be made during both moving and stop. The signal may be always issued in some cases. The following example is for the PRM17 (number of sampling times for in-position) = 3.
Page 122: Judgment Of Positioning Completion
Judgment of Positioning Completion This function enables judgment similar to that for in-position judgment, but only when the motion is completed. Once motion is judged to be completed, judgment will not be made until the next motion instruction is completed. The following example is for the PRM17 = 3.
Page 123: Correct Setting Of Prm16 (In-Position Range)
Correct Setting Of PRM16 (In- Position Range) The correct in-position range varies according to the positioning accuracy requirement. The method for calculating the correct range is described below. <Correct In-position Range> ± y ±y target position 目標位置 θ 拡大すると Enlarged view ...
Page 124 When the resolution is set to 2,097,152 P/rev θ: angle (rad). If the resolution of ABSODEX is 2,097,152 (pulses), arc y is small enough to be considered to be a line; therefore, sin θ = y/r … [1] Because θ is very small, the following equation is assumed: sin θ...
Page 125: G101 (Equal Segment Designation) And Parameter
G101 (Equal Segment Designation) and Parameter Setting PRM37 (segment position range width for designation of equal segment) and PRM38 (rotation direction for designation of equal segment) for the equal segment designation (G101) program allows to specify rotation direction of the actuator at power-on start and motions after forced stop.
Page 126 Motion of G91A-1F□□ and G91A1F□□  PRM38 = 1 (CW direction), or 2 (CCW direction) When within [1] range for the figure (a) below, executing G101A4;G91A-1F will cause the actuator to move to 4H position. When within [2] range, executing G101A4;G91A1F will cause the actuator to move to 2H position.
Page 127 Motion of M70  PRM38 = 1 (CW direction), or 2 (CCW direction) Within the range [4] in (a), “Equal Segment Designation (G101) & Parameter” of “5.8. G101 (Equal Segment Designation) and Parameter,” executing G101A4;M70; will cause CN3 M code to output the current segment position (segment position 3 ..
Page 128 <M Code Output and In-position Output Upon Execution of M70> M Code Output (bit) In-position Binary Display Output Segment Position ○ ○ ○ ○ ○ ○ ○ ● ● 1H (in PRM37 setting range) B'00000001 (=D'01) ○ ○ ○ ○ ○...
Page 129: Using Filters
Using Filters ABSODEX fitted to a low rigidity load equipment may resonate with the equipment. For such application, the built-in digital filters (low pass and notch filters) will help reduce resonance to some extent. PRM62 to 66, 70, 71 are for filters. For details, refer to “Parameter List”...
Page 130 Filter Switch PRM66 (filter switch) is used to set whether or not the four filters take effect. Each bit of the switches corresponds to respective filters, and the bit value “1” is for “effective” and “0” for “not effective.” <Filter Switch> ローパスフィルタ...
Page 131 Example of Filter Setting Using Communication Codes First, set the low pass filter 1 to 100 Hz and the notch filter 1 to 200 Hz. Communication code (_denotes space.) L7_62_100 Set PRM62 to 100 L7_64_200 Set PRM64 to 200 L7_66_5 Set PRM66 to 5 (B'0101) Use the communication code L9 to confirm if the written data is correct or not.
Page 132: Positioning Completion Signal Outputting Time
Positioning Completion Signal Outputting Time You can enter the positioning completion output outputting time to PRM47 (positioning completion signal outputting time). With this function, the outputting time can be specified between “0 and 1,000 msec.” If PRM47 = 0, no positioning completion output is issued. If PRM47 = 0, no positioning completion output is issued and answer input is unnecessary even if PRM13 (answer input at positioning or home return completion) is set at “1: Required.”...
Page 133: In-Position Signal Output Mode
<Example of Speed Curve at Alarm> アラーム 1 発生 Alarm 1 Command 指令速度 speed Actual 実速度 Deceleration is made at speed 非常停止と同じ the same rate as that of 速度で減速する。 emergency stop. 回転速度が 1rpm 以下で The servo is turned off at a サーボオフする。...
Page 134: Integral Limiter
Integral Limiter The integral limiter is related to integral control of the control system inside the controller and it can be entered with PRM123 (integral limiter). A value smaller than 1 reduces the undershoot immediately before stoppage and shorten the settling time.
Page 135: Program
PROGRAM General Description ABSODEX driver with the controller system will enable free setting of actuator rotation angle, moving time, and timer setting with NC programs. Also M code output enables communication with a programmable logic controller.  NC Program Capacity The driver can store up to 256 NC programs, which can be selected through external I/O ports.
Page 136 <ABSODEX Coordinate System> パラメータ 3 Parameter 3 Actuator coordinate アクチュエータ座標座標原点 0 分解能の設定が 540672 P/rev の場合 540671（パルス） Home position 0 540671 (pulse): If the resolution is set to 540672 P/rev 2097152（パルス）分解能の設定が 2097152 P/rev の場合 2097152 (pulse): If the resolution is set to 2097152 P/rev G92 User Coordinate G92 ユーザ座標...
Page 137: Operation Mode
Operation Mode The ABSODEX driver has the six (6) operation modes listed in the table below. For use with a PLC, use the driver in the automatic mode. Under pulse string input mode, the driver can be interfaced with a pulse string output controller. The automatic mode also enables pulse string inputs using NC code G72.
Page 138: Nc Program Format
NC Program Format Format NC program starts with “O” at the head of the program, which is followed by the program number. (In the case of the AX-Tools, this block is input automatically.) N is followed by sequence number, NC code, data and the semi-colon (;) at the last. The section separated by the semi-colon (;) is called a block, and the sequence number is sometimes called the block number.
Page 139  Sequence number N□□ is not necessarily required. Programs can be executed from the head without relating to the sequence number. However, the sequence number is required, when specifying the place to jump to with J code.  When A code (movement amount) only is written in one block, F value (moving time or velocity) is the value set in the previous block.
Page 140: Code List
Code List <NC code list> Code Function Data Range Remarks 0 to 255 can be selected from I/O. Program No. 0 to 999 o is automatically added. Sequence number 0 to 999 Can be omitted. Refer to “G Code List” of “6.4. Code Preparation function 0 to 999 List.”...
Page 141 <G Code List (1/3)> Group G Code Function Description To position at A with speed F <Input Method> Positioning G1A□□F□□; (G01) A□□F□□; G1 (G01) can be omitted. Under continuous rotation at the speed A. If a program stop input is supplied during continuous rotation, deceleration and stop are caused, followed by stoppage of program execution.
Page 142 <G Code List (2/3)> Group G Code Function Description Delay to shift to the next block. Dwell <Input Method> (G04) G4P□□.□□; Acceleration takes place for the time specified by “P” for continuous rotation. Acceleration time for continuous rotation <Input Method> (G08) G8P0.5;...
Page 143 <G Code List (3/3)> Group G Code Function Description Designation of rotation Unit of “F” is rpm. Note 1 number Moving speed is specified by the maximum rotation number. Unit of “F” is second. Time designation Moving time is specified. The value of “A”...
Page 144  When an angle is specified with (G105) The driver will convert the angle to pulse for processing. When the set angle cannot be accurately converted to pulses, the angle will be converted to the nearest pulse. Consequently, the program that will specify an angle repeatedly using incremental dimension (G91) will cause cumulative error depending on the set angle.
Page 145 <For G101A4> <Coordinate System of Segment Number Designation> Home Position of User Coordinate ユーザ座標原点 Coordinate system by indexing numbers 割出し数での座標 -450 ﾟ -360 ﾟ -270 ﾟ -180 ﾟ -90 ﾟ 0 ﾟ 90 ﾟ 180 ﾟ 270 ﾟ 360 ﾟ 450 ﾟ...
Page 146 <Motion Example 3> 0 [0 ﾟ] 原点 Home position 実際の移動 Actual travel (shortest route) （近回り） 3[-90 ﾟ] 1[90 ﾟ] (-1[-90 ﾟ]) (-3[-270 ﾟ]) 指令 Command 2 [ 180 ﾟ] (-2 [-180 ﾟ]) The upper stage indicates the actual travelling 上段は、実際の移動割出し数[角度]を、 indexing number [angle], and the lower stage 下段は、指令の割出し数[角度]を表す。...
Page 147 <M Code List> Group M Code Function Description After completion of the current block, the program stops. Program stop When the start input is turned ON, program execution (M00) starts with the next block. The program terminates to return the head block of the End of program program.
Page 148: Absodex Status At Power-On Start
ABSODEX Status at Power-on Start  Program No. Upon power-on startup, the program number “0” is selected. For starting other program, the program number selection is required before the start signal input.  Dimensions Upon power-on start, the following dimensions are set. Angle designation (G105) Time designation (G11) Absolute (G90)
Page 149  Driver Panel Under normal condition (without alarm), (dr and dot) will light on the 7 segment LED (3rd and 2nd digits from the right). The 7-segment LED (1st digit from the right) shows the operation mode. In this case, ABSODEX is operable.
Page 150: Nc Program Example
NC Program Example The following explains NC program examples. Unless otherwise noted, the coordinates have returned to 0° position prior to start of the program.  Absolute dimension (G90), angle designation (G105), and time designation (G11) Create an indexing program, using angle and time units at the 0 ﾟ...
Page 151  Pulse designation (G104) 0 ﾟ Designate the traveling amount in pulses. <Program> ② 2097152 パルス 2097152 pulses (180 ﾟ) When the resolution is set to 540,672 P/rev When the resolution is set to 2,097,152 P/rev N1G90.1G104G11; N1G90.1G104G11; N2A270336F2; N2A1048576F2; N3M30;...
Page 152  Gain multiplication change (G12), dwell (G04) 0 ﾟ Use the gain multiplication change function to index and turn the servo off. ② [3][4] ③④ <Program> N1G90.1G105G11; [1] Full revolution absolute, angle, time N2A90F1; [2] Travel to the 90° position in 1 sec. 90 ﾟ...
Page 153  Brake application (M68), brake release (M69), and M code output Control the brake of ABSODEX equipped with a brake. Issue an M code after an action to notify the external programmable logic controller of completion of the action. <Program> N1G90.1G105G11;...
Page 154: Communication Functions (Cn1: Usb)
COMMUNICATION FUNCTIONS (CN1: USB) Through USB port (CN1), operation mode switching and data setting can be done with a personal computer etc. Driver (AX-Tools installed) USB port (mini-B type) Communication Codes Kinds of Code Communication codes are classified into three code groups starting with M, S, and L, each having the functions as described below.
Page 155 Communication Codes and Data Communication codes are sequentially transmitted in ASCII codes, and with CR (carriage return code 0DH) added at the end. When data are required for communication code (L7 and L9), insert space (20H) between a code and data, or between data. The driver after having received the communication code will return the following return value, listed in the above table, and CR and LF (line feed code 0AH).
Page 156 Parameter Setting Method To enter a parameter, use communication code “L7” (parameter data input) and key-in “L7_parameter number_setting ↵. (“_” indicates a space and ↵ indicates a Enter key.) When the unit of set value is a pulse, the prefix of “A” to the setting value enables setting with an angle unit.
Page 157 NC Program Input (L11) and its Return Value Inputting NC program to the ABSODEX driver will send out NC program following L11. The return value is “0” for normal, and if there is a problem with the sent NC program, the block number in question and the error content number are returned.
Page 158: Communication Code List
Communication Code List Operation Mode Switching <Operation Mode Switching Code> Code Description Input Data Type Remarks Mode setting for power-on Note 1 Automatic mode M1 [CR] Enables to execute programs continuously. Mode in which programs are executed block by Single block mode M2 [CR] block.
Page 159 Motion Instructions <Motion Instruction Codes> Code Description Input Data Type Remarks Same function as CN3 program start input Start S1 [CR] (Auto run, single block) Program stop S2 [CR] Same function as CN3 program stop input S3_[NC data][CR] MDI & execution One block of NC code is input and executed.
Page 160 Data Input and Output <Data Input and Output Code (1/3)> Code Description Input Data Type Output Data Type [Alarm Number] [CR] [LF] <Example> Alarm number output L1 [CR] ALM1_ALM2 ••• [CR] [LF] NO ALARM [CR] [LF] Not to be used Current position output [Position Data] [CR] [LF] Unit: pulse...
Page 161 <Data Input and Output Code (2/3)> Code Description Input Data Type Output Data Type L11_[NC Program] [CR] <Example> NC program input 0 [CR] [LF] L11_o100N1A90F1; N2G91A45; N3G90A45;N4J1;M30; [CR] L12_[NC Program Number] [CR] [NC Data] [CR] [LF] NC program output <Example> <Example>...
Page 162 <Data Input and Output Code (3/3)> Code Description Input Data Type Output Data Type [Mode] [CR] [LF] Mode output L21 [CR] <Example> M1 [CR] [LF] L22~L88 Not to be used [Serial number] [CR] [LF] Serial actuator number L89 [CR] <Example> output Ser.1234567 [CR] [LF] The L89 communication code will not function with AX-Tools that has a function to automatically...
Page 163: Communication Methods
Communication Methods Writing data into and reading from ABSODEX driver using communication codes requires a personal computer etc. Communication Examples The following are the examples of control method of ABSODEX using the communications. Connect a PC and communicate. ( _ denotes space, and ↵ denotes the Enter key.) ...
Page 164: Gain Adjustment
GAIN ADJUSTMENT WARNING Keep hands away from the rotating part as sudden motion may take place during gain adjustments or trial run.  Make sure of the safety in the full revolution of the actuator. Turn on the power and adjust. ...
Page 165: What Is Gain Adjustment
What is Gain Adjustment? Gain adjustment indicates adjustment of the servo gain suitable for the installed load to achieve operation of the ABSODEX at the best performance. G1 and G2 are adjusted with the push buttons on the front panel, or by changing PRM121 and PRM122.
Page 166 WARNING KEEP HANDS OFF from the rotating part as sudden motion may take place during gain adjustments.  Make sure of the safety for the full revolution of the actuator before turning it on. Make sure that the safety is assured to operate the actuator in case the unit is operated from the place unable to confirm the motion.
Page 167: Gain Adjustment Method
Gain Adjustment Method There are two methods for gain adjustment: auto tuning and manual tuning. Auto Tuning Function While oscillating with the load installed, and the P, I and D gain parameters are automatically obtained through calculation of the load according to the acceleration and output torque at the time.
Page 168  Auto Tuning Procedures The flowchart of auto tuning is shown below. <Auto Tuning Flowchart> 始め START AX-Tools と接続し、 Auto Tuning Connect the unit with the AX- 電源を投入 Tools and turn the power ON. If L7_83_1 is sent in the servo-off state, swinging begins and normal auto tuning is conducted.
Page 169  Auto Tuning with Limitation in the Rotation Range of ABSODEX (Such as a Stopper or Piping or Wiring in the Hollow Shaft) 1. According to the auto tuning procedure document, turn the ABSODEX servo off. 2. Oscillation of the auto tuning action begins at clockwise rotation.
Page 170 4. If auto tuning fails during operation described in 3., an excessive friction load is probable. Increase the auto tuning torque (PRM87) in 100 increments. In this case, note that the force exerted on the stopper, piping and wiring increases. 5.
Page 171  Conversion from Auto Tuning to Manual Setting How to replace the result of auto tuning with manual setting is described here. 1. Read the inertia value entering (PRM120) of the auto tuning result. Let the readout value in response to communications code “L9_120” be “X.” 2.
Page 172 Manual Tuning The manual gain adjustment flowchart is shown below. <Flowchart of Gain Adjustment> 始め START Set it with the push buttons on the driver panel or via AX- Tools. G1 を 8 にセット Set G1 to 8 G2 を 0 にセット Set G2 to 0 The shipment settings are “8”...
Page 173 Parameter Setting and References Setting of parameters and references is done by communication codes using a personal computer.  Parameter reference and setting by start-up adjustment supporting tool “AX- Tools” Select “Edit > Read > Parameter” to load the parameter set value of the ABSODEX driver into the AX-Tools.
Page 174: Application Examples
APPLICATION EXAMPLES <List of Application Examples> Item Action Specification Point 9.1. Product Type Workpiece change without Change the program according to the workpiece Change setup change type. Change the program according to the stopping 9.2. Shortest Route Random indexing position. Indexing Shortest route is used for the direction of rotation.
Page 175  Program key point (Creation example of AX-Tools) <Editing Equal Segment Program> Program No. 0, for workpiece A Change the setting of “4. Shift amount of home position” to shift the indexing reference position. Program No. 1, for workpiece B When using an NC program together, be careful of the shift amount of home position.
Page 176: Shortest Route Indexing
Shortest Route Indexing  Application Workpiece stocker  Application example Designate from a programmable logic controller one of four stocker positions to position there. Rotation follows the shortest route. (Rotation at larger than 180° does not occur.) <Workpiece Stocker> Work place ...
Page 177 <Program No. 2> G11; Change the unit of F to the time (sec) G101A4; Segment the full revolution into four G90.1A1F0.5; Shortest route absolute, stocker (2) travel to workplace in 0.5 sec. M30; End of program <Program No. 3> G11; Change the unit of F to the time (sec) G101A4;...
Page 178 <Program Example 2> In case of angle designation <Program No. 1> G105G11; Change the unit of A to the angle (°) and unit of F to the time (sec) G90.1A0F0.5; Shortest route absolute, stocker (1) travels to 0° in 0.5 sec. M30;...
Page 179: Crimping
Crimping  Application Indexing table having a crimping process (or positioning pin insertion mechanism)  Application example Eight-segment indexing table including the crimping process. The crimping process restricts the output axis. (The output axis is restricted, too, when the positioning pin is inserted.) The ABSODEX used here is the type equipped with no brake.
Page 180 <Dwell setting> If a brake is used, and if the friction force is large or rotation is slow, there may be position deviation. Braking may start before full settlement is obtained. In this case, use a dwell instruction (G4P□) to add a delay before the brake is applied, reduce the setting of PRM16 (in-position range), or take other measures.
Page 181: Pick And Place (Oscillation)
Pick and Place (Oscillation)  Application Pick-and-place unit where each rotation is within a full revolution.  Application example 180° oscillation To avoid the twist in the piping or wiring, rotation must be within a full revolution. A mechanical stopper is provided to stop moving beyond the operation range. <Pick-and-place>...
Page 182 After the power is turned on, ABSODEX assumes that the output axis is in a position between - 180.000° and +179.999°. (If the power is supplied in the 190° position, the -170° position is recognized.) Accordingly define the 180° position in the banned zone if there is interfering matters in the full revolution.
Page 183  Use PRM45 (power-on coordinate recognition range). In the default parameter state, the power-on coordinate system is between -180.000° and 179.999° as mentioned in [1]. You can change PRM45 to change the power-on coordinate system arbitrarily. If this function is used to place the border of the coordinate system in the banned zone, there is no need to determine the home position so that the 180°...
Page 184: Indexing Table
Indexing Table  Application Return to the power-off indexing position and start to index.  Application example Use a four-segment indexing table and rotate clockwise. When work is started, return to the last indexing position of the previous day. <Indexing Table> ...
Page 185  Direction of rotation “G90.1” causes the shortest route travel. After the power is turned on, a travel occurs to the designated indexing position on the shortest route even if the table has been manually moved. Execution of the number immediately after the saved one causes indexing to the position following the one indexed last time.
Page 186: Continuous Rotation
Continuous Rotation  Application Stop the shaft, which keeps rotating during regular operation, at the designated position upon a stop input.  Application example Roll feeder <Roll Feeder> ABSODEX  Program key point <Continuous rotation “G07”> Add a hyphen “-” before the rotation speed value for counterclockwise rotation like “G07A-10.” Enter the G08 (acceleration time of continuous rotation) and G09 (deceleration time of continuous rotation) settings.
Page 187 <Program Example 6> <Program No. 1> G11; Change the unit of F to the time (sec.) G101A36; Segment the full revolution into 36 G08P0.5; Set the continuous rotation acceleration time at 0.5 sec. G09P0.5; Set the continuous rotation deceleration time at 0.5 sec. G07A-20;...
Page 188: Maintenance And Troubleshooting
MAINTENANCE AND TROUBLESHOOTING DANGER TURN OFF POWER when making maintenance inspection or changing switches in the driver with the side cover removed as electrical shock due to high voltage can occur. Do not attach or remove connectors with the power on. ...
Page 189 The product is supplied for use by the persons who have proper expertise in electrical or mechanical engineering.  CKD will not be liable for bodily injuries or accident caused by the use by the people who has no or little knowledge in electrical and mechanical fields, and by the people who is not thoroughly trained for using ABSODEX.
Page 190: Maintenance Inspection
Loose screw and connectors Check for looseness. Re-tighten screws and connectors. Abnormal noise from actuator Confirm by hearing. Request CKD to repair. Cuts and crack in cables Inspect visually. Replace faulty cable. Check the power supply system to Confirm the supply...
Page 191: Troubleshooting
Troubleshooting <Troubleshooting (1/4)> Symptom Probable Cause Countermeasures  Voltage is not measured (confirmed by a  Check the power system. tester). Power does not turn on.  Fuse inside the driver is blown.  Replace or repair the driver.  Gain adjustments are not made. ...
Page 192 <Troubleshooting (2/4)> Symptom Probable Cause Countermeasures  The actuator is loosely tightened.  Tighten bolts. Retighten without fail.  Load is excessive.  Reduce speed.  Connection of the drive to actuator is not  Check the cable connectors. right. (Refer to “System Configuration”...
Page 193 <Troubleshooting (3/4)> Symptom Probable Cause Countermeasures  Power voltage is low.  Check the power system.  Instantaneous power failure has  Check the power system. occurred.  Power resumed immediately after power  Turn off power, and turn it on after Alarm 6 lights.
Page 194 <Troubleshooting (4/4)> Symptom Probable Cause Countermeasures  The program area is full.  Delete unnecessary programs.  Program data is broken.  Clear the program memory area and enter again. (L17_9999)  Write protection state  Check the start input wait output. The program can be stored during When the program is start input wait output state.
Page 195: System Initializing
When the output axis of the actuator is manually rotated without power-on with the driver and actuator connected, torque pulsation may be felt, but this is not abnormal condition. When the above countermeasures will not help troubleshooting, contact CKD. The product may not be accepted for repair depending on its condition.
Page 196: Alarms
ALARMS An error to ABSODEX will display an alarm number in the 7-segment LED on the front of the driver. The second digit and the first digit from the right of 7-segment LEDs show the alarm number and details of the alarm, respectively. At the same time, alarm outputs of I/O (CN3-44 and 45) will also be ON.
Page 197 <Alarm List (2/4)> Alarm Alarm Description segment Major Causes of the Alarm Output An actuator different from the previous one is connected (model error) Actuator/Driver combination Alarm 1 abnormal An actuator different from the previous one is connected (serial number error in same model) Error caused by load factor calculation Alarm 1 Error caused by load factor calculation...
Page 198 <Alarm List (3/4)> Alarm Alarm Description segment Major Causes of the Alarm Output A forced stop input has been supplied when the servo-on-after-stop parameter (PRM23) is set at “1.” A forced stop input is supplied when the servo-on- after-stop parameter (PRM23) is set at “1.” Forced stop input has been Alarm 2 made...
Page 199 <Alarm List (4/4)> Alarm Alarm Description segment Major Causes of the Alarm Output The no-answer time after an M-code output exceeds the PRM11 setting. The no-answer time at positioning completion output exceeds the PRM11 setting. No answer error Alarm 2 A start input is supplied while an answer is waited for.
Page 200  Alarm 3 Alarm 3 is displayed when the power is turned on with a wrong combination between the actuator and driver to urge the operator to check the connection. Alarm 3 is temporarily removed upon resetting, but it is displayed again after the power is turned off then on again.
Page 201: Servo Status For Alarms
Servo Status for Alarms  Alarm 1, 2, 4, 5, 6, 9 (PRM23 = 3), A, F and L Servo OFF  Alarm 0, 3, 7, 9 (PRM23 = 1), C, E, H, P and U Servo ON When an alarm occurs while an NC program is executed, the program execution will be terminated to turn into the servo conditions as described above.
Page 202: Support For Ul Standard
Operation of this equipment requires detailed installation and operation instructions provided in the instruction manual intended for use with this product. This manual should be retained with this device at all times. Manufacture’s name: CKD Corporation <Applicable Standards> Item UL File No.
Page 203: Precautions For Using The Driver
Precautions for Using the Driver Installation Location and Installation Environment  Pollution degree <Pollution degree> Pollution degree Install device in pollution degree 2 environments. If this product is being used in a pollution degree 3 environment, install the driver within a control panel having a construction that is free of water, oil, carbon, metallic powder, dust, etc.
Page 204 Connection to Power and Actuator (CN4A, CN4B, CN5)  L1, L2, L3 (CN4A), L1C, L2C (CN4B) Connect to the power supplies using the connectors provided. To use with 3-phase power supply, connect the 50/60 Hz power cables to the L1, L2, L3, L1C, and L2C terminals.
Page 205 Cable end treatment Stranded cable: Peel off the sheath of the cable and twist it to use. At the time, be careful to avoid a short circuit across the element wire of the conductor and adjacent pole. Do not solder the conductor; otherwise poor continuity may be caused. <End Treatment Drawing>...
Page 206 System Configuration Example <Applicable Cable> Item Wire Range (AWG) 14 (75ºC, Cu Wire Only) Wiring terminal: Terminal must be wired according to the description given in “1. PRODUCT CONFIGURATION.” 2023-09-22 SM-A61663-A/2...
Page 207 Rating of the Driver <Rating of the Driver> Item AXD-SA2 AXD-HA2 Voltage 200 to 240 VAC 200 to 240 VAC Rated current 5.5 A/3.2 A 9.0 A/5.2 A Power Input Number of phase 1-Phase/3-Phase 1-Phase/3-Phase Frequency 50/60 Hz 50/60 Hz Voltage 200 to 240 VAC 200 to 240 VAC...
Page 208 For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes” or equivalent. For installation in Canada, branch circuit protection must be provided, in accordance with the Canada Electrical Code, Part 1 or the equivalent. Use UL/CSA-certified wiring circuit breakers and fuses.
Page 209: Support For European Standards
SUPPORT FOR EUROPEAN STANDARDS If this product is used as EN-compliant application, be sure to read this section before use. A product on which a CE and a UKCA marks are attached is compliant with European Standards. A product on which no marks are attached is not compliant with European Standards.
Page 210: Precautions On Operation In Eu Member Countries And U. K
Precautions on Operation in EU Member Countries and U. K. Installation Conditions Be sure to observe the following installation conditions to operate our product safely. Over voltage category: III Pollution degree: 2 Protection Against Electric Shock The product is designed to comply with the protective class I structure. The power supply circuit, primary control circuit and secondary low voltage signal control circuit (inputs/outputs of CN1, CN2, CN3, CN6, and TB1) are separated by reinforced isolation.
Page 211 Test Operation Perform test operation in the final installation state. Provision of External Overcurrent/Short- Circuit Protective Device Install a circuit-breaker (IEC/EN 60947-2) to the line side of each driver. The rated current of the breaker is as shown in “Circuit Breaker Capacity” table below. A reference model is also shown in “Reference Model”...
Page 212 Compatible Actuators The driver models and their compatible actuators that can be used in combination are as indicated in the table below. Driver Type and Compatible Actuator Driver Model Compatible Actuator AX1R-022 AX1R Series AX1R-045 AX1R-075 AX2R-006 AX2R Series AX2R-012 AXD-S* AX2R-018 AX4R-009...
Page 213 Safety Function (CN6) The safety function employed in this product, STO: Safe Torque Off, is such that the power that can cause rotation of actuator is not applied by opening the contact connected to CN6. Within 5 ms after interrupting the safety circuit, the power to rotate the actuator is removed. If the safety function is used, make sure to conduct a comprehensive risk assessment of the final application and check if the STO function detailed in “Safety Function Parameters”...
Page 214 Operating Environment <Driver> Condition Temperature Humidity Atmospheric Pressure 90％RH or lower, no During operation 0 to 55ºC 86 kPa to 106 kPa condensation allowed 90％RH or lower, no During storage -20 to 65ºC 70 kPa to 106 kPa condensation allowed During 90％RH or lower, no -20 to 65ºC...
Page 215: Installation Method
Installation Method Installation methods are shown in “Installation of Driver (in case of 3 phases)” table below and “Installation of Driver (in case of single phase)” table below. Install the designated noise filter and zero-phase reactor in the inputs and outputs of the driver and build in a conductive enclosure.
Page 216 <Parts to be Used> Part Name Application Model Manufacturer OKAYA ELECTRIC INDUSTRIES 3SUP-EF10-ER-6 CO., LTD. 3 phases NF3010A-VZ SOSHIN ELECTRIC CO., LTD. Input filter NF2015A-OD Single phase NF2016A-UP SOSHIN ELECTRIC CO., LTD. NF2016A-UPF Zero phase reactor RC5060ZZ SOSHIN ELECTRIC CO., LTD. OKAYA ELECTRIC INDUSTRIES RSPD-250-U4 CO., LTD.
Page 217 On the actuator side, strip the power and encoder cables sheaths as close to the actuator as possible, and ground the shield. (See the figure below) <Grounding Example on Actuator Side> FG clamp Equipment (conductive part) 2023-09-22 SM-A61663-A/2...
Page 218: Terms Of Warranty
The scope of warranty shall cover the delivered product only, and shall not cover losses induced by a defect of the delivered product.  Confirmation of compatibility Customers are responsible for confirming the compatibility of the CKD product with their system, machine, and device. 2023-09-22...
Page 219: Reference Information
REFERENCE INFORMATION Driver Specifications Specifications of AXD-S Type Driver, AXD-H Type Driver <General Specifications of AXD-S Type Driver / AXD-H Type Driver> Item Description AXD-S 400 W 1. Rated output AXD-H 800 W Rated voltage 1-Phase or 3-Phase 200 to 240 VAC Frequency 50/60 Hz 2.
Page 220 Item Description 9. Use/storage ambient humidity 90％RH or lower, no condensation allowed 10. Atmosphere Free from corrosive gases, and dust 11. Anti-vibration 5.9 m/s AXD-S About 1.0 kg 12. Mass AXD-H About 1.5 kg AXD-S W50*H160*D160 13. Dimension AXD-H W70*H160*D160 14.
Page 221 <Performance Specifications of AXD-S Type Driver / AXD-H Type Driver> Item Description 1. Number of Controlled Axes 1 axis, 540,672 pulses/rotation (2,097,152 pulses/rotation) 2. Angle Setting Unit ° (degree), pulse, and number of indexes 3. Angle Setting Minimum Unit 0.001°, 1 pulse (= About 2.4 seconds [0.00067 degrees] 4.
Page 222 I/O Signal Specifications For the layout and signal names of the I/O pins of the connector (CN3) connected with the programmable logic controller, refer to “4. HOW TO USE.” For the connection method, refer to “1. PRODUCT CONFIGURATION.” 2023-09-22 SM-A61663-A/2...

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