Page 1 HM-60496 Servo Motor Introduction AZX Series / Before starting operation Motorized Actuator I/O signals equipped with Series Power removal function EtherCAT Compatible Driver EtherCAT communication OPERATING MANUAL Software Edition Object list Troubleshooting Extended function Thank you for purchasing an Oriental Motor product.
Page 2: Table Of Contents
Introduction Introduction .................................. 8 Before using the product ..................................8 Related operating manuals ..................................8 How to use operating manuals................................8 Screen display of MEXE02 software ..............................9 Overview of the product ............................10 Safety precautions ..............................11 Graphical symbols on the driver's front panel ........................... 12 Description of warning ..................................
Page 3 Power removal function Overview of power removal function ........................64 Notes when using the power removal function ....................65 I/O signals ..................................66 Input signals ......................................66 Output signal......................................66 Operation of power removal function ........................67 Transition to power removal status ..............................67 Return from power removal status ..............................
Page 4 Coordinates management ............................133 Overview of coordinates management ............................133 Coordinate origin ....................................136 Parameters related to ABZO sensor .............................137 Mechanism settings parameter ..............................138 Initial coordinate generation & wrap coordinate parameters ....................139 Mechanism limit ....................................143 Mechanism protection..................................144 Torque limiting function ............................145 Saving parameters ..............................146 Object list Composition of object dictionary .........................148 Objects of CoE communication area ........................149...
Page 5 Vibration suppression .............................231 Command filter ....................................231 Resonance suppression ..................................232 Damping control ....................................233 Electronic damper function ................................233 Cumulative load ...............................234 Load factor monitor ..............................236 Changing the function of the HOME PRESET switch ..................237 Simulating the driver operation ..........................238 Preparation and operating procedure for driver simulation mode ..................239 Coordinates ......................................241 Monitor ........................................242 Operation .......................................242...
Page 7 Introduction This part explains the product overview and safety precautions in addition to the types and descriptions about operating manuals.  Table of contents Introduction ..........8 1-1 Before using the product ........8 1-2 Related operating manuals ......8 1-3 How to use operating manuals ....8 1-4 Screen display of MEXE02 software ..9 Overview of the product ......
Page 8: Introduction
• Motorized Actuator OPERATING MANUAL Function Setting Edition How to use operating manuals To use the product, read both the Hardware Edition and the Software Edition (this document) of the AZX Series operating manuals. The Hardware Edition describes installation, connection, and others.
Page 9: Screen Display Of Mexe02 Software
Introduction Screen display of MEXE02 software When the screen display of the MEXE02 software is described, it may be indicated using a number such as "(p3)" described in front of the parameter type. Example of description MEXE02 code Name Description Setting range Initial value Mechanism protection...
Page 10: Overview Of The Product
Overview of the product Overview of the product „ How to set parameters Parameters can be set via EtherCAT or using the MEXE02 software. „ Equipped with the power removal function The power removal function is a function that stops supplying the power to the motor by the hardware. The power removal function is assumed to be used to prevent unexpected starting of the moving parts of equipment when an operator works inside the operating range of the moving parts.
Page 11: Safety Precautions
Safety precautions Safety precautions The precautions described below are intended to ensure the safe and proper use of the product and to prevent the user and other personnel from exposure to the risk of injury. Use the product only after carefully reading and fully understanding these instructions.
Page 12: Graphical Symbols On The Driver's Front Panel
Safety precautions General • Do not use the driver beyond the specifications. Doing so may result in electric shock, injury, or damage to equipment. • Keep your fingers and objects out of the openings in the driver. Failure to do so may result in fire, electrical shock, or injury.
Page 13: Description Of Warning
Safety precautions Description of warning A warning about handling precautions is described on Electrical hazard warning label the driver. Be sure to observe the description contents when handling the product. Material: PET...
Page 14: Precautions For Use
Precautions for use Precautions for use This chapter explains restrictions and requirements the user should consider when using the product. z Always use Oriental Motor cables to connect a motor and a driver. Check on the Oriental Motor Website for the cable models. z When conducting the insulation resistance measurement or the dielectric strength test, be sure to separate the connection between the motor and the driver.
Page 15 Before starting operation This part explains the contents to be performed before starting the operation.  Table of contents Operation preparation flow ....16 Copy the ABZO information (fixed value) to the driver ..... 17 Setting of resolution ......18 Home setting ..........
Page 16: Operation Preparation Flow
Operation preparation flow Operation preparation flow Use the MEXE02 software to prepare for operation. The procedures for a motor and a motorized actuator are different. Prepare for operation according to the product being used. Motors (Standard type / Geared type) Motorized actuators Setting of resolution p.18...
Page 17: Copy The Abzo Information (Fixed Value) To The Driver
Copy the ABZO information (fixed value) to the driver Copy the ABZO information (fixed value) to the driver For the parameters of a motorized actuator, the different values have been stored in the ABZO sensor and the driver, respectively. The values based on the product specifications, such as the recommended coordinate information, are stored in the ABZO sensor of a motorized actuator.
Page 18: Setting Of Resolution
Setting of resolution Setting of resolution Set the resolution when used in combination with a mechanism such as a geared motor or motorized actuator. If the "Electronic gear A" and "Electronic gear B" parameters are set, the resolution per revolution of the output shaft can be set.
Page 19 Setting of resolution z Calculation example 2: Rotary table • When a rotary table that moves by 360° per revolution should be moved by 0.01° per step. • Gear ratio: 10 (A geared motor with a gear ratio of 10 is used) Electronic gear B Travel amount per revolution Resolution on mechanism = 10,000 ×...
Page 20: Home Setting
Home setting Home setting The home is not set at the time of shipment. Before starting operation, be sure to set the home. Perform the home setting only once initially. Once the home is fixed, the home information is retained even if the power supply is shut off.
Page 21: Backup Of Data
Backup of data Backup of data There are two methods to backup the contents set in the MEXE02 software as shown below. „ Create to save the data file The data edited in the MEXE02 software or the data read from the driver is saved as a file. Click [Save As] under the [File] menu.
Page 23 I/O signals This part explains input signals and output signals.  Table of contents Overview of I/O signals ......24 1-1 Overview of input signals ......24 1-2 Overview of output signals ......26 1-3 Setting contents of input signals and output signals ..........
Page 24: Overview Of I/O Signals
Overview of I/O signals Overview of I/O signals Overview of input signals „ Direct input Direct input (DIN) is a method in which a signal is input directly by connecting the I/O cable to the connector. If the composite input function is used, a single input can turn two signals ON simultaneously, achieving saving of wiring.
Page 25 Overview of I/O signals „ Virtual input Virtual input (VIR-IN) is a method in which a signal set in virtual input is input by using output of a signal set in the virtual input source. No wiring is required and this function can be used together with direct I/O because of the input method using the internal I/O.
Page 26: Overview Of Output Signals
Overview of I/O signals Overview of output signals „ Direct output Direct output (DOUT) is a method in which a signal is output directly by connecting the I/O cable to the connector. If the composite output function is used, the logical combination result of two output signals can be output in a single signal.
Page 27 Overview of I/O signals „ User output User output (USR-OUT) is a method in which a signal is output by using the internal I/O. Assign two types of signals (A and B) to a single user output. USR-OUT is output when the logical combination of A and B is established.
Page 28: Setting Contents Of Input Signals And Output Signals
Overview of I/O signals Setting contents of input signals and output signals „ Direct input z Input function MEXE02 Name Description Setting range Initial value code DIN0 input function 30: HOMES DIN1 input function 1: FREE DIN2 input function 12: ETO-CLR Input signals list Selects an input signal to be assigned to DIN.
Page 29 Overview of I/O signals z 1 shot signal MEXE02 Name Description Setting range Initial value code DIN0 1 shot signal DIN1 1 shot signal 0: 1 shot signal function DIN2 1 shot signal is disabled Sets the 1-shot signal function of DIN. 1: 1 shot signal function DIN3 1 shot signal is enabled...
Page 30 Overview of I/O signals z Virtual input inverting mode MEXE02 Name Description Setting range Initial value code Virtual input (VIR-IN0) inverting mode Virtual input (VIR-IN1) inverting mode Changes the ON-OFF 0: Non invert setting of VIR-IN. 1: Invert Virtual input (VIR-IN2) inverting mode Virtual input (VIR-IN3) inverting mode z Virtual input ON signal dead time MEXE02...
Page 31 Overview of I/O signals z OFF delay time MEXE02 Name Description Setting range Initial value code DOUT0 OFF delay time DOUT1 OFF delay time DOUT2 OFF delay time Sets the OFF delay time of DOUT. 0 to 250 ms DOUT3 OFF delay time DOUT4 OFF delay time DOUT5 OFF delay time OFF delay time...
Page 32 Overview of I/O signals „ User output z User output source A function MEXE02 Name Description Setting range Initial value code User output (USR-OUT0) 128: CONST-OFF source A function Sets the output source A of Output signals list USR-OUT. p.34 User output (USR-OUT1) 128: CONST-OFF source A function...
Page 33: Signals List
Signals list Signals list Assign I/O signals using the MEXE02 software or via EtherCAT. To assign signals via EtherCAT, use the "Assignment number" in the table instead of the signal name. Input signals list Refer to "4 Input signals" on p.43 for details about each signal. Assignment Signal name Function...
Page 34: Output Signals List
Signals list Assignment Signal name Function number EXT1 This is an external latch signal for the touch probe 1. EXT2 This is an external latch signal for the touch probe 2. Output signals list Refer to "5 Output signals" on p.52 for details about each signal. Assignment Signal name Function...
Page 35 Signals list Assignment Signal name Function number MOVE Output while the motor operates. INFO Output the information status of the driver. SYS-BSY Output when the driver is in an internal processing state. Output after the HWTO1 input or the HWTO2 input is turned OFF until the motor ETO-MON is in a state where it can be excited.
Page 36 Signals list Assignment Signal name Function number OL-DTCT Output when the output torque reaches the torque to detect the overload alarm. INFO-USRIO INFO-POSERR INFO-DRVTMP INFO-MTRTMP INFO-OVOLT INFO-UVOLT INFO-TLCTIME INFO-LOAD INFO-SPD INFO-START INFO-ZHOME INFO-PR-REQ INFO-EGR-E Output when the corresponding information is generated. Refer to p.221 for the information list.
Page 37: Signal Type
Signal type Signal type Direct I/O Direct I/O is I/O to be accessed via the I/O signal connector. „ Assignment to input terminals Use parameters to assign the input signals to the input terminals DIN0 to DIN5. Refer to "2-1 Input signals list" on p.33 for input signals that can be assigned. Connector Terminal Connector...
Page 38 Signal type „ Assignment to output terminals Use parameters to assign the output signals to the output terminals DOUT0 to DOUT5. Refer to "2-2 Output signals list" on p.34 for output signals that can be assigned. Connector Terminal Connector Terminal Initial value Initial value terminal number...
Page 39 Signal type „ Connection example with a current sink output circuit Values in parentheses ( ) in the figure are initial values. Host controller Driver IN0 (HOMES) 4.7 k 2.2 k IN1 (FREE) 4.7 k 2.2 k IN2 (ETO-CLR) 4.7 k 2.2 k IN3 (EXT1) 4.7 k...
Page 40 Signal type „ Connection example with a current source output circuit Values in parentheses ( ) in the figure are initial values. Host controller Driver 24 VDC IN0 (HOMES) 4.7 k 2.2 k IN1 (FREE) 4.7 k 2.2 k IN2 (ETO-CLR) 4.7 k 2.2 k IN3 (EXT1)
Page 41: Remote I/O
Signal type Remote I/O Remote I/O is I/O to be accessed via EtherCAT. „ Assignment to input signals Use parameters to assign the input signals to R-IN0 to R-IN15 of remote I/O. Refer to "2-1 Input signals list" on p.33 for input signals that can be assigned. Remote I/O signal name Initial value Remote I/O signal name...
Page 42 Signal type „ Assignment to output signals Use parameters to assign the output signals to R-OUT0 to R-OUT15 of remote I/O. Refer to "2-2 Output signals list" on p.34 for output signals that can be assigned. Remote I/O signal name Initial value Remote I/O signal name Initial value...
Page 43: Input Signals
Input signals Input signals Operation control „ Excitation switching signal This signal is used to switch the motor excitation state between excitation and non-excitation. z FREE input Turning the FREE input ON will shut off the motor current and put the motor in a non-excitation state. The output shaft can be rotated manually since the holding force of the motor is lost.
Page 44 Input signals When the motor is in a non-excitation state 1. When the FREE input is turned ON, the electromagnetic brake is in a state of releasing the motor shaft. 2. When the FREE input is turned OFF, the electromagnetic brake is in a state of holding the motor shaft. FREE input READY output Excitation...
Page 45 Input signals 2 ms or more CLR input 2 ms or less READY output 2 ms or less MOVE output Excitation Motor excitation Non-excitation Hold Electromagnetic brake Release Internal speed command * It varies depending on the driving condition. z STOP input Turning the STOP input ON will stop the operation according to the setting of the "STOP input action"...
Page 46 Input signals 2 ms or more STOP input 2 ms or less READY output 2 ms or less MOVE output 2 ms or less Internal speed command Excitation Motor excitation Non-excitation Hold Electromagnetic brake Release When the STOP input action is set to "Deceleration stop" (when the motor does not stop while the STOP input is ON) 1.
Page 47 Input signals When the STOP input action is set to "Immediate stop" 1. If the STOP input is turned ON during operation, the motor stops at the command position at the time the ON state of the STOP input is detected. 2.
Page 48 Input signals When the FW-BLK/RV-BLK input action is set to "Deceleration stop" (when the motor stops while the FW-BLK input is ON) 1. When the FW-BLK input is turned ON during operation in the forward direction, the motor starts the stopping movement.
Page 49 Input signals When the FW-BLK/RV-BLK input action is set to "Deceleration stop" (when the motor does not stop while the FW-BLK input is ON) 1. When the FW-BLK input is turned ON during operation in the forward direction, the motor starts the stopping movement.
Page 50: Position Coordinate Management
Input signals Position coordinate management „ External sensor input signals z FW-LS input, RV-LS input These are input signals from the limit sensors. The FW-LS input is a sensor in the forward direction and the RV-LS input is that in the reverse direction. •...
Page 51: Management Of Driver
Input signals Management of driver „ Status release signals These signals are used to release the signal or status that is not released automatically. z ALM-RST input If an alarm is generated, the motor will stop. At this time, turning the ALM-RST input from OFF to ON will reset the alarm (the alarm will be reset at the ON edge of the ALM-RST input).
Page 52: Output Signals
Output signals Output signals Management of driver „ Driver status indication signals z ALM-A output, ALM-B output If an alarm is generated, the ALM-A output is turned ON and the ALM-B output is turned OFF. At the same time, the PWR/ALM LED on the driver will blink in red, and the motor will stop.
Page 53: Management Of Operation
Output signals Management of operation „ Operation status indication z READY output When the driver is ready to operate, the READY output is turned ON. Input the operation start command to the driver after the READY output is turned ON. The READY output is turned ON when all of the following conditions are satisfied.
Page 54 Output signals Related parameters MEXE02 Initial Name Description Setting range code value This is used to set the output range of the positioning completion output (IN-POS). It is the same as the "IN-POS positioning completion signal range" parameter of the AZ Series.
Page 55 Output signals Related parameters MEXE02 Initial Name Description Setting range code value 0: Actual speed attainment (speed at feedback position) 1: Speed at command position VA mode Selects the judgment criterion of the VA (only internal profile) selection output. 2: Speed at feedback position & command position (only internal profile) Sets the allowable range of the judgment...
Page 56 Output signals z ZV output When the feedback speed is equal to or less than the speed set in the "ZV detection speed range" parameter with the operating speed 0 r/min as the center, the ZV output is turned ON. Feedback speed Operating speed: 0 r/min ZV detection speed range...
Page 57 Output signals „ Motor position indication These signals are output according to the motor position. z ZSG output This signal is turned ON every time the feedback position of the motor increases by one round from the position having preset by "ZSG preset" of the MEXE02 software or the maintenance command "ZSG-PRESET" of EtherCAT. Related parameter MEXE02 Initial...
Page 58 Output signals z AREA0 to AREA7 outputs The AREA outputs are turned ON when the motor is within the set area. They are turned ON when the motor is within the area even if the motor stops. Related parameters MEXE02 Initial Name Description...
Page 59 Output signals When the "AREA range setting mode" parameter is "1: Offset/width setting from the target position" O set Motor operation Width Width AREA output z FW-SLS output, RV-SLS output If the command position exceeds the range set in the "Software limit" parameter when the "Software overtravel" parameter is set to other than "−1 Disable,"...
Page 60: Response Outputs
Output signals Response outputs A response output is a signal to output the ON-OFF status of the corresponding input signal. The table below shows the correspondence between input signals and output signals. Input signal Output signal Input signal Output signal FREE FREE_R R0_R...
Page 61: Timing Chart
Timing chart Timing chart „ Power activation 10 s or more Control power supply 2 s or less 1 s or less SYS-RDY output Fixed (Output is xed and input is enabled) Not xed 3 s or less 1 s or less Preparation for EtherCAT Ready communication...
Page 62 Timing chart „ I/O signals (when the output is switched according to the ON edge of the input signal) Input signal (ON) Input signal (OFF) 2 ms or less 2 ms or less Output signal „ I/O signals (when the output is switched with the ON/OFF edge of the input signal) Input signal 2 ms or less 2 ms or less...
Page 63 Power removal function  Table of contents Overview of power removal function ........... 64 Notes when using the power removal function ........... 65 I/O signals ..........66 3-1 Input signals ............. 66 3-2 Output signal ........... 66 Operation of power removal function ...........
Page 64: Overview Of Power Removal Function
Overview of power removal function Overview of power removal function The power removal function is a function that stops supplying the power to the motor by the hardware. This function shuts off the drive signal of the inverter circuit that controls the motor current by two input channels (HWTO1 input, HWTO2 input).
Page 65: Notes When Using The Power Removal Function
Notes when using the power removal function Notes when using the power removal function z If the power removal function is activated, the output shaft may be rotated by external forces (gravity on a vertical axis, etc.). To hold the output shaft in position, install an external brake mechanism or equivalent.
Page 66: O Signals
I/O signals I/O signals Input signals „ HWTO1 input, HWTO2 input These signals are used to activate the power removal function. Provide individual contacts for operating the HWTO1 input and the HWTO2 input. Specification External equipment Driver • Input voltage: 24 VDC±10 % 24 VDC 4.7 k HWTO1+...
Page 67: Operation Of Power Removal Function
Operation of power removal function Operation of power removal function Transition to power removal status If both the HWTO1 input and the HWTO2 input are turned OFF, the driver transitions to the power removal status, and the power supplying to the motor is shut off by the hardware, causing the motor to go into a non-excitation state. In the power removal status, the status of the motor and driver will be as follows.
Page 68: Return From Power Removal Status
Operation of power removal function Return from power removal status If both the HWTO1 input and the HWTO2 input are turned ON, the power removal status is released. At this time, the motor remains in a non-excitation state. To excite the motor, turn the ETO-CLR input ON in a state where the excitation command is input from the EtherCAT MainDevice.
Page 69: Detection For Failure Of The Power Removal Function
Operation of power removal function Detection for failure of the power removal function Monitoring the input status of the HWTO1 and HWTO2 inputs and the output status of the EDM output relative to the inputs can detect the failure of the power removal function. When the power removal function is properly operated, the combination of each signal is any of the following.
Page 70: Related Functions
Related functions Related functions Input signal „ ETO-CLR input After both the HWTO1 input and the HWTO2 input are turned ON to release the power removal function, if the ETO-CLR input is turned ON in a state where the excitation command is input from the EtherCAT MainDevice, the motor goes into an excitation state.
Page 71: Parameters
Related functions Parameters „ ETO reset ineffective period The motor cannot be excited even if the ETO-CLR input is turned ON until the time set in the "ETO reset ineffective period" parameter has elapsed. Related parameter MEXE02 Initial Name Description Setting range code value...
Page 72: Alarms
Related functions „ Signal criterion of ETO-CLR input If the "ETO reset action (ETO-CLR)" parameter is set to "2: ON-level," the motor can be excited at the ON level of the ETO-CLR input instead of the ON edge. (Initial value: ON edge) Related parameter MEXE02 Initial...
Page 73 Related functions „ Alarm of HWTO input circuit error If a time after either the HWTO1 input or the HWTO2 input is turned OFF until the other input is turned OFF exceeds the value set in the "HWTO delay time of checking dual system" parameter, an alarm will be generated. (HWTO input circuit error, alarm code 53h) At this time, the PWR/ALM LED blinks twice in red repeatedly.
Page 75 EtherCAT communication This part explains how to control via EtherCAT communication.  Table of contents Guidance ..........77 Functions ..........118 Touch probe ...........118 Communication specifications ... 79 4-2 Resolution ............121 2-1 EtherCAT communication interface ..79 4-3 Wrap function ..........122 2-2 CiA402 drive profile ........
Page 76 „ Setting of data and parameters Data and parameters described in “5 EtherCAT communication” can be set using the MEXE02 software in addition to EtherCAT. „ Notation rules z Timing of the update When a parameter is changed, the timing for updating the new value varies depending on the parameter. In this part, each update timing is represented in an alphabet.
Page 77: Guidance
Guidance Guidance If you are new to this product, read this chapter to understand the operating methods along with the operation flow. This is an example how to operate the motor via EtherCAT. STEP 1 Installation and connection  STEP 2 Before starting operation ...
Page 78 Guidance STEP 2 Set a node address. Set a node address using the node address setting switches (ECAT ID ×10, ×1) on the driver. 1. Set the node address setting switches as shown below. Setting: 1 (×10: 0, ×1: 1) ECAT ID ×10 ECAT ID ×1 2.
Page 79: Communication Specifications
Communication specifications Communication specifications EtherCAT communication interface Item Description Communications standards IEC 61158 Type12 Physical layer/Protocol 100 BASE-TX (IEEE 802.3) Transmission rate 100 Mbps • Free Run mode: 1 ms or more • Sync Manager 2 event synchronization mode: 1 ms or more Communication cycle •...
Page 80: Ethercat State Machine (Esm)
Communication specifications EtherCAT State Machine (ESM) The EtherCAT State Machine (ESM) is controlled by the EtherCAT MainDevice. Init Pre-Operational Safe-Operational Operational Transmit PDO Receive PDO ESM State Status communication (TxPDO) (RxPDO) During initialization. Communication Init Not possible Not possible Not possible cannot be performed.
Page 81 Communication specifications „ PDO mapping object Up to 16 objects can be mapped in a single PDO. Receive PDO mapping object Transmit PDO mapping object Receive PDO Index Transmit PDO Index RxPDO1 1600h TxPDO1 1A00h RxPDO2 1601h TxPDO2 1A01h Objects to be mapped in PDO are as follows. Objects of profile area Objects of manufacturer-specific area 6000h to 67FFh...
Page 82 Communication specifications „ Example of PDO mapping This section introduces an example of PDO mapping. Data of 2 bytes and 4 bytes are little-endian. Set the mapping of the PDO communication by selecting the PDO mapping object that actually communicates with the Sync Manager 2/Sync Manager 3 PDO assignment object.
Page 83: Service Data Objects (Sdo)
Communication specifications Service Data Objects (SDO) Service Data Objects (SDO) are used when reading or writing the parameter object or monitoring via EtherCAT. SDO is not synchronized to EtherCAT communication cycles, but it is sent and received in an arbitrary timing. The setting of PDO mapping is also performed using SDO.
Page 84: Distributed Clocks
Communication specifications Distributed Clocks The term Distributed Clocks (DC) is a method to synchronize operation by sharing the same clock between the EtherCAT MainDevice and the driver. The interruption signal (SYNC0) is output at a precise interval based on the DC. In the DC mode, an application is executed synchronously with SYNC0.
Page 85: Drive Profile
Drive profile Drive profile Drive state machine The drive state machine is controlled by the Controlword object (6040h). The status of each state can be checked with the Statusword object (6041h). Control Main Start power power Motor supply supply (A): Lower-level power Not ready to (B): High-level power switch on...
Page 86 Drive profile „ State transition of drive state machine The drive state machine is controlled by the Controlword object (6040h). z Controlword object (6040h) Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Manufacturer specific (ms) Reserved Halt...
Page 87 Drive profile State Motor operation Event Action An alarm of Network bus error is generated (alarm ESM transitions to other code 81h). After transitioning from "Fault reaction than Operational. active" to "Fault," the motor goes into a non- excitation state. (Transition number 13, 14) An alarm of Main power supply off is generated Operation During...
Page 88: Operation Modes
Drive profile Operation modes The driver supports the operation modes listed below. • Cyclic synchronous position mode (CSP) • Profile position mode (PP) • Cyclic synchronous velocity mode (CSV) • Profile velocity mode (PV) • Homing mode (HM) „ Switching of operation mode The operation mode can be switched by the Modes of operation (6060h).
Page 89 Drive profile Index Name Type Access Save Range Update Position actual value 6064h INT32 TxPDO − − − [step] Max torque 6072h RxPDO 1 to 10,000 (Initial value: 1,000)  [1=0.1 %] Target position −2,147,483,648 to 607Ah INT32 RxPDO − [step] 2,147,483,647 (Initial value: 0) −2,147,483,648 to...
Page 90: Profile Position Mode (Pp)
Drive profile Name Value Description The target position command is disabled. When the state is any of the following, the value changes to 0 and the target position is disabled. • The drive state machine is other than "Operation enabled." Target position •...
Page 91 Drive profile Index Name Type Access Save Range Update Profile deceleration 1 to 1,000,000,000 6084h RxPDO  [step/s (Initial value: 300,000) 0 to 4,000,000 4142h Starting speed [Hz] INT32  (Initial value: 5,000) 0: Wrap absolute positioning 1: Wrap proximity Wrap positioning 414Fh RxPDO...
Page 92 Drive profile Name Value Description Start of positioning operation Before starting operation, select the Wrap (6040h: bit 14), Push (6040h: bit 13), Base position of Rel (6040h: bit 12), and Abs/Rel (6040h: bit 6). When positioning operation is started in a state where the operation is stopped by setting the Halt (6040h: bit 8) to 1, set the Halt (6040h: bit 8) from 1 to 0 first and leave an interval at more than double of the communication cycle before setting the New set point (6040h: bit 4) from 0 to 1.
Page 93 Drive profile „ Statusword of Profile position mode Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Manufacturer specific Operation mode specific Internal Target Remote Following Set point limit active reached − − error acknowledge Bit 7...
Page 94 Drive profile „ Operation in Profile position mode z Positioning operation Positioning operation is started when the Target position (607Ah) is set and the New set point (6040h: bit 4) is set to 1. Command Speed Pro le acceleration Pro le deceleration (6083h) (6084h) Pro le velocity (6081h)
Page 95 Drive profile Set of set-points [When the Change set immediately (6040h: bit 5) is 0] When the New set point (6040h: bit 4) is newly set during operation, the new operation command is saved. When the present operation is completed, the stored new operation command is started. Speed Command Speed Target position (607Ah)
Page 96 Drive profile „ Operation type of Profile position mode The operation type of the Profile position mode is set with the Controlword (6040h) and the Wrap positioning mode (414Fh). The operation modes are listed in the table. Controlword (6040h) Wrap positioning mode Operation type Wrap Push...
Page 97 Drive profile z Incremental positioning (Based on feedback position) Positioning operation with the set travel amount is performed from the present feedback position. In the Target position (607Ah), set the travel amount from the present feedback position. Example: When moving 3,000 steps from the command position "1,000" and the feedback position "900"...
Page 98 Drive profile z Wrap proximity positioning Positioning operation in the shortest distance is performed to the target position within the wrap range. In the Target position (607Ah), set the target position within the wrap range. Refer to p.122 for the wrap function. Example: When moving from the command position "−4,000"...
Page 99 Drive profile z Wrap reverse direction absolute positioning Positioning operation in the reverse direction is performed to the target position within the wrap range. In the Target position (607Ah), set the target position within the wrap range. Refer to p.122 for the wrap function. Example: When moving from the command position "1,000"...
Page 100 Drive profile „ Orbit comparison of positioning operation These are examples when the wrap setting range is set to 1 rev and the wrap range offset ratio is set to 50 %. From an initial value to a value set in the target position (607Ah) Operation type 2,500 →...
Page 101: Cyclic Synchronous Velocity Mode (Csv)
Drive profile Cyclic synchronous velocity mode (CSV) In the Cyclic synchronous velocity mode, path generation (profile generation) is performed by the EtherCAT MainDevice. By cyclic synchronous communication, when the Target velocity (60FFh) is sent from the MainDevice to the driver, the driver performs speed control. Related objects Index Name...
Page 102 Drive profile Details of Statusword Name Value Description A load does not reach the upper limit of the motor output torque. A load reached the upper limit of the motor output torque. Reserved Reserved The target velocity command is disabled. When the state is any of the following, the value changes to 0 and the Target velocity is disabled.
Page 103: Profile Velocity Mode (Pv)
Drive profile Profile velocity mode (PV) The Profile velocity mode operates in the internal profile of the driver. Path generation (profile generation) is performed with the driver. The velocity, acceleration, and others are set with the EtherCAT MainDevice. Related objects Index Name Type...
Page 104 Drive profile Details of Statusword Name Value Description A load does not reach the upper limit of the motor output torque. A load reached the upper limit of the motor output torque. Internal command speed is other than 0. Speed Internal command speed is 0.
Page 105: Homing Mode (Hm)
„ Before starting operation; When a motorized actuator is used For parameters of the AZX Series, the different values have been stored in the ABZO sensor and the driver, respectively. The values based on the product specifications are stored in the ABZO sensor. The values stored in the ABZO sensor cannot be changed because of the fixed value.
Page 106 Drive profile „ Statusword of Homing Mode Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Manufacturer specific Operation mode specific Internal Target Remote Homing Homing limit active reached − − error attained Bit 7 Bit 6 Bit 5...
Page 107 Drive profile „ Selection of return-to-home (Homing) method The return-to-home method is selected with the Homing method (6098h). The driver supports the following methods to return to the home. Homing method Description Return-to-home with the limit sensor (FW-LS/RV-LS), to start running in the negative direction. Return-to-home with the limit sensor (FW-LS/RV-LS), to start running in the positive direction.
Page 108 Drive profile z Return-to-home operation of Oriental Motor’s specifications When the Homing method (6098h) is set to −1, the return-to-home mode of Oriental Motor’s specifications is applied. Related objects (Oriental Motor’s specifications) Index Name Type Access Save Range Update 0 to 10,000 6072h Max torque [1=0.1 %] RxPDO...
Page 109 Drive profile „ Operation in Homing mode of CiA402 drive profile How to read the figure Starting position of operation Reverses when the limit signal is passed. Travel direction HOMES (Limit signal) Selection number and stop position of Homing method (6098h) z Homing method: 24 [Return-to-home with the home sensor (HOMES), to start running in the positive direction] When the HOME sensor is detected, the motor rotates in the reverse direction and pulls out of the HOME sensor at the...
Page 110 Drive profile z Homing method: 28 [Return-to-home with the home sensor (HOMES), to start running in the negative direction] When the HOME sensor is detected, the motor rotates in the reverse direction and pulls out of the HOME sensor at the (HOME) Return-to-home starting speed (4163h).
Page 111 Drive profile z Homing method: 18 [Return-to-home with the limit sensor (FW-LS/RV-LS), to start running in the positive direction] After pulling out of the limit sensor, the motor rotates according to the value set in the (HOME) Backward steps in 2 sensor return-to-home (4169h) and stops.
Page 112 Drive profile „ Operation in return-to-home mode of Oriental Motor’s specifications z Return-to-home operation sequence of 3-sensor mode The motor operates at the Speed during search for switch (6099h-01h). When the limit sensor is detected during operation, the motor rotates in the reverse direction and pulls out of the limit sensor. The motor stops when the ON edge of the HOME sensor is detected, and the position at which the motor stopped is set as the home.
Page 113 Drive profile When the SLIT input and/or the ZSG signal are used concurrently Even after return-to-home operation is completed, operation is continued until an external signal is detected. If an external signal is detected while the HOME sensor is ON, return-to-home operation is completed. •...
Page 114 Drive profile z Return-to-home operation sequence of 2-sensor mode The motor operates at the the (HOME) Return-to-home starting speed (4163h). When the limit sensor is detected, the motor rotates in the reverse direction and pulls out of the limit sensor. After pulling out of the limit sensor, the motor rotates according to the value set in the (HOME) Backward steps in 2 sensor return-to-home (4169h) and stops.
Page 115 Drive profile When the SLIT input and/or the ZSG signal are used concurrently Even after return-to-home operation is completed, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is completed. • VR: Speed during search for switch (6099h-01h) •...
Page 116 Drive profile z One-way rotation mode The motor operates at the Speed during search for switch (6099h-01h). When the HOME sensor is detected, the motor decelerates to a stop and pulls out of the HOME sensor at the Speed during search for zero (6099h-02h). After pulling out of the limit sensor, the motor rotates according to the value set in the (HOME) Operating amount in uni-directional return-to-home (416Ah) and stops.
Page 117 Drive profile When the SLIT input and/or the ZSG signal are used concurrently Even after return-to-home operation is completed, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is completed. • VR: Speed during search for switch (6099h-01h) •...
Page 118: Functions
Functions Functions Touch probe The touch probe is a function that sets the external latch input signal (EXT1 input, EXT2 input) or the output signal (ZSG output) as a trigger and latches the position when the trigger is input. For the position to latch, either the internal command position or the position actual value can be selected.
Page 119 Functions „ Details of touch probe function The action of the touch probe is set with the Touch probe function (60B8h). Set the action of the touch probe 1 in the lower 8 bits and that of the touch probe 2 in the upper 8 bits. Set the trigger condition using the Touch probe 1 trigger action / Touch probe 2 trigger action (bit 1 / bit 9) and the Touch probe 1 trigger selection / Touch probe 2 trigger selection (bit 2 / bit 10).
Page 120 Functions „ Details of touch probe status The status of the touch probe is output by the Touch probe status (60B9h). The status of the touch probe 1 is output in the lower 8 bits, and that of the touch probe 2 is output in the upper 8 bits.
Page 121: Resolution
Functions „ Operation sequence of touch probe The operation examples of the touch probe 1 are shown below. z When the trigger action is "First trigger action" (60B8h: bit 1 is 0) Touch probe 1 permission (60B8h: bit 0) Touch probe 1 positive value action (60B8h: bit 4) Touch probe 1 permission status (60B9h: bit 0)
Page 122: Wrap Function
Functions Wrap function The wrap function is a function to automatically preset the position information of the present position when the number of revolutions of the motor output shaft exceeds the set range. Setting the wrap offset can restrict the operation area of equipment or control an index table with coordinates on the positive and negative sides.
Page 123: Assignment Of I/O Functions
Functions „ How to execute the maintenance commands The following two methods are available to execute maintenance commands. Use them selectively in accordance with the intended use. z Write 1 to data (recommended) When data is changed from 0 to 1 after 1 is written to it, the command is executed. To execute the same command again, restore the data to 0 and then write 1.
Page 124 Functions „ Assignment to output terminals Output signals can be assigned to the output terminals OUT0 to OUT5 of the driver. Refer to p.130 for signals that can be assigned. Related objects Index Name Type Access Save Range Update DOUT0 (Normal) 0 to 255 4860h ...
Page 125 Functions „ I/O status The status of the I/O inside the driver can be monitored with the I/O status. The arrangement of bits for the internal I/ O is as follows. Driver object Description Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26...
Page 126 Functions Driver object Description Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 − − − − − − − − Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 −...
Page 127 Functions „ Driver input command The Driver input command (403Eh) is an input command from the EtherCAT MainDevice to the driver. The arrangement of bits is as follows. Bit 0 to Bit 15 are assigned to the R-IN0 to R-IN15. ( ): Initial value Bit 15 Bit 14...
Page 128 Functions „ Driver status The status of the R-OUT0 to R-OUT15 can be checked with the Driver status (403Fh). The arrangement of bits is as follows. ( ): Initial value Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8...
Page 129 Functions „ Input signals list To assign signals via EtherCAT, use the "Assignment number" in the table instead of the signal name. Assignment number Signal name Status No function − 0: No motion FREE 1: Electromagnetic brake is in a state of releasing and motor non-excitation 0: No motion 1: Clear deviation...
Page 130 Functions Assignment number Signal name Status 0: OFF EXT2 1: ON • When the same input signal is assigned to multiple input terminals, the function will be executed if any of the terminals becomes active. • When the HMI input is not assigned to the input terminal, this input will always be 1. When it is assigned to both direct I/O (DIN0 to DIN5) and remote I/O (R-IN0 to R-IN15), the function will be executed when both of them changes to 1.
Page 131 Functions Assignment number Signal name Status 0: Software limit in the forward direction is not reached. FW-SLS 1: Software limit in the forward direction is reached. 0: Software limit in the reverse direction is not reached. RV-SLS 1: Software limit in the reverse direction is reached. 0: Normal state 1: Motor one revolution 0: Other than wrap home...
Page 132 Functions Assignment number Signal name Status INFO-RND-E INFO-FW-OT INFO-RV-OT INFO-CULD0 INFO-CULD1 INFO-TRIP 0: No information INFO-ODO 1: During information generation INFO-TRQ INFO-STLTIME INFO-DSLMTD INFO-IOTEST INFO-CFG INFO-RBT...
Page 133: Coordinates Management
Coordinates management Overview of coordinates management The AZX Series manages the position coordinates of the motor with the ABZO sensor (mechanical multi-rotation absolute encoder). The present coordinates are mechanically recorded inside the ABZO sensor. Therefore, even if the output shaft is rotated by an external force when the control power supply is in an OFF state, the absolute coordinates with respect to the home can be maintained.
Page 134 Coordinates management z Setting example of motorized actuator The following is an example to set the home of a motorized actuator at the position of 30 mm from the motor side. • Motorized actuator stroke: 600 mm • Motorized actuator pitch: 6 mm/rev Concept of initial coordinate Stroke Initial coordinate generation range =...
Page 135 Coordinates management Example: When the range of use of the motor is offset to −90 to 90 revolutions Motor output shaft −90 to 90 revolutions Wrap coordinate −90 Motor output shaft number of 1,800 revolutions (rev) When the wrap setting range is exceeded, the sign is reversed. z Setting example of index table This is an example in which the index table is rotated once when the motor output shaft rotates 18 times.
Page 136: Coordinate Origin
Coordinates management z Relation between the wrap function and the 32-bit counter inside the driver The 32-bit counter inside the driver outputs the position information of the motor as the number of steps regardless of whether the wrap function is enabled or disabled. When the wrap function is enabled, the relation between the wrap coordinate and the 32-bit counter is shown below.
Page 137: Parameters Related To Abzo Sensor
• When [Position preset clear] under the [Communication] menu of the MEXE02 software is executed. • During return-to-home operation Parameters related to ABZO sensor With the AZX Series, the specifications of the ABZO sensor and parameters based on the pre-assembled mechanism to the motor are written in the ABZO sensor in advance. Related objects...
Page 138: Mechanism Settings Parameter
Coordinates management „ When parameters of the wrap function are set z Setting example: When the wrap range is set to −50 to 50 revolutions 1. Change the Initial coordinate generation & wrap coordinate setting (47F2h) to "1: Manual setting." When it is changed to "1: Manual setting"...
Page 139: Initial Coordinate Generation & Wrap Coordinate Parameters
Coordinates management Initial coordinate generation & wrap coordinate parameters These are parameters to be used when the coordinate system is generated. „ Wrap function Refer to p.134 for the wrap function. z Related operation types When the following operations are performed in the Profile position mode (PP), set the wrap function. •...
Page 140 Coordinates management z Setting example When setting the Initial coordinate generation & wrap range offset ratio (41CBh) to "50 %" and the Initial coordinate generation & wrap range offset value (41CCh) to "0 step" Example 1: Coordinates when the wrap setting range is 1 revolution and the resolution is 10,000 P/R Index Name Setting value...
Page 141 Coordinates management z Setting conditions of Initial coordinate generation & wrap setting range (41C9h) When the wrap range satisfies the following conditions, continuous rotation in the same direction can be performed while the home is maintained. 1,800 Condition 1) = To be an integer Wrap setting range Electronic gear B Condition 2)
Page 142 Coordinates management „ Wrap offset function The position of the boundary point of the wrap range can be offset by using the mechanical home as a reference. The wrap offset is set with the Initial coordinate generation & wrap range offset ratio (41CBh) and the Initial coordinate generation &...
Page 143: Mechanism Limit
Coordinates management „ RND-ZERO output The RND-ZERO output is a signal that is output for each division boundary point when the wrap range is divided evenly with the home as a reference. The number of divisions can be set with the The number of the RND-ZERO output in wrap range (41CDh). The RND- ZERO output is output when the Wrap (RND) setting (41C7h) is set to "1: Enable."...
Page 144: Mechanism Protection
Coordinates management Mechanism protection In the case of a motorized actuator, the maximum values for the starting speed and operating speed are stored in the ABZO sensor at the time of shipment. (Fixed value) If the motor is operated beyond the fixed value of the ABZO sensor, an alarm of Operation data error will be generated.
Page 145: Torque Limiting Function
Torque limiting function Torque limiting function The maximum output torque of the motor can be limited. Sets when limiting the output torque of the motor according to a load. When the TRQ-LMT input is turned ON, the torque limiting function is enabled. Related object Index Name...
Page 146: Saving Parameters
Saving parameters Saving parameters Parameters are saved in the RAM or non-volatile memory of the driver. The parameters in the RAM are erased once the control power supply is shut off, but the parameters in the non-volatile memory are remained to store even if the control power supply is shut off.
Page 147 Object list This part describes the lists of objects supported by the driver.  Table of contents Composition of object dictionary ..148 Objects of CoE communication area ............149 2-1 Descriptions of each object ......149 2-2 Object list ............153 Objects of profile area ......156 3-1 Descriptions of each object ......156 3-2 Object list ............166 Objects of manufacturer-specific...
Page 148: Composition Of Object Dictionary
Composition of object dictionary Composition of object dictionary Objects are composed as follows. Index (Hex) Object Overview 1000h to 1FFFh CoE Communication Area CoE communication area 2000h to 3FFFh No function 4000h to 4FFFh Manufacturer-Specific Area Driver object 5000h to 5FFFh No function 6000h to 67FFh Profile Area...
Page 149: Objects Of Coe Communication Area
Objects of CoE communication area Objects of CoE communication area These objects are used to make settings related to EtherCAT or to indicate the status. Descriptions of each object z Device Type (1000h) This indicates the device profile. Index Type Access Save Initial value...
Page 150 Objects of CoE communication area z Receive PDO mapping 1 (1600h) This is used to set the receive PDO mapping 1. Index Name Type Access Save Initial value Range Update Number of entries − 0 to 16 Mapping entry 1 −...
Page 151 Objects of CoE communication area z Sync Manager communication (1C00h) This is used to set the communication type of Sync Manager (SM). Index Name Type Access Save Initial value Range Update Number of entries − − − Communication type 1: Mailbox output −...
Page 152 Objects of CoE communication area Details of Sync Manager 2 Synchronization objects Name Description 00h: Free Run mode (asynchronous) Synchronization Type 01h: Sync Manager 2 event synchronization mode 02h: DC mode (SYNC0 event synchronization) Cycle Time [ns] Indicates the Cycle Time of the SYNC0 event. Shift Time [ns] The Shift Time is not supported.
Page 153: Object List
Objects of CoE communication area Object list Index Name Type Access Save Initial value Range Update 1000h Device Type − 0002 0192h − − 1001h Error Register − − − Manufacturer Device 1008h STRING − − AZXD-SED Name Manufacturer Indicates the 1009h STRING −...
Page 154 Objects of CoE communication area Index Name Type Access Save Initial value Range Update Sync manager communication type Number of entries − − − Communication type 1: Mailbox output − − sync manager 0 (MainDevice to driver) Communication type 2: Mailbox input 1C00h −...
Page 155 Objects of CoE communication area Index Name Type Access Save Initial value Range Update Sync Manager 3 Synchronization Number of entries − − − 00h: Free Run mode (asynchronous) 02h: DC mode (SYNC0 event Synchronization Type − synchronization) 22h: Sync manager 2 event synchronization mode Cycle Time [ns] −...
Page 156: Objects Of Profile Area
Objects of profile area Objects of profile area Objects in the profile area are defined by the CiA402 drive profile. These are used to set the driver operation and to indicate the status. Descriptions of each object z Error code (603Fh) This indicates the error code being generated in the driver.
Page 157 Objects of profile area z Statusword (6041h) This is used to indicate the status of the drive state machine and the operation status of the driver. Index Type Access Save Initial value Range Update 6041h TxPDO − − − − Details of range Name Description...
Page 158 Objects of profile area z Shutdown option code (605Bh) This is used to set the action when transitioning from “Operation enabled” to “Ready to switch on. ” Index Type Access Save Initial value Range Update 0: Non-excitation 1: Decelerates to a stop according to the Profile 605Bh INT16 ...
Page 159 This is used to set the output range of the positioning completion output (IN-POS). It is the same as the “IN-POS positioning completion signal range” parameter of the AZX Series and AZ Series. In the Profile position mode, after positioning operation is properly completed, the Target Reached (6041h: bit 10) of the Statusword changes to 1 when the actual position has converged in a range of the Position window (6067h) with respect to the Position demand value (command position).
Page 160 Objects of profile area z Software position limit (607Dh) This is used to set the software limit. The Min position limit represents the limit of the reverse direction, and the Max position limit represents the limit of the forward direction. Index Name Type...
Page 161 Objects of profile area z Homing method (6098h) This is used to set the return-to-home method for return-to-home operation. Refer to p.107 for details. Index Type Access Save Initial value Range Update −1: Return-to-home operation of our specifications 17: Return-to-home with the limit sensor (FW-LS/RV-LS), to start running in the negative direction 18: Return-to-home with the limit sensor...
Page 162 Objects of profile area z Touch probe function (60B8h) This is used to set the action of the touch probe. Refer to p.118 for details. Index Type Access Save Initial value Range Update 60B8h RxPDO − 0000h 0000h to FFFFh Details of range Name Value...
Page 163 Objects of profile area z Touch probe status (60B9h) This indicates the status of the touch probe. Refer to p.118 for details. Index Type Access Save Initial value Range Update 60B9h TxPDO − − − − Details of range Name Value Description The touch probe 1 is disabled.
Page 164 Objects of profile area z Supported homing methods (60E3h) This indicates the Homing (return-to-home) method supported by the driver. Index Name Type Access Save Initial value Range Update Number of entries − − − 1st supported homing method INT8 − −...
Page 165 Objects of profile area *2 [Normally open] ON: Carrying current, OFF: Not carrying current [Normally closed] ON: Not carrying current, OFF: Carrying current *3 It represents a state of “Carrying current” or “Not carrying current” of the internal photocoupler. z Digital outputs (60FEh) This is used to control the electromagnetic brake.
Page 166: Object List
Objects of profile area Object list Index Name Type Access Save Initial value Range Update 603Fh Error code TxPDO − − − − 6040h Controlword RxPDO − 0 to FFFFh 6041h Statusword TxPDO − − − − 605Ah Quick stop option code INT16 0, 1, 2, 3, 5, 6, 7 ...
Page 167 Objects of profile area Index Name Type Access Save Initial value Range Update Profile acceleration 6083h RxPDO 300,000 1 to 1,000,000,000  [step/s Profile deceleration 6084h RxPDO 300,000 1 to 1,000,000,000  [step/s Quick stop deceleration 6085h RxPDO 1,000,000 1 to 1,000,000,000 ...
Page 168: Objects Of Manufacturer-Specific Area
Objects of manufacturer-specific area Objects of manufacturer-specific area These are Oriental Motor’s specific objects. Descriptions of each object z Backup DATA access key (4020h) Inputs the key code to access the backup area. Data can be written and read. Index Type Access Save...
Page 169 Objects of manufacturer-specific area z Alarm history 10 (404Ah) This indicates the oldest item in the alarm history. Index Type Access Save Initial value Range Update 404Ah − − − − z Command speed (4064h) This indicates the present command speed. (r/min) Index Type Access...
Page 170 Objects of manufacturer-specific area z Driver temperature (407Ch) This indicates the present driver temperature. (1=0.1 °C) Index Type Access Save Initial value Range Update 407Ch INT16 TxPDO − − − − z Motor temperature (407Dh) This indicates the present motor temperature. (1=0.1 °C) Index Type Access...
Page 171 Objects of manufacturer-specific area z Control power supply count (40A2h) This indicates the number of times that the control power supply was turned on. Index Type Access Save Initial value Range Update 40A2h INT32 TxPDO − − − − z Inverter voltage (40A3h) This indicates the inverter voltage of the driver.
Page 172 Objects of manufacturer-specific area z Read batch NV memory (40C8h) Reads the parameters stored in the non-volatile memory to the RAM. All operation data and parameters stored in the RAM are overwritten. Index Type Access Save Initial value Range Update 40C8h −...
Page 173 Objects of manufacturer-specific area z Clear ZSG-PRESET (40D2h) Clears the position data of phase Z that was set again with the “ZSG-PRESET” command. Index Type Access Save Initial value Range Update 40D2h − − − z Clear information (40D3h) Clears the information. Index Type Access...
Page 174 Objects of manufacturer-specific area z Position loop gain (412Fh) Adjusts the motor response in reaction to the position deviation. Increasing the value will make the deviation between the command position and the actual position smaller. An excessively large value may increase the motor overshoot or cause the motor vibration.
Page 175 Objects of manufacturer-specific area z Operation selection after stopping in speed control mode (414 Ch) Sets the stopping movement for the Profile velocity mode (PV) and the Cyclic synchronous velocity mode (CSV). Index Type Access Save Initial value Range Update 0: Position loop disable 414Ch ...
Page 176 Objects of manufacturer-specific area z JOG/HOME/ZHOME command filter time constant (415Eh) Sets the time constant for the command filter. Index Type Access Save Initial value Range Update 415Eh INT16 1 to 200 ms  z (HOME) Return-to-home mode (4160h) Sets the return-to-home method. Index Type Access...
Page 177 Objects of manufacturer-specific area z HWTO mode selection (4190h) Generates an alarm when the HWTO1 input or the HWTO2 input is turned OFF. Index Type Access Save Initial value Range Update 0: Alarm is not present 4190h  1: Alarm is present z HWTO delay time of checking dual system (4191h) Sets a threshold after either the HWTO1 input or the HWTO2 input is turned OFF until the other input is turned OFF.
Page 178 Objects of manufacturer-specific area z Speed information (INFO-SPD) (41A2h) Sets the condition under which the information is generated. Index Type Access Save Initial value Range Update 0: Disable 41A2h INT16 RxPDO  1 to 12,000 r/min z Position deviation information (INFO-POSERR) (41A5h) Sets the condition under which the information is generated.
Page 179 Objects of manufacturer-specific area z Cumulative load 0 information (INFO-CULD0) (41B1h) Sets the condition under which the information is generated. Index Type Access Save Initial value Range Update 41B1h INT32 RxPDO 0 to 2,147,483,647  z Cumulative load 1 information (INFO-CULD1) (41B2h) Sets the condition under which the information is generated.
Page 180 Objects of manufacturer-specific area z Motor rotation direction (41C2h) Sets the rotation direction of the output shaft. Index Type Access Save Initial value Range Update 0: Positive side=Counterclockwise 1: Positive side=Clockwise 2: Positive side=Counterclockwise 41C2h  (the driver parameter is applied) 3: Positive side=Clockwise (the driver parameter is applied) z Software overtravel (41C3h)
Page 181 Objects of manufacturer-specific area z Driver simulation mode (41FFh) Situation for coordinates or I/O can be simulated using a virtual motor without connecting a motor. Index Type Access Save Initial value Range Update 0: The motor is actually used 1: Virtual motor (when ABZO not connected=no ABZO information) 41FFh 2: Virtual motor (when ABZO not...
Page 182 Objects of manufacturer-specific area z Information time history 1 (4520h) This indicates the history item of the time when the most recent information was generated. When information is being generated, the generated time is also indicated on the information history 1 simultaneously. Index Name Type...
Page 183 Objects of manufacturer-specific area z STOP input action (4700h) Sets how to stop the motor when the STOP input is turned ON. Index Type Access Save Initial value Range Update 0: Immediate stop 4700h INT8  3: Deceleration stop z FW-LS/RV-LS input action (4701h) Sets how to stop the motor when the FW-LS input or the RV-LS input is turned ON.
Page 184 Objects of manufacturer-specific area z SPD-LMT speed limit ratio (470Fh) Sets the percentage of the speed limit based on “Operating speed” of the operation data being 100 %. This is enabled when the SPD-LMT speed limit type selection (470Eh) is set to “0: Ratio. ” Index Type Access...
Page 185 Objects of manufacturer-specific area z AREA positive direction position/offset, AREA negative direction position/detection range (4740h to 474Fh) • AREA positive direction position/offset Sets the positive direction position or offset from the target position for the AREA output. • AREA negative direction position/offset Sets the negative direction position or distance from the offset position for the AREA output.
Page 186 Objects of manufacturer-specific area z AREA positioning standard (4758h to 475Fh) Sets the judgment criterion of the position for the AREA output. Index Name Type Access Save Initial value Range Update AREA0 positioning 4758h  standard AREA1 positioning 4759h  standard AREA2 positioning 475Ah...
Page 187 Objects of manufacturer-specific area Index Name Type Access Save Initial value Range Update INFO action (Cumulative load 1 47B3h  information (INFO-CULD1)) INFO action (Tripmeter information 47B4h  (INFO-TRIP)) INFO action (Odometer 47B5h  information (INFO-ODO)) INFO action (Torque information 47B7h ...
Page 188 Objects of manufacturer-specific area z JOG/HOME/ZHOME operation setting (47F5h) To change the parameter for JOG operation, return-to-home operation, and high-speed return-to-home operation, select “Manual setting. ” Index Type Access Save Initial value Range Update 0: Prioritize ABZO setting 47F5h  1: Manual setting z Damping control frequency (4810h) Sets the frequency of vibration to be suppressed.
Page 189 Objects of manufacturer-specific area z DIN input function (4840h to 4845h) Selects an input signal to be assigned to DIN. Index Name Type Access Save Initial value Range Update 4840h DIN0 input function  4841h DIN1 input function  4842h DIN2 input function ...
Page 190 Objects of manufacturer-specific area z DIN composite input function (4880h to 4885h) Selects an input signal to be assigned to DIN as the composite input function. Index Name Type Access Save Initial value Range Update DIN0 composite 4880h  input function DIN1 composite 4881h ...
Page 191 Objects of manufacturer-specific area z DOUT composite logical combination (48B0h to 48B5h) Sets the composite logical combination of DOUT. Index Name Type Access Save Initial value Range Update DOUT0 composite 48B0h  logical combination DOUT1 composite 48B1h  logical combination DOUT2 composite 48B2h ...
Page 192 Objects of manufacturer-specific area z R-IN input function (4900h to 490Fh) Selects an input signal to be assigned to R-IN. Index Name Type Access Save Initial value Range Update 4900h R-IN0 input function  4901h R-IN1 input function  4902h R-IN2 input function ...
Page 193 Objects of manufacturer-specific area z R-OUT OFF delay time (4930h to 493Fh) Sets the OFF delay time of R-OUT. Index Name Type Access Save Initial value Range Update 4930h R-OUT0 OFF delay time  4931h R-OUT1 OFF delay time  4932h R-OUT2 OFF delay time ...
Page 194 Objects of manufacturer-specific area z Virtual input (VIR-IN) inverting mode (4948h to 494Bh) Changes the ON-OFF setting of VIR-IN. Index Name Type Access Save Initial value Range Update Virtual input (VIR-IN0) 4948h  inverting mode Virtual input (VIR-IN1) 4949h  inverting mode 0: Non invert 1: Invert...
Page 195 Objects of manufacturer-specific area z User output (USR-OUT) source B function (4964h, 4965h) Sets the output source B of USR-OUT. Index Name Type Access Save Initial value Range Update User output (USR-OUT0) 4964h  source B function Output signals list p.130 User output (USR-OUT1) 4965h...
Page 196: Object List
Objects of manufacturer-specific area z FFT target (49E2h) Selects the target to be analyzed by the fast Fourier transform (FFT). Index Type Access Save Initial value Range Update 0: Torque 49E2h INT8  1: Speed Object list Index Name Type Access Save Initial value...
Page 197 Objects of manufacturer-specific area Index Name Type Access Save Initial value Range Update 40BCh I/O status 5 TxPDO − − 40BDh I/O status 6 TxPDO − − − − 40BEh I/O status 7 TxPDO − − 40BFh I/O status 8 TxPDO −...
Page 198 Objects of manufacturer-specific area Index Name Type Access Save Initial value Range Update (ZHOME) Acceleration/ 4159h INT32 300,000 1 to 1,000,000,000 kHz/s  deceleration 415Ah (ZHOME) Starting speed INT32 5,000 0 to 4,000,000 Hz  JOG/HOME/ZHOME command 415Eh INT16 1 to 200 ms ...
Page 199 Objects of manufacturer-specific area Index Name Type Access Save Initial value Range Update Cumulative load value auto 0: Disable 41B3h  clear 1: Enable Cumulative load value count 41B4h 1 to 32,767  divisor Settling time information 0: Disable 41B5h RxPDO ...
Page 200 Objects of manufacturer-specific area Index Name Type Access Save Initial value Range Update 4516h Information history 7 INT32 − − 4517h Information history 8 INT32 − − 4518h Information history 9 INT32 − − 4519h Information history 10 INT32 − −...
Page 201 Objects of manufacturer-specific area Index Name Type Access Save Initial value Range Update SPD-LMT speed limit type 0: Ratio 470Eh INT8  selection 1: Value 470Fh SPD-LMT speed limit ratio INT8 1 to 100 %  4710h SPD-LMT speed limit value INT32 10,000 1 to 4,000,000 Hz...
Page 202 Objects of manufacturer-specific area Index Name Type Access Save Initial value Range Update 475Dh AREA5 positioning standard  0: Based on feedback position 475Eh AREA6 positioning standard  1: Based on command position 475Fh AREA7 positioning standard  INFO action (Assigned I/O 47A0h status information (INFO- ...
Page 203 Objects of manufacturer-specific area Index Name Type Access Save Initial value Range Update INFO action (I/O test mode 47BDh  information (INFO-IOTEST)) 0: Only the bit output is ON INFO action (Configuration 1: The bit output and the INFO 47BEh request information (INFO- ...
Page 204 Objects of manufacturer-specific area Index Name Type Access Save Initial value Range Update DOUT0 (Normal) output 4860h  function DOUT1 (Normal) output 4861h  function DOUT2 (Normal) output 4862h  function Output signals list p.130 DOUT3 (Normal) output 4863h  function DOUT4 (Normal) output 4864h...
Page 205 Objects of manufacturer-specific area Index Name Type Access Save Initial value Range Update DOUT2 composite logical 48B2h  combination DOUT3 composite logical 48B3h  combination 0: AND 1: OR DOUT4 composite logical 48B4h  combination DOUT5 composite logical 48B5h  combination 48C0h DIN0 ON signal dead-time...
Page 206 Objects of manufacturer-specific area Index Name Type Access Save Initial value Range Update 491Bh R-OUT11 output function  491Ch R-OUT12 output function  491Dh R-OUT13 output function Output signals list p.130  491Eh R-OUT14 output function  491Fh R-OUT15 output function ...
Page 207 Objects of manufacturer-specific area Index Name Type Access Save Initial value Range Update Virtual input (VIR-IN3) 1 shot 0: Disable 4953h  signal mode 1: Enable User output (USR-OUT0) 4960h  source A function Output signals list p.130 User output (USR-OUT1) 4961h ...
Page 209 Troubleshooting This part explains alarm and information functions.  Table of contents Alarms ............210 1-1 Alarm reset ............210 1-2 Alarm history ..........210 1-3 Generation condition of alarms ....212 Alarm list ............212 1-5 Timing chart ...........218 Information ...........219 2-1 Information history ........221 2-2 Information list ..........221 Troubleshooting and remedial actions ........226...
Page 210: Alarms
Alarms Alarms This driver is equipped with the alarm function to protect against temperature rise, poor connection, operation error, and the like. If an alarm is generated, the ALM-A output is turned ON and the ALM-B output is turned OFF to stop the motor. At the same time, the PWR/ALM LED blinks in red.
Page 211 Alarms Item Description Elapsed time from This is the elapsed time from when the operation was started to when an alarm was starting operation generated. This is the elapsed time from when the main power was turned on to when an alarm was Main power supply time generated.
Page 212: Generation Condition Of Alarms
Alarms Generation condition of alarms Alarms shown in the table will be generated if the generation condition is exceeded. Alarm code Alarm name Generation condition Main circuit overheat 85 °C (185 °F) Overvoltage 400 V Motor overheat 85 °C (185 °F) Overspeed 6,000 r/min Command position error...
Page 213 Alarms Number Alarm of times Alarm type Cause Remedial action How to reset code LED blinks The main power supply was Check the input voltage of the Any of reset Undervoltage shut off momentarily or the main power supply. operations voltage became low.
Page 214 Alarms Number Alarm of times Alarm type Cause Remedial action How to reset code LED blinks Turn off the main power supply and the control power supply, An error of the ABZO sensor Turn on the Sensor error at and check the connection of the was detected when the control control power power-on...
Page 215 Alarms Number Alarm of times Alarm type Cause Remedial action How to reset code LED blinks • An amount of time after either the HWTO1 input or the HWTO2 input is turned OFF until the other input is turned • Increase the value set in the OFF exceeded the value set in HWTO delay time of checking Turn on the...
Page 216 Alarms Number Alarm of times Alarm type Cause Remedial action How to reset code LED blinks • Reconsider the connection status of the load and the position of the HOME sensor so that these signals should be ON The ZSG output and the SLIT while the HOMES input is ON.
Page 217 Alarms Number Alarm of times Alarm type Cause Remedial action How to reset code LED blinks The resolution set in the Reconsider the Electronic gear Turn on the Electronic gear Electronic gear (6091h-01h, (6091h-01h, 02h), and set so that control power setting error 02h) was out of the the resolution should be in the...
Page 218: Timing Chart
Alarms Timing chart 1. If an error occurs, the ALM-B output, the MOVE output, and the DCMD-RDY output are turned OFF. At the same time, the motor stops to go into a non-excitation state. 2. Remove the cause of the alarm before turning the ALM-RST input ON. The alarm is reset, and the ALM-B output is turned ON.
Page 219: Information
Information Information The driver is equipped with a function to generate information output before an alarm is generated. This function can be utilized for periodic maintenance of equipment by setting a suitable value in the parameter of each information. For example, using the Motor temperature information (41A8h) can prevent equipment malfunction or production stoppage due to motor overheating.
Page 220 Information Initial Index Name Type Access Save Range Update value Cumulative load value auto 0: Disable 41B3h  clear 1: Enable Cumulative load value count 41B4h 1 to 32,767  divisor Settling time information 0: Disable 41B5h RxPDO  (INFO-STLTIME) 1 to 10,000 ms 41BCh INFO-USRIO output selection...
Page 221: Information History
Information Initial Index Name Type Access Save Range Update value INFO action (Cumulative load 47B3h  1 information (INFO-CULD1)) INFO action (Tripmeter 47B4h  information (INFO-TRIP)) INFO action (Odometer 47B5h  information (INFO-ODO)) INFO action (Torque 47B7h  information (INFO-TRQ)) INFO action (Settling time 0: Only the bit output is ON 47B8h...
Page 222 Information Information bit Cause Clear condition Information item output signal • The voltage of the main power supply exceeded the value set in the Overvoltage information (41A9h or The voltage of the main power supply 41ABh). fell below the value set in the Overvoltage INFO-OVOLT •...
Page 223 Information Information bit Cause Clear condition Information item output signal After one of the following operations was performed, the travel distance (Tripmeter) of the motor fell below the value set in the Tripmeter information The travel distance of the motor exceeded (41AFh).
Page 224 Information „ Monitor of information Details of information can be checked with the Information (407Bh). The information code having read is indicated in 8-digit hexadecimal number. It can also be read in 32 bits. If multiple information items are generated, the logical sum (OR) of the information codes is indicated. Information code 32 bits indication Information item...
Page 225 Information Information code 32 bits indication Information item Output signal 1000 0000 0000 0000 80000000h Reboot request INFO-RBT 0000 0000 0000 0000...
Page 226: Troubleshooting And Remedial Actions
Troubleshooting and remedial actions Troubleshooting and remedial actions In motor operation, the motor or the driver may not operate properly due to an improper setting or incorrect connection. When the motor cannot be operated properly, refer to the contents provided in this chapter and take an appropriate remedial action.
Page 227 Extended function  Table of contents Gain tuning ...........228 1-1 Setting of load inertia .........228 1-2 Setting of motor response ......228 Vibration suppression ......231 2-1 Command filter ..........231 2-2 Resonance suppression ......232 2-3 Damping control ...........233 2-4 Electronic damper function ......233 Cumulative load ........234 Load factor monitor ......236 Changing the function of the...
Page 228: Gain Tuning
Gain tuning Gain tuning The motor response in reaction to the command can be adjusted according to the load inertia and the mechanical rigidity. Setting of load inertia This is used to set the load inertia according to the load inertia of equipment. Related parameters MEXE02 Initial...
Page 229 Gain tuning MEXE02 Initial Name Description Setting range code value Adjusts the deviation that cannot be adjusted with the speed loop gain. An Speed loop integral 1 to 10,000 excessively long value may slow the motor 1,940 time constant (1=0.01 ms) response.
Page 230 Gain tuning „ Control devices block diagram (Position control) In the figure, "+" indicates addition and "−" indicates subtraction. The description surrounded by a box (  ) is the parameter name. Speed feed-forward Control device Control device Control device Speed loop position command position deviation...
Page 231: Vibration Suppression
Vibration suppression Vibration suppression Command filter Using the command filter to adjust the motor response can suppress the motor vibration. There are two types of command filters, LPF (speed filter) and moving average filter. Related parameters MEXE02 Initial Name Description Setting range code value...
Page 232: Resonance Suppression
Vibration suppression „ Moving average filter Select "2: Moving average filter" in the "Command filter setting" parameter, and set the "Command filter time constant" parameter. The motor response can be adjusted. In addition, the positioning time can be shortened by suppressing the residual vibration during positioning operation.
Page 233: Damping Control
Vibration suppression MEXE02 Initial Name Description Setting range code value Resonance suppression Sets the frequency of vibration to be 100 to 3,200 Hz 1,000 control D frequency suppressed. Sets the gain to suppress the vibration. Resonance suppression Increasing the value causes the motor 0 to 100 % control D gain response to the deviation to lower.
Page 234: Cumulative Load
Cumulative load Cumulative load The driver obtains the load factor in the motor operation pattern as an area, and it can notify as information if the integrated area (load) exceeds a certain value. This is a useful function that can be used as a guide to the motor life and the aged deterioration of equipment.
Page 235 Cumulative load „ “Cumulative load value count divisor” parameter The upper limit to count the cumulative load is 2,147,483,647. If the operation time is long, the cumulative load may increase, making it difficult to manage, or the upper limit may be exceeded.
Page 236: Load Factor Monitor
Load factor monitor Load factor monitor There are two methods to monitor the load factor of the motor, as shown below. • Torque monitor: This indicates the output torque presently generated as a percentage of the rated torque. • Load factor monitor: This indicates the motor output power presently generated as a percentage of the maximum output power in the continuous duty region.
Page 237: Changing The Function Of The Home Preset Switch
Changing the function of the HOME PRESET switch In the AZX Series, the function of the P-PRESET input is assigned to the HOME PRESET switch. Therefore, simply pressing the HOME PRESET switch can set the present position as the home.
Page 238: Simulating The Driver Operation
Simulating the driver operation Simulating the driver operation Using the driver simulation mode can simulate coordinates and I/O status without connecting a motor. If the motor is connected, the simulation closer to the actual operation can be made using the information of the ABZO sensor.
Page 239: Preparation And Operating Procedure For Driver Simulation Mode
Simulating the driver operation Preparation and operating procedure for driver simulation mode „ Preparation z When a motor is not connected When simulating a motorized actuator, be sure to connect the actuator to the driver. Driver Connect to +24 V, 0 V Control MEXE02 software power supply...
Page 240 Simulating the driver operation „ Operating procedure This section explains how to simulate the driver operation without connecting a motor using the MEXE02 software. 1. Turn on the control power supply and the main power supply of the driver. 2. Set the “Driver simulation mode” parameter of the MEXE02 software to “Virtual motor. ” 3.
Page 241: Coordinates
Simulating the driver operation Coordinates „ Origin In the driver simulation mode, the position when the control power supply is turned on is set as the home regardless of whether a motor is connected or not. The home can be set again by return-to-home operation or position preset. However, the home information of the ABZO sensor cannot be rewritten.
Page 242: Monitor
Simulating the driver operation Monitor This section explains contents that can be checked with the status monitor of the MEXE02 software during simulation. The following describes the displayed items that are different from those at the normal time. Item Description •...
Page 243: I/O Signals
Simulating the driver operation I/O signals This section explains the I/O signals whose specifications and operations are different in the driver simulation mode than in the normal time. The following are the differences between simulation and normal time. Therefore, the ON-OFF status of I/O signals may differ from the normal time.
Page 244: Using General Signals
Using general signals Using general signals The R0 to R15 inputs are general-purpose signals. Using the R0 to R15 inputs, I/O signals of the external device can be controlled by the host controller via the driver. Direct I/O of the driver can be used as an I/O module. „...
Page 245 Using general signals MEXE02 Name Description Setting range Initial value code R-IN0 input function 0: No function R-IN1 input function 0: No function R-IN2 input function 0: No function R-IN3 input function 0: No function R-IN4 input function 0: No function R-IN5 input function 0: No function R-IN6 input function...
Page 248 Tel:1800-806-161 4-8-1 Higashiueno, Taito-ku, Tokyo Technical Support Tel:00 800/22 55 66 22 110-8536 Japan Tel:+81-3-6744-0361 Tel:1800-888-881 www.orientalmotor.co.jp/ja Unit 5 Faraday O ce Park, Rankine Road, Basingstoke, Hampshire RG24 8QB UK Tel:1800-120-1995 (For English) Tel:+44-1256347090 1800-121-4149 (For Hindi) Tel:+33-1 47 86 97 50...

Oriental motor AZX Series Operating Manual

Introduction

Overview of the Product

Safety Precautions

Precautions for Use

Operation Preparation Flow

Copy the ABZO Information (Fixed Value) to the Driver

Setting of Resolution

Home Setting

Backup of Data

Overview of I/O Signals

Signals List

Signal Type

Input Signals

Output Signals

Timing Chart

Overview of Power Removal Function

Notes When Using the Power Removal Function

O Signals

Operation of Power Removal Function

Related Functions

Guidance

Communication Specifications

Drive Profile

Functions

Coordinates Management

Torque Limiting Function

Saving Parameters

Composition of Object Dictionary

Objects of Coe Communication Area

Objects of Profile Area

Objects of Manufacturer-Specific Area

Alarms

Information

Troubleshooting and Remedial Actions

Gain Tuning

Vibration Suppression

Cumulative Load

Load Factor Monitor

Changing the Function of the HOME PRESET Switch

Simulating the Driver Operation

Using General Signals

Quick Links

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Questions and answers

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Summary of Contents for Oriental motor AZX Series

Table of Contents