Oriental motor CVD Series Operating Manual
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Oriental motor CVD Series Operating Manual

Fully closed-loop control type drivers for 5-phase stepping motors
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Drivers for 5-Phase Stepping Motors
CVD
Series
Fully Closed-Loop Control Type
OPERATING MANUAL Function Edition
Thank you for purchasing an Oriental Motor product.
This Manual describes product handling procedures and safety precautions.
• Please read it thoroughly to ensure safe operation.
• Always keep the manual where it is readily available.
Introduction
Before starting operation
Operation
I/O signals
Modbus RTU control
(RS-485 communication)
Register address list
Other functions
HM-60523

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Summary of Contents for Oriental motor CVD Series

  • Page 1 (RS-485 communication) Register address list Other functions Thank you for purchasing an Oriental Motor product. This Manual describes product handling procedures and safety precautions. • Please read it thoroughly to ensure safe operation. • Always keep the manual where it is readily available.

  • Page 2: Table Of Contents

     Introduction Introduction .................................. 8 Before using the product ..................................8 About operating manuals ..................................8 How to use operating manuals................................8 Overview of the product ............................10 System configuration ..............................11 Safety precautions ..............................12 Precautions for use ..............................14 Before starting operation Flow of settings necessary for operation .......................16 Setting of motor .................................17 Setting of resolution ..............................18 Setting related to the fully closed-loop correction....................19...
  • Page 3  Operating current and stop current ............................... 60 2-10 Acceleration/deceleration unit ................................ 61 2-11 Starting speed ......................................61 Return-to-home operation ............................62 Return-to-home operation types ..............................62 Setting of parameters ..................................63 Additional function ....................................64 Timing chart (3-sensor mode) ................................65 Operation sequence ....................................
  • Page 4  Modbus RTU control (RS-485 communication) Modbus RTU specifications ............................112 Communication mode ..................................112 Communication timing ..................................112 Message structure ..............................114 Query ........................................114 Response ........................................116 Function code ................................118 Reading of a holding register(s) (03h) ............................118 Writing to a holding register (06h) ...............................119 Diagnosis (08h) ....................................120 Writing to multiple holding registers (10h) ..........................121 Read/write of multiple holding registers (17h) ........................122...
  • Page 5  Register address list Timing of the update of parameters........................154 I/O commands ................................155 Group command ..............................157 Protect release command ............................158 Direct data operation commands .........................159 Maintenance commands ............................160 How to execute the maintenance commands .........................161 Monitor commands ..............................162 Operation data R/W commands ..........................170 Overview of address arrangement ...............................170 Direct reference ....................................170 Offset reference ....................................173...
  • 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 About operating manuals ......8 1-3 How to use operating manuals ....8 Overview of the product ......

  • Page 8: Introduction

    The product described in this document is designed and manufactured to be incorporated into general industrial equipment. Do not use it for any other purpose. Oriental Motor Co., Ltd. is not responsible for any compensation for damage caused through failure to observe this warning.
  • Page 9 Introduction „ When the screen display of the MEXE02 software is described When the screen display of the MEXE02 software version 4 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...

  • Page 10: Overview Of The Product

    Overview of the product Overview of the product The CVD Series fully closed-loop control type driver is a DC input driver for 5-phase stepping motors. „ Equipped with the fully closed-loop correction function The fully closed-loop correction function is a function that corrects the positional displacement of the motor with high accuracy using the information from the externally installed encoder.

  • Page 11: System Configuration

    System configuration System configuration Host controller RS-485 communication (for monitor) Encoder output (for counter of feedback position) I/O signals PC on which the MEXE02 software has been installed Table Motor Linear encoder Encoder input AC power supply Noise lter Main power supply (5 VDC power supply +24 V for encoder)

  • Page 12: 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 13 Safety precautions General • Do not use the driver beyond the specifications. Doing so may result in injury or damage to equipment. • Do not insert a finger or an object between the board and the heat sink. Doing so may result in fire or injury. •...

  • Page 14: Precautions For Use

    Non-volatile memory can be rewritten approximately 100,000 times. z Noise elimination measures Refer to the CVD Series Fully Closed-Loop Control Type OPERATING MANUAL for the noise elimination measures. z Regeneration When operating a large load inertia at a high speed, the regenerative energy generated may increase the power supply voltage, causing an alarm of Overvoltage to generate.
  • Page 15 Before starting operation This part explains the settings that are required before starting operation.  Table of contents Flow of settings necessary for Settings related to RS-485 operation ..........16 communication ........27 5-1 Setting of termination resistor ....27 Setting of motor ........

  • Page 16: Flow Of Settings Necessary For Operation

    Flow of settings necessary for operation Flow of settings necessary for operation This chapter describes the setting procedure required when controlling the motor via RS-485 communication. Set the parameter according to the product to be Setting of motor combined. If the parameter is set, the output current of p.17 the driver is automatically set.

  • Page 17: Setting Of Motor

    Setting of motor Setting of motor Set the “Applicable motor setting” parameter according to the product to be combined. If the parameter is set, the output current of the driver is automatically set. Be sure to set in accordance with the product being combined. If the output current of the driver is accidentally set to a value higher than the rated current of the motor being combined, fire or a skin burn(s) may result.

  • Page 18: Setting Of Resolution

    Setting of resolution Setting of resolution Set the “Electronic gear A” and “Electronic gear B” parameters according to a desired resolution. If the “Electronic gear A” and “Electronic gear B” parameters are set, the resolution per revolution of the motor output shaft can be set.

  • Page 19: Setting Related To The Fully Closed-Loop Correction

    Setting related to the fully closed-loop correction Setting related to the fully closed-loop correction This section describes the settings to perform the correction by the fully closed-loop control using an externally installed encoder. Mechanism information Set the related parameters according to the encoder, motor, and mechanism to be used. Related parameters MEXE02 Initial...

  • Page 20: Encoder Resolution

    Setting related to the fully closed-loop correction Encoder resolution Set the related parameters according to the encoder to be used. Related parameters MEXE02 Initial Name Description Setting range code value Selects the type of the encoder to 0: Linear Encoder type be connected.
  • Page 21 Setting related to the fully closed-loop correction „ Relationship between encoder input waveform and feedback position The feedback position when the “Multiplication number” parameter and “Encoder count action” parameter are set is as follows. The figure shows an example when the “Encoder count action” parameter is set to “1: Counting up. ” When the “Encoder count action”...

  • Page 22: Fully Closed-Loop Correction Function

    Setting related to the fully closed-loop correction Multiplication Count action Waveform number ENC-A+ ENC-A− ×1 multiplication Counting down ENC-B+ ENC-B− Feedback position Fully closed-loop correction function „ Adjustment of correction range The correction range when the fully closed-loop correction is performed can be adjusted. The deviation between the command position and the feedback position is monitored and the motor position is corrected until the deviation falls within the range set in the “In-position range”...
  • Page 23 Setting related to the fully closed-loop correction „ Adjustment of the correction upper limit Sets the upper limit of the correction amount when the fully closed-loop correction is performed. Adjust according to the position deviation between the motor and the encoder caused by backlash or torsion of the mechanism. When the position deviation is large, increase the value.
  • Page 24 Setting related to the fully closed-loop correction „ Timing chart z How to start the correction function 1. Check that the READY output is being ON. 2. Turn the P-PRESET input ON. The ABSPEN output is turned ON and the FCLOOP-RDY output is turned ON. Main power supply 1 s or less SYS-RDY output...
  • Page 25 Setting related to the fully closed-loop correction z Relationship between signals during correction operation 1. Check that the FCLOOP-RDY output is in an ON state. 2. Execute operation. During operation, the FCLOOP-RDY output and the READY output are turned OFF, and the MOVE output is turned ON.

  • Page 26: Automatic Position Preset Function

    Setting related to the fully closed-loop correction Automatic position preset function After the main power supply is turned on and the motor is excited for the first time, position preset is automatically executed to set the coordinates. Related parameters MEXE02 Initial Name Description...

  • Page 27: Settings Related To Rs-485 Communication

    Settings related to RS-485 communication Settings related to RS-485 communication Setting of termination resistor Set the termination resistor (120 Ω) of RS-485 communication on the driver that is farthest away (at the end) from the host controller. Set both No.1 and No.2 of the termination resistor setting switch (SW2) to ON. •...

  • Page 28: Setting Of Address Number (Server Address)

    Settings related to RS-485 communication Setting of address number (server address) Set the address number (server address) using the address number setting switch. Make sure that each address number (server address) set for each driver is not duplicated. Do not set the address number (server address) 0 because it is reserved for broadcasting. Factory setting: Address number (server address) 1 [Address number setting switch: 1] Address number Address number...

  • Page 29: Setting Of Communication Parameters

    Settings related to RS-485 communication Setting of communication parameters Set the parameters required for RS-485 communication before starting communication. „ Parameters updated when turning on the main power supply These are parameters related to sending and receiving via RS-485 communication. When the setting is changed or initialized, turn the main power off and on again.
  • Page 30 Settings related to RS-485 communication „ Parameters updated immediately after rewriting Set the following parameters via RS-485 communication or using the MEXE02 software. MEXE02 Initial Name Description Setting range code value Communication Sets the condition under which a 0: Not monitored timeout (Modbus) communication timeout is generated.

  • Page 31: Setting Of Operating Current And Stop Current

    Setting of operating current and stop current Setting of operating current and stop current The operating current and the stop current are calculated based on the base current (%). The base current is a current used to set the operating current and the stop current and is set as a percentage (%) of the maximum output current of the driver.

  • Page 32: Stop Current

    Setting of operating current and stop current Stop current When the motor stops, the automatic current cutback function is activated and the motor current is reduced to the stop current. The motor stop current is calculated as follows. • Motor stop current = Maximum output current × “Base current” parameter setting value × “Stop current” parameter value Related parameters MEXE02 code...

  • Page 33: Setting Of Command Filters

    Setting of command filters Setting of command filters Using the command filter to adjust the motor response can suppress motor vibration. There are two types of command filters, LPF (speed filter) and moving average filter. Related parameters Initial MEXE02 Parameter name Description Setting range code...
  • Page 34 Setting of command filters „ Moving average filter Select “2: Moving average filter” with the “Command filter setting” parameter and set the “Command filter time constant” parameter. The positioning time can be shortened by suppressing the residual vibration during positioning operation. The optimal value for the “Command filter time constant”...
  • Page 35 Operation This part explains the operation functions and parameters.  Table of contents Pulse-input operation ......36 Return-to-home operation ....62 1-1 Pulse input mode ..........36 3-1 Return-to-home operation types ..... 62 3-2 Setting of parameters ........63 Positioning SD (stored data) 3-3 Additional function ........

  • Page 36: Pulse-Input Operation

    Pulse-input operation Pulse-input operation Pulse-input operation is an operation in which pulses are input from the host controller to the driver to control the motor. Pulse input mode Set the pulse input mode of the driver according to the pulse output mode of the host controller used. Related parameter MEXE02 code Name...

  • Page 37: Positioning Sd (Stored Data) Operation

    Positioning SD (stored data) operation Positioning SD (stored data) operation Positioning SD operation is an operation in which the operating speed and position (travel amount) of the motor are set to the operation data to execute the operation. When positioning SD operation is executed, the motor starts rotating at the starting speed and accelerates until it reaches the operating speed.

  • Page 38: Setting The Operation Data

    Positioning SD (stored data) operation Setting the operation data The following operation data is required for positioning SD operation. Up to 256 operation data (No. 0 to No. 255) can be set. z Related operation data MEXE02 Initial Name Description Setting range*1 code value...
  • Page 39 Positioning SD (stored data) operation „ Operation type, Position There are two operation types, and the setting method of the target position differs depending on the operation type. z Absolute positioning Positioning operation is performed from the present position to the set target position. Set the target position on coordinates with the home as a reference.
  • Page 40 Positioning SD (stored data) operation „ Speed, Starting/changing rate, Stopping deceleration, Operating current, Drive- complete delay time Set the speed, starting/changing rate, stopping deceleration, operating current, and drive-complete delay time required for positioning SD operation. Speed Position (Travel amount) Operating speed Drive-complete Stopping delay time...

  • Page 41: Operation Data Number Selection

    Positioning SD (stored data) operation Operation data number selection There are two methods to select the operation data number to start, as shown below. • Selection by NET selection number • Selection by M0 to M7 inputs The priority is in order of NET selection number, M0 to M7 inputs. z NET selection number The NET selection number is a method that sets the operation data number with remote I/O.
  • Page 42 Positioning SD (stored data) operation Operating method 1. Check that the READY output is being ON. 2. Select the operation data number using the M0 to M7 inputs and turn the START input ON. 3. The READY output is turned OFF and the motor starts operating. 4.
  • Page 43 Positioning SD (stored data) operation „ Incremental positioning (based on command position) Set the travel amount from the present command position to the target position. z Example of use: When the motor is operated from the command position “100” to the target position “8,600” Setting the operation data Position Speed...

  • Page 44: Link Method Of Operation Data

    Positioning SD (stored data) operation Link method of operation data Operations of two or more operation data numbers are linked. If the base point for linked operation is changed using the M0 to M7 inputs, linked operation with multiple operation patterns can be set. This can be used when a different operation pattern for each load is set.
  • Page 45 Positioning SD (stored data) operation „ Manual sequential operation Operation based on the operation data number set in the next data number is executed whenever the SSTART input is turned ON. This is a convenient method when multiple positioning operations are performed sequentially because it is not necessary to select each operation data number repeatedly.
  • Page 46 Positioning SD (stored data) operation Operating method 1. Check that the READY output is being ON. 2. Select the operation data number using the M0 to M7 inputs. 3. Turn the START input ON. The READY output is turned OFF, the SEQ-BSY output is turned ON, and the motor starts operating. 4.
  • Page 47 Positioning SD (stored data) operation Timing chart Motor operation START input SSTART input M0 to M7 inputs MOVE output READY output SEQ-BSY output DELAY-BSY output CRNT output AUTO-CD output...
  • Page 48 Positioning SD (stored data) operation „ Automatic sequential operation Two or more operations are automatically executed in sequence. After one operation is completed, operation of the operation data number set in the “Next data number” is started after stop for the time set in the “Drive-complete delay time.
  • Page 49 Positioning SD (stored data) operation Operating method 1. Check that the READY output is being ON. 2. Select the operation data number using the M0 to M7 inputs. 3. Turn the START input ON. The READY output is turned OFF, the SEQ-BSY output is turned ON, and the motor starts operating. 4.
  • Page 50 Positioning SD (stored data) operation „ Continuous sequential operation Operation based on the operation data number set in the “Next data number” is executed continuously without stopping the motor. If there is operation data for which “0: No link” is set in the middle of the operation, the motor will stop after positioning SD operation with respect to the operation data of “0: No link”...
  • Page 51 Positioning SD (stored data) operation Operating method 1. Check that the READY output is being ON. 2. Select the operation data number using the M0 to M7 inputs. 3. Turn the START input ON. The READY output is turned OFF, the SEQ-BSY output is turned ON, and the motor starts operating. 4.
  • Page 52 Positioning SD (stored data) operation Timing chart Motor operation START input M0 to M7 inputs MOVE output READY output SEQ-BSY output DELAY-BSY output CRNT output...

  • Page 53: Sequence Function

    Positioning SD (stored data) operation Sequence function „ Loop function The loop function is a function that repeats the operation of the linked operation data numbers the set number of times. From the operation data number where the “Loop count” is set to that where the “Loop end number” is set, the operation is repeated the number of times set in the “Loop count.
  • Page 54 Positioning SD (stored data) operation z Example of use: When operating from operation data No. 0 to No. 1 is repeated three times. Setting the operation data Position Speed Starting/changing rate Stopping deceleration Number Operation type [step] [Hz] [kHz/s] [kHz/s] 1: Absolute positioning 5,000 2,000...
  • Page 55 Positioning SD (stored data) operation „ Offset of loop If an offset is set, the target position for positioning can be shifted by the amount set in the “Loop offset” while repeating the loop. Use for palletizing operation, etc. z Example of use: When operation from operation data No. 0 to No. 1 is repeated three times. (When the target position is increased by 100 steps every time loop is executed) Setting the operation data In absolute positioning: The coordinates of the target position is offset.

  • Page 56: Extended Operation Data Setting

    Positioning SD (stored data) operation Extended operation data setting Specifications of operation data can be extended. „ Extended loop function The extended loop function is a function to execute loop operation for the number of times (256 times or more) that cannot be set in the operation data.
  • Page 57 Positioning SD (stored data) operation z Example of use: When operation is transitioned to operation data No. 2 after operating operation data No. 0 and No. 1 is repeated 500 times. Setting the operation data Starting/ Stopping Position Speed Next data Number Operation type changing rate...

  • Page 58: Stopping Movement

    Positioning SD (stored data) operation „ Common setting and separate setting for acceleration/deceleration The acceleration/deceleration in positioning SD operation and continuous macro operation can be set as follows using the “Rate selection” parameter of the Extended operation data setting. • Common setting: The values set in the “Common starting/changing rate” parameter and the “Common stopping rate”...
  • Page 59 Positioning SD (stored data) operation „ Hardware overtravel Hardware overtravel is a function that installs the limit sensors (FW-LS, RV-LS) at the upper and lower limits of the travel range and limits the travel range. If the “FW-LS/RV-LS input action” parameter is set, the motor can be stopped when the limit sensor is detected.

  • Page 60: Operating Current And Stop Current

    Positioning SD (stored data) operation Operating current and stop current The operating current and the stop current are calculated based on the base current (%). The base current is a current used to set the operating current and the stop current and is set as a percentage (%) of the maximum output current of the driver.

  • Page 61: Acceleration/Deceleration Unit

    Positioning SD (stored data) operation 2-10 Acceleration/deceleration unit The unit of acceleration/deceleration can be set using the “Acceleration/deceleration unit” parameter. The acceleration/deceleration rate (kHz/s, ms/kHz) and acceleration/deceleration time (s) can be set as a unit. Explanation of code • TVEL: Operating speed •...

  • Page 62: Return-To-Home Operation

    Return-to-home operation Return-to-home operation Return-to-home operation is operation to detect the home using an external sensor. It is executed to return from the present position to the home when the main power supply is turned on or positioning operation is completed. Return-to-home operation types There are three types of return-to-home operations, as shown below.

  • Page 63: Setting Of Parameters

    Return-to-home operation Setting of parameters Related parameters Initial MEXE02 Name Description Setting range code value JOG/HOME command filter Sets the time constant for the 1 to 200 ms time constant command filter. Sets the operating current for JOG JOG/HOME operating operation or return-to-home operation, 0 to 1,000 (1=0.1 %) 1,000...

  • Page 64: Additional Function

    Return-to-home operation Additional function z Home offset This is a function that performs positioning operation of Mechanical Electrical Return-to-home home home the value set in the “(HOME) Return-to-home position operation offset” parameter after return-to-home operation and sets the stopped position as the home. O set operation The home set by the “(HOME) Return-to-home position offset”...

  • Page 65: Timing Chart (3-Sensor Mode)

    Return-to-home operation Timing chart (3-sensor mode) 1. Check that the READY output is being ON. 2. Turn the HOME input ON. 3. The PLS-RDY output, the READY output, and the DCMD-RDY output are turned OFF, the MOVE output is turned ON, and return-to-home operation is started.

  • Page 66: Operation Sequence

    Return-to-home operation Operation sequence „ 3-sensor mode When the limit sensor is detected during operation, the motor rotates in the reverse direction and pulls out of the limit sensor. The motor operates at the “(HOME) Return-to-home operating speed” and stops when the ON edge of the HOME sensor is detected.
  • Page 67 Return-to-home operation z When using the HOME sensor only (rotating machine etc.) If the limit sensor is not used, for example on a rotating mechanism, the sequence is as follows. Starting position of Starting direction of return-to-home Starting direction of return-to-home return-to-home operation operation: Positive direction operation: Negative direction...
  • Page 68 Return-to-home operation z When the SLIT input and/or the TIM output or the ZSG output are used simultaneously Even after return-to-home operation is completed, operation is continued until an external signal is detected. If an external signal is detected while the HOME sensor is ON, return-to-home operation is completed. Starting direction of return-to-home Starting direction of return-to-home Home detection signal...
  • Page 69 Return-to-home operation „ 2-sensor mode The motor operates in the return-to-home starting direction at the “(HOME) Return-to-home starting speed. ” When the limit sensor is detected, the motor rotates in the reverse direction and pulls out of the limit sensor at the “(HOME) Return-to-home last speed.
  • Page 70 Return-to-home operation z When the SLIT input and/or the TIM output or the ZSG output are used simultaneously Even after return-to-home operation is completed, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is completed. Starting direction of return-to-home Starting direction of return-to-home Home detection signal...
  • Page 71 Return-to-home operation „ One-way rotation mode The motor operates in the return-to-home starting direction at the “(HOME) Return-to-home operating speed, ” and it decelerates to a stop when the HOME sensor is detected. After that, the motor pulls out of the range of the HOME sensor at the “(HOME) Return-to-home last speed, ”...
  • Page 72 Return-to-home operation z When the SLIT input and/or the TIM output or the ZSG output are used simultaneously Even after return-to-home operation is completed, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is completed. Starting direction of return-to-home Starting direction of return-to-home Home detection signal...

  • Page 73: Macro Operation

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

  • Page 74: Jog Operation

    Macro operation JOG operation In JOG operation, the motor operates continuously in one direction while the FW-JOG input or the RV-JOG input is being ON. If the signal having input is turned OFF, the motor will decelerate to a stop. Motor operation can also be stopped by inputting the operation stop signal.
  • Page 75 Macro operation z Operating method 1. Check that the READY output is being ON. 2. Turn the FW-JOG input (or RV-JOG input) ON. The READY output is turned OFF, the MOVE output is turned ON, and the motor starts operating. 3.

  • Page 76: High-Speed Jog Operation

    Macro operation High-speed JOG operation In high-speed JOG operation, the motor performs continuous operation in one direction while the FW-JOG-H input or the RV-JOG-H input is being ON. If the signal having input is turned OFF, the motor will decelerate to a stop. Motor operation can also be stopped by inputting the operation stop signal.
  • Page 77 Macro operation z Operating method 1. Check that the READY output is being ON. 2. Turn the FW-JOG-H input (or RV-JOG-H input) ON. The READY output is turned OFF, the MOVE output is turned ON, and the motor starts operating. 3.

  • Page 78: Inching Operation

    Macro operation Inching operation In inching operation, the motor performs positioning operation when the FW-JOG-P input or the RV-JOG-P input is turned from OFF to ON. The motor stops when it rotates by the number of steps set in “(JOG) Travel amount. ” z Operation example The motor stops when operation with the travel amount set in the “(JOG) Travel...
  • Page 79 Macro operation z Operating method 1. Check that the READY output is being ON. 2. Turn the FW-JOG-P input (or RV-JOG-P input) ON. The READY output is turned OFF, the MOVE output is turned ON, and the motor starts operating. 3.

  • Page 80: Continuous Operation

    Macro operation Continuous operation The motor performs continuous operation at the operating speed corresponding to the operation data number being selected while the FW-POS input or the RV-POS input is ON. When the operation data number is changed during continuous operation, the speed will be changed. If the FW-POS input or the RV-POS input is turned OFF, the motor will decelerate to a stop.
  • Page 81 Macro operation z Operating method 1. Check that the READY output is being ON. 2. Turn the FW-POS input (or RV-POS input) ON. The READY output is turned OFF, the MOVE output is turned ON, and the motor starts operating. 3.

  • Page 82: Coordinates Management

    Coordinates management Coordinates management The driver manages the position information. The home is set if one of the following is executed, and the ABSPEN output is turned ON. • Return-to-home operation • Position preset ..The command position and the feedback position are preset to zero. Absolute positioning operation cannot be executed without setting coordinates.
  • Page 83 I/O signals This part explains input signals and output signals.  Table of contents Overview of I/O signals ......84 Input signals ........... 92 1-1 Direct input ............84 4-1 Operation control ........... 92 1-2 Direct output ............ 85 4-2 Coordinates management ......98 4-3 Management of driver ........

  • Page 84: Overview Of I/O Signals

    Overview of I/O signals Overview of I/O signals Direct input Direct input (DIN) is a method in which the I/O cable is connected to the connector to input signals directly. Name Description Input function Selects an input signal to be assigned to DIN. Inverting mode The ON-OFF setting of the signal can be changed.

  • Page 85: Direct Output

    Overview of I/O signals Direct output Direct output (DOUT) is a method in which the I/O cable is connected to the connector to output signals directly. Name Description Output function Selects an output signal to be assigned to DOUT. Inverting mode The ON-OFF setting of the signal can be changed.

  • Page 86: Signals List

    Signals list Signals list Assign I/O signals via RS-485 communication or using the MEXE02 software. To assign signals via RS-485 communication, use the “Assignment number” in the table instead of the signal names. Input signal list Refer to “4 Input signals” on p.92 for details on each signal. Assignment Signal name Function...

  • Page 87: Output Signal List

    Signals list Assignment Signal name Function number These are general signals. FCLOOP-DIS This is used to disable the fully closed-loop control. Output signal list Refer to “5 Output signals” on p.101 for details on each signal. Assignment Signal name Function number No function Set when the output terminal is not used.
  • Page 88 Signals list Assignment Signal name Function number M5_R M6_R M7_R R0_R R1_R R2_R Output in response to an input signal. R3_R R4_R R5_R R6_R R7_R FCLOOP-DIS_R CONST-OFF Output an OFF state at all times. ALM-A Output the alarm status of the driver (normally open). ALM-B Output the alarm status of the driver (normally closed).
  • Page 89 Signals list Assignment Signal name Function number INFO-DRVTMP INFO-OVOLT INFO-UVOLT INFO-START INFO-PR-REQ INFO-MSET-E INFO-EGR-E INFO-NET-E INFO-FW-OT Output when the corresponding information is generated. INFO-RV-OT INFO-TRIP INFO-ODO INFO-ENC-E INFO-DSLMTD INFO-IOTEST INFO-CFG INFO-RBT...

  • Page 90: Signal Type

    Signal type Signal type Pulse signal Input pulses with a sharp rise and fall as shown in the figure. 1 µs or more The figure shows the voltage level of the pulse signal. 90 % 10 % 0.4 µs or more 0.4 µs or more 2 µs or less 2 µs or less...

  • Page 91: Remote I/O

    Signal type • 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 an input terminal, this input will always be in an ON state. If it is assigned to both direct I/O and remote I/O, the function will be executed only when both of them are turned ON.

  • Page 92: 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 AWO input When the AWO input is turned ON, the motor current is shut off to 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 93 Input signals „ Operation stop signals These signals are used to stop the motor operation. z STOP input When the STOP input is turned ON, the motor stops operation according to the setting of the “STOP input action” parameter. The remaining travel amount is cleared. Function for each operation Method of operation Function...
  • Page 94 Input signals When the “STOP input action” parameter is set to “3: Deceleration stop” (When the motor does not stop while the STOP input is ON) 1. When the STOP input is turned ON during operation, the PLS-RDY output is turned OFF and the motor starts the stop operation.
  • Page 95 Input signals z FW-BLK input, RV-BLK input Turning the FW-BLK input ON will stop operation in the forward direction, and turning the RV-BLK input ON will stop operation in the reverse direction. While an input signal that has stopped operation is ON, the motor will not operate even if an operation start signal that operates it in the same direction as the stop signal is input.
  • Page 96 Input signals 2 ms or more FW-BLK input PLS-RDY output READY output MOVE output 2 ms or less Motor operation Excitation Motor excitation Non-excitation * It varies depending on the driving condition. When the “FW-BLK/RV-BLK input action” parameter is set to “1: Deceleration stop” (when the motor does not stop while the FW-BLK input is ON) 1.
  • Page 97 Input signals When the “FW-BLK/RV-BLK input action” parameter is set to “0: Immediate stop” 1. When the FW-BLK input is turned ON during operation in the forward direction, the motor stops. 2. The motor stops at the command position at the time the ON state of the FW-BLK input is detected. 2 ms or more FW-BLK input PLS-RDY output...

  • Page 98: Coordinates Management

    Input signals „ Signal used for high-speed return-to-home operation z HOME input When the HOME input is turned ON, return-to-home operation is started. When return-to-home operation is completed and the motor stops, the HOME-END output is turned ON. „ Signals used for macro operation z FW-JOG input, RV-JOG input When the FW-JOG input is turned ON, JOG operation is performed in the forward direction.

  • Page 99: Management Of Driver

    Input signals z HOMES input This is an input signal from the mechanical home sensor when the “(HOME) Return-to-home mode” parameter is set to “1: 3-sensor” or “2: One-way rotation. ” Related parameter MEXE02 Initial Name Description Setting range code value 0: 2-sensor (HOME) Return-to-home mode...
  • Page 100 Input signals „ Driver function change signals z HMI input When the HMI input is turned ON, the function limitation of the MEXE02 software is released. Turning it OFF will limit the function. The functions to be limited are shown below. •...

  • Page 101: 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 102: Management Of Operation

    Output signals Management of operation „ Operation status indication signals z READY output When the driver is ready to start positioning SD operation, macro operation, or return-to-home operation, 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 met.
  • Page 103 Output signals z FCLOOP-RDY output When all of the following conditions are met, the FCLOOP-RDY output is turned ON and the correction by the fully closed-loop control is performed. • The main power supply of the driver is turned on. •...
  • Page 104 Output signals „ Direct data operation status indication signals z DCMD-FULL output The DCMD-FULL output is turned ON when data is being written to the buffer area of direct data operation. z DCMD-RDY output This signal is output when the driver is ready to start direct data operation. The DCMD-RDY output is turned ON when all of the following conditions are met.
  • Page 105 Output signals z AREA0, AREA1, AREA2 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 106 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 specified in the “Software limit” parameter when the “Software overtravel” parameter is set to a value other than “−1: Disable, ”...

  • Page 107: Response Outputs

    Output signals Response outputs A response output is a signal that outputs 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 AWO_R FW-JOG-P FW-JOG-P_R...

  • Page 108: Timing Chart

    Timing chart Timing chart „ Main power supply ON 10 s or more Main power supply 1 s or less 1 s or less SYS-RDY output Fixed (Output is set and Not xed input is enabled) 1 s or less 1 s or less RS-485 communication Ready...
  • Page 109 Timing chart „ Excitation Excitation command 200 ms or less 2 ms or less CRNT output 200 ms or less 2 ms or less PLS-RDY output 200 ms or less 2 ms or less READY output 200 ms or less 2 ms or less DCMD-RDY output 200 ms or less...
  • Page 111 Modbus RTU control (RS-485 communication) This part explains how to control via RS-485 communication using a host controller. The protocol used for RS-485 communication is the Modbus protocol.  Table of contents Modbus RTU specifications ....112 Direct data operation ......139 1-1 Communication mode ........112 6-1 Overview of direct data operation ..139 1-2 Communication timing ......112...

  • Page 112: Modbus Rtu Specifications

    Modbus RTU specifications Modbus RTU specifications Communication mode The Modbus protocol is easy to use and its specification is open to the public, so it is widely used in industrial applications. Modbus communication is based on the single-client/multi-server method. Only the client can issue a query (command).
  • Page 113 Modbus RTU specifications Code Name Description This is the amount of time to determine the end of a query or response message. An interval equal to or longer than the time of the silent interval (C3.5) is required when the message ends. When the “Silent interval C3.5 Silent interval (Modbus)”...

  • Page 114: Message Structure

    Message structure Message structure The message format is shown below. Query Client Server Server address Server address Response Function code Function code Data Data Error check Error check Query The query message structure is shown below. Server address Function code Data Error check 8 bits...
  • Page 115 Message structure z Calculation example of CRC-16 The table shows a calculation example when setting the server address of the first byte to 02h and the function code of the second byte to 07h. The result of actual CRC-16 calculation is calculated including the data on and after the third byte. Description Result Bit shifted out...

  • Page 116: Response

    Message structure Response Responses returned by the server are classified into three types: normal response, no response, and exception response. The response message structure is the same as the query message structure. Server address Function code Data Error check 8 bits 8 bits N x 8 bits 16 bits...
  • Page 117 Message structure z Example of exception response Server address Query Server address Function code Function code Register address (Upper) Data Exception code Register address (Lower) Error check (Lower) Number of registers (Upper) Response Error check (Upper) Number of registers (Lower) Data Number of data bytes Write value of register address (Upper)

  • Page 118: Function Code

    Function code Function code This chapter explains the function codes supported by the driver. Note that if a function code other than the ones introduced here is sent, the function code cannot be executed. Reading of a holding register(s) (03h) This function code is used to read a register (16 bits).

  • Page 119: Writing To A Holding Register (06H)

    Function code z Response Field name Data Description Server address Same as query Function code Same as query Number of data bytes Twice the number of registers in the query Read value of register address (Upper) Value read from register address 1840h Read value of register address (Lower) Read value of register address +1 (Upper) Value read from register address 1841h...

  • Page 120: Diagnosis (08H)

    Function code z Response Field name Data Description Server address Same as query Function code Same as query Register address (Upper) Same as query Register address (Lower) Data Write value (Upper) Same as query Write value (Lower) Error check (Lower) Calculation result of CRC-16 Error check (Upper) Diagnosis (08h)

  • Page 121: Writing To Multiple Holding Registers (10H)

    Function code Writing to multiple holding registers (10h) This function code is used to write data to multiple consecutive registers. Up to 123 registers can be written. Write the upper and lower data at the same time. If not, an invalid value may be written. Registers are written in order of register address.

  • Page 122: Read/Write Of Multiple Holding Registers (17H)

    Function code z Response Field name Data Description Server address Same as query Function code Same as query Register address (Upper) Same as query Register address (Lower) Data Number of registers (Upper) Same as query Number of registers (Lower) Error check (Lower) Calculation result of CRC-16 Error check (Upper) Read/write of multiple holding registers (17h)
  • Page 123 Function code z Query Field name Data Description Server address Server address 1 Reading/writing from/to multiple holding Function code registers (Read) Register address (Upper) Register address to start reading from (Read) Register address (Lower) (Read) Number of registers (Upper) Number of registers to be read from the starting register address (4 registers=0004h) (Read) Number of registers (Lower) (Write) Register address (Upper)

  • Page 124: Setting Example Of Data In Modbus Rtu Mode

    Setting example of data in Modbus RTU mode Setting example of data in Modbus RTU mode Remote I/O commands These are commands related to remote I/O. The set value is stored in RAM. Register address Initial Name Description Setting range value Upper Lower...
  • Page 125 Setting example of data in Modbus RTU mode „ Driver input command These are the driver input signals that can be accessed via Modbus communication. They can also be accessed in units of one register (16 bits). z Upper Register Description address Bit 15...

  • Page 126: Positioning Operation

    Setting example of data in Modbus RTU mode Positioning operation As an example, this section explains how to execute the following positioning operation. z Setting example • Address number (Server address): 1 • Operation data number: 0 • Position (Travel amount): 1,000 steps •...
  • Page 127 Setting example of data in Modbus RTU mode 2. Send the following query to turn the START ON. Positioning operation is started. Query Field name Data Description Server address Server address 1 Function code Writing to a holding register Register address (Upper) Register address to be written =Driver input command (007Dh) Register address (Lower)

  • Page 128: Continuous Operation

    Setting example of data in Modbus RTU mode Continuous operation As an example, this section explains how to execute the following continuous operation. z Setting example • Address number (Server address): 1 • Operation data number: 0 • Rotation direction: Forward direction (Clockwise rotation) •...
  • Page 129 Setting example of data in Modbus RTU mode Response Field name Data Description Server address Same as query Function code Same as query Register address (Upper) Same as query Register address (Lower) Data Write value (Upper) Same as query Write value (Lower) Error check (Lower) Calculation result of CRC-16 Error check (Upper)

  • Page 130: Return-To-Home Operation

    Setting example of data in Modbus RTU mode Return-to-home operation As an example, this section explains how to execute the following return-to-home operation. z Setting example • Address number (Server address): 1 • Operating conditions: Initial values z Operation procedure 1.
  • Page 131 Setting example of data in Modbus RTU mode Response Field name Data Description Server address Same as query Function code Same as query Register address (Upper) Same as query Register address (Lower) Data Write value (Upper) Same as query Write value (Lower) Error check (Lower) Calculation result of CRC-16 Error check (Upper)

  • Page 132: Data Setting Method

    Data setting method Data setting method Overview of setting methods There are three methods to set data via Modbus communication. When handling multiple pieces of data, the communication specifications of Modbus allow reading/writing from/to consecutive addresses. „ When setting the operation data Input method Features Rewriting of data and start of operation can be executed at the same time.

  • Page 133: Indirect Reference

    Data setting method Indirect reference Indirect reference is a method in which data is stored in addresses exclusive for sending (indirect reference addresses) and set. Even if addresses of the data to be set are not consecutive, multiple pieces of data can be sent with a single query because the indirect reference addresses are consecutive.
  • Page 134 Data setting method Related parameters Register address MEXE02 Initial Name Description Setting range code value Upper Lower 1300h 1301h Indirect reference (4864) (4865) address setting (0) 1302h 1303h Indirect reference (4866) (4867) address setting (1) 1304h 1305h Indirect reference (4868) (4869) address setting (2) 1306h...
  • Page 135 Data setting method Register address MEXE02 Initial Name Description Setting range code value Upper Lower 1334h 1335h Indirect reference (4916) (4917) address setting (26) 1336h 1337h Indirect reference (4918) (4919) address setting (27) 1338h 1339h Indirect reference (4920) (4921) address setting (28) Sets the ID of the data to be stored 0 to FFFFh in the indirect reference address.
  • Page 136 Data setting method „ Setting example The following is an example of sending data to and receiving data from the address number 1 using indirect reference. z STEP 1: Registration in indirect reference addresses Setting data Register address Indirect reference Data to be sent address Upper...
  • Page 137 Data setting method z STEP 2: Writing to indirect reference areas Setting data Register address Indirect reference area Data to be sent Setting value Upper Lower Indirect reference area 0 1340h 1341h ← Position of operation data No. 1 1,500 (5DCh) Stopping deceleration of Indirect reference area 1 1342h...
  • Page 138 Data setting method z STEP 3: Reading from indirect reference areas Send the following query to read the data written to indirect reference areas. Query Field name Data Description Server address Server address 1 Function code Reading from a holding register(s) Register address (Upper) Register address to start reading from =Indirect reference area 0 (1340h)

  • Page 139: Direct Data Operation

    Direct data operation Direct data operation Overview of direct data operation Direct data operation is a mode that allows the data to be rewritten and the operation to be started at the same time. It is suitable for frequently changing operation data such as position (travel amount) or speed, or for applications that require fine position adjustment.
  • Page 140 Direct data operation „ Comparison of operating methods As an example, this section explains how to execute the following positioning operation with commonly used Modbus control and direct data operation. The trigger for direct data operation is assumed to be rewritten collectively. Speed 2,000 Hz 8,500 steps...

  • Page 141: Command Necessary For Direct Data Operation

    Direct data operation In direct data operation, the motor can be operated by sending a single query, unlike the commonly used Modbus control. Command necessary for direct data operation Related commands Register address Initial Name Description Setting range value Upper Lower 0058h 0059h...
  • Page 142 Direct data operation „ Trigger This is a trigger to rewrite the data and start the operation at the same time for direct data operation. z When the trigger setting is “0” or “1” When “1” is written to the trigger, all data is written and direct data operation is started at the same time. When operation is started, the trigger automatically returns to “0.
  • Page 143 Direct data operation Client Query Communication Response Server DCMD-RDY output READY output MOVE output Motor operation *1 Query via RS-485 communication *2 C3.5 (silent interval) + Tb5 (query processing time (driver)) + Tb2 (transmission waiting time (driver side)) *3 C3.5 (silent interval) + 4 ms or less „...
  • Page 144 Direct data operation z When the forwarding destination is set to “1: Buffer memory” When the trigger is written, the next direct data is stored in the buffer memory. When the data during operation is completed, operation of the buffer memory is automatically started. One set of direct data can be stored in the buffer memory.

  • Page 145: Group Send

    Group send Group send Multiple servers are made into a group and a query is sent to all servers in the group at once. „ Group composition A group consists of a parent server and child servers, and only the parent server returns a response. „...
  • Page 146 Group send z Related parameter The setting value of the “Group ID” command is stored in RAM. In this case, if the main power supply is turned off, the setting will be returned to the initial value and the group will be released. Therefore, it is necessary to set the group again each time the main power supply is turned on.

  • Page 147: Communication Monitor

    RS-485 communication monitor RS-485 communication monitor This chapter indicates items that can be monitored via RS-485 communication. They can also be checked using the “RS-485 communication monitor” of theMEXE02 software. Register address Name Description Upper Lower 00ACh 00ADh Indicates the communication error code Present communication error (172) (173)

  • Page 148: Timing Chart

    Timing chart Timing chart Communication start Main power supply 1 s or more Client Query Communication Response Server * C3.5 (silent interval) + Tb5 (query processing time (driver)) + Tb2 (transmission waiting time (driver side)) Operation start Client Query*1 Communication Response Server MOVE output...

  • Page 149: General-Purpose Signal

    Timing chart General-purpose signal Client Query*1 Communication Server Response General-purpose signal *1 A message including a query for remote output via RS-485 communication *2 C3.5 (silent interval) + Tb5 (query processing time (driver)) + Tb2 (transmission waiting time (driver side)) *3 C3.5 (silent interval) + 2 ms or less Configuration Client...

  • Page 150: 10 Detection Of Communication Errors

    Detection of communication errors 10 Detection of communication errors There are three types of functions to detect an error that occurs in RS-485 communication: communication error, alarm, and information. 10-1 Communication errors If the error code 84h of the communication error is generated, the C-DAT/C-ERR LED will be lit in red. For communication errors other than 84h, the LED will not be lit or blink.

  • Page 151: Alarms Related To Rs-485 Communication

    Detection of communication errors 10-2 Alarms related to RS-485 communication If an alarm related to RS-485 communication is generated, the ALM-A output is turned ON and the ALM-B output is turned OFF to stop the motor. The PWR/ALM LED on the driver will blink in red. „...
  • Page 153 Register address list This part describes lists of register addresses used in Modbus communication.  Table of contents Timing of the update of 10 Parameter R/W commands ....180 parameters ..........154 10-1 (p3) Base settings parameters ....180 10-2 (p4) Motor & Mechanism (Coordinates/ I/O commands ........155 JOG/Home operation) setting parameters ............181...

  • Page 154: Timing Of The Update Of Parameters

    Timing of the update of parameters Timing of the update of parameters All data used by the driver is 32 bits wide. With the Modbus protocol, since the register is 16 bits wide, two registers represent one data. Parameters are stored in RAM or non-volatile memory. The parameters stored in RAM are erased when the main power supply is shut off, but the parameters stored in non-volatile memory are retained even if the main power supply is shut off.

  • Page 155: O Commands

    I/O commands I/O commands These are commands related to I/O (input and output). The set value is stored in RAM. Register address Initial Name Description Setting range value Upper Lower Selects the operation data number. −1: Disable 0072h 0073h NET selection Operation data can be sent at the same 0 to 255: Operation data −1...
  • Page 156 I/O commands „ Driver output status These are the driver output signals that can be accessed via Modbus communication. They can also be accessed in units of one register (16 bits). z Upper Register Description address Bit 15 Bit 14 Bit 13 Bit 12 Bit 11...

  • Page 157: Group Command

    Group command Group command This is a command related to group send. The set value is stored in RAM. Register address Initial Name Description Setting range value Upper Lower −1: Individual (group send is Sets the address of a group not performed) 0030h 0031h...

  • Page 158: Protect Release Command

    Protect release command Protect release command The key code to release the function limitation by the HMI input is set. Register address Name Description Initial value Upper Lower Inputs the key code to release the limitation by the HMI input. 0044h 0045h HMI release key...

  • Page 159: Direct Data Operation Commands

    Direct data operation commands Direct data operation commands These are commands used when direct data operation is performed. The set value is stored in RAM. All commands are READ/WRITE. Register address Initial Name Description Setting range value Upper Lower 0058h 0059h Direct data operation 0 to 255:...

  • Page 160: Maintenance Commands

    Maintenance commands Maintenance commands Maintenance commands are used to execute the alarm reset, clear latch information, batch processing of non-volatile memory, and the like. All commands are WRITE. The maintenance commands include processing in which the memory is operated, such as batch processing of non-volatile memory.

  • Page 161: How To Execute The Maintenance Commands

    Maintenance commands „ Configuration Configuration can be executed when all of the following conditions are met. • No alarm is present. • The motor is not operated. • The following monitors or menus are not executed with the MEXE02 software. −...

  • Page 162: Monitor Commands

    Monitor commands Monitor commands Monitor commands are used to monitor the command position, the command speed, the alarm and information history, etc. All commands are READ. Register address Name Description Upper Lower 0080h 0081h Present alarm Indicates the alarm code presently being generated. (128) (129) Indicates the most recent alarm history.
  • Page 163 Monitor commands Register address Name Description Upper Lower Indicates the operation data number presently 00C2h 00C3h Present selected data number selected. Priority is applied in the following order: NET (194) (195) selection number, M0 to M7 inputs. Indicates the operation data number presently being 00C4h 00C5h operated in positioning SD operation or continuous...
  • Page 164 Monitor commands Register address Name Description Upper Lower Indicates the operation data number specified in “Next data number” of the operation data in operation. The 00E0h 00E1h Next number value is latched even after the operation is completed. (224) (225) When “Link”...
  • Page 165 Monitor commands Register address Name Description Upper Lower 0118h 0119h Sequence history 13 (280) (281) 011Ah 011Bh Sequence history 14 Indicates the history of the operation data numbers (282) (283) that have been executed so far. −1 is always displayed 011Ch 011Dh when stopped.
  • Page 166 Monitor commands Register address Name Description Upper Lower 017Ch 017Dh I/O status 7 (380) (381) Indicates the ON-OFF status of the internal I/O. (Arrangement of bits p.168) 017Eh 017Fh I/O status 8 (382) (383) 0A00h 0A01h Alarm history details (Alarm code) (2560) (2561) 0A02h...
  • Page 167 Monitor commands Register address Name Description Upper Lower 0A38h 0A39h Information history 13 (2616) (2617) 0A3Ah 0A3Bh Information history 14 Indicates the information history. (2618) (2619) 0A3Ch 0A3Dh Information history 15 (2620) (2621) 0A3Eh 0A3Fh Information history 16 Indicates the oldest information history. (2622) (2623) Indicates the history of the time when the most recent...
  • Page 168 Monitor commands „ Direct I/O The arrangement of bits for direct I/O is indicated. Register Description address Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 − − − − − − − −...
  • Page 169 Monitor commands Register Description address Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 − − − − − − − − 0177h (375) Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0...

  • Page 170: Operation Data R/W Commands

    Operation data R/W commands Operation data R/W commands The operation data is set with the operation data R/W commands. Use these addresses when consecutively inputing all the setting items included in the operation data. All commands are READ/WRITE. Overview of address arrangement There are two methods for setting the operation data, “direct reference”...
  • Page 171 Operation data R/W commands Base address Operation Base address Operation Base address Operation Base address Operation data data data data number number number number 9728 2600 No. 56 12736 31C0 No. 103 15744 3D80 No. 150 18752 4940 No. 197 9792 2640 No.
  • Page 172 Operation data R/W commands Base address Operation Base address Operation Base address Operation Base address Operation data data data data number number number number 21760 5500 No. 244 21952 55C0 No. 247 22144 5680 No. 250 22336 5740 No. 253 21824 5540 No.

  • Page 173: Offset Reference

    Operation data R/W commands „ Setting example As an example, this section explains how to set the following operation data to operation data No. 0 and No. 1. Setting item Operation data No. 0 Operation data No. 1 Incremental positioning Operation type Absolute positioning (based on command position)
  • Page 174 Operation data R/W commands „ Base address This indicates the register address (base address) of the operation data number to be a reference point when setting with offset reference. The base address is fixed. The base address of the starting data number is always “1800h (6144). ” Since the offset reference can only specify up to 32 items of operation data, change the starting data number when inputting to operation data No.
  • Page 175 Operation data R/W commands „ Register address The setting items of operation data are set with the operation data R/W commands. The register address for the setting item is arranged based on the base address. (Base address p.174) For example, in the case of the setting item “Position, ” adding 2 and 3 to the base address will be the upper address and the lower address, respectively.
  • Page 176 Operation data R/W commands „ Setting example The register address for the setting item is arranged based on the base address of the operation data number. (Base address p.174, register address p.175) The following example explains the register addresses of the setting items when data No. 0, No. 32, and No. 255 are set as the starting data.
  • Page 177 Operation data R/W commands z When the “DATA offset reference origin” parameter is “32” (starting data No. 32) Set data No. 32 as the starting point with the “DATA offset reference origin” parameter. This allows you to specify the data from No. 32 to No. 63. Seeing the table on p.174, we can find that the base address of operation data No.
  • Page 178 Operation data R/W commands z When the “DATA offset reference origin” parameter is “255” (starting data No. 255) Set data No. 255 as the starting point with the “DATA offset reference origin” parameter. Adding offset 1 to data No. 255 accesses data No. 0. Base address Offset=1 Offset=31...

  • Page 179: Extended Operation Data Setting R/W Commands

    Extended operation data setting R/W commands Extended operation data setting R/W commands Parameters for extended operation data setting can be set. All commands are READ/WRITE. (p2) Extended operation data setting Register address Initial Name Description Setting range Update value Upper Lower Sets the acceleration/deceleration rate or the acceleration/...

  • Page 180: 10 Parameter R/W Commands

    Parameter R/W commands 10 Parameter R/W commands These commands are used to write or read parameters. All commands are READ/WRITE. 10-1 (p3) Base settings parameters Register address Name Description Setting range Initial value Update Upper Lower When “0” is written to the speed, selects whether to Direct data operation 0: Deceleration stop...

  • Page 181: P4) Motor & Mechanism (Coordinates/Jog/Home Operation) Setting Parameters

    Parameter R/W commands Register address Name Description Setting range Initial value Update Upper Lower Permission of absolute Permits absolute 0290h 0291h positioning without positioning operation in a 0: Disable (656) (657) setting absolute state where coordinates are 1: Enable coordinates not set.

  • Page 182: P5) Alarm & Information Setting Parameters

    Parameter R/W commands Register address Initial Name Description Setting range Update value Upper Lower 02CAh 02CBh (HOME) Return-to- Sets the operating speed when 1 to 10,000 Hz (714) (715) home last speed finally positioning with the home. Sets whether to use the SLIT input 02CCh 02CDh (HOME) Return-to-...
  • Page 183 Parameter R/W commands Register address Initial Name Description Setting range Update value Upper Lower INFO action (Driver 0F44h 0F45h temperature information (3908) (3909) (INFO-DRVTMP)) 0F48h 0F49h INFO action (Overvoltage (3912) (3913) information (INFO-OVOLT)) 0F4Ah 0F4Bh INFO action (Undervoltage (3914) (3915) information (INFO-UVOLT)) INFO action (Start operation 0F52h...

  • Page 184: P6) I/O Action And Function Parameters

    Parameter R/W commands 10-4 (p6) I/O action and function parameters Register address Initial Name Description Setting range Update value Upper Lower Sets how to stop the motor 0E00h 0E01h 0: Immediate stop STOP input action when the STOP input is turned (3584) (3585) 3: Deceleration stop...

  • Page 185: P7) Direct-In Function Selection (Din) Parameters

    Parameter R/W commands 10-5 (p7) Direct-IN function selection (DIN) parameters Register address Name Description Setting range Initial value Update Upper Lower 1080h 1081h DIN0 input function 9: P-PRESET (4224) (4225) 1082h 1083h Selects an input signal to be Input signal list 112: DIN1 input function (4226)

  • Page 186: P8) Direct-Out Function Selection (Dout) Parameters

    Parameter R/W commands 10-6 (p8) Direct-OUT function selection (DOUT) parameters Register address Name Description Setting range Initial value Update Upper Lower 10C0h 10C1h DOUT0 output function 130: ALM-B (4288) (4289) 10C2h 10C3h Selects an output signal to Output signal list DOUT1 output function 188: ENC-IN-POS (4290)
  • Page 187 Parameter R/W commands Register address Name Description Setting range Initial value Update Upper Lower 1214h 1215h R-IN10 input function 0: No function (4628) (4629) 1216h 1217h R-IN11 input function 33: SSTART (4630) (4631) 1218h 1219h R-IN12 input function 52: FW-JOG-P (4632) (4633) Selects the input signal to...

  • Page 188: P10) Communication & I/F Function Parameters

    Parameter R/W commands Register address Name Description Setting range Initial value Update Upper Lower 126Ah 126Bh R-OUT5 OFF delay time (4714) (4715) 126Ch 126Dh R-OUT6 OFF delay time (4716) (4717) 126Eh 126Fh R-OUT7 OFF delay time (4718) (4719) 1270h 1271h R-OUT8 OFF delay time (4720) (4721)
  • Page 189 Parameter R/W commands Register address Initial Name Description Setting range Update value Upper Lower 1308h 1309h Indirect reference (4872) (4873) address setting (4) 130Ah 130Bh Indirect reference (4874) (4875) address setting (5) 130Ch 130Dh Indirect reference (4876) (4877) address setting (6) 130Eh 130Fh Indirect reference...
  • Page 190 Parameter R/W commands Register address Initial Name Description Setting range Update value Upper Lower 133Eh 133Fh Indirect reference Sets the ID of the data to be stored in 0 to FFFFh (0 to 65,535) (4926) (4927) address setting (31) the indirect reference address. −1: The switch setting of the driver is followed 1380h...
  • Page 191 Parameter R/W commands „ Setting example of ”Byte & word order (Modbus)” parameter When 32-bit data “1234 5678h” is stored in the register address 1000h and 1001h, the arrangement changes to the following according to the setting of the parameter. 1000h (even number address) 1001h (odd number address) Setting of parameter Upper...

  • Page 192: P11) Encoder Settings Parameters

    Parameter R/W commands z When the USB-ID is set If the “USB-ID” parameter is set, the same COM port numbers are always displayed regardless of the order of connection because the COM port number is fixed to each driver. (The USB-ID and the COM port number may not match because a PC assigns empty COM port numbers in descending order.) Driver “A”...
  • Page 193 Parameter R/W commands Register address Initial Name Description Setting range Update value Upper Lower 0E46h 0E47h Rotary encoder Sets the resolution of the rotary 100 to 16,777,215 P/R 10,000 (3654) (3655) resolution encoder. 0E48h 0E49h Sets the gear ratio when using a Gear ratio 10 to 10,000 (1=0.1) (3656)
  • Page 195 Other functions  Table of contents Vibration suppression ......196 1-1 LPF (speed filter) and moving average filter ..............196 1-2 Smooth drive function ........197 Heat generation suppression ....198 2-1 Automatic current cutback function ..198 LED indicators of driver ......199 3-1 LED lighting status ........199 3-2 Changing the lighting conditions of LED ..............199 Using general signals ......200...

  • Page 196: Vibration Suppression

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

  • Page 197: Smooth Drive Function

    Vibration suppression „ Moving average filter Select “2: Moving average filter” with the “Command filter setting” parameter and set the “Command filter time constant” parameter. The positioning time can be shortened by suppressing the residual vibration during positioning operation. The optimal value for the “Command filter time constant” parameter varies depending on a load or operating condition.

  • Page 198: Heat Generation Suppression

    Heat generation suppression Heat generation suppression Automatic current cutback function The automatic current cutback function is a method of suppressing motor heat generation by automatically reducing the motor current to the stop current when the motor stops. When operation is resumed, the current automatically increases to the operating current.

  • Page 199: Led Indicators Of Driver

    LED indicators of driver LED indicators of driver Various driver status can be checked by the lighting state or the number of blinks of LEDs on the driver. LED lighting status „ PWR/ALM LED (LED1) The status of the driver can be checked. Green Description No light...

  • Page 200: Using General Signals

    Using general signals Using general signals The R0 to R7 inputs are general-purpose signals. Using the R0 to R7 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 201 Using general signals MEXE02 code Name Description Setting range Initial value R-IN13 input function 53: RV-JOG-P Selects the input signal to Input signal list R-IN14 input function 56: FW-POS be assigned to remote I/O. p.86 R-IN15 input function 57: RV-POS R-OUT0 output function 64: M0_R R-OUT1 output function...

  • Page 202: Useful For Equipment Maintenance

    Useful for equipment maintenance Useful for equipment maintenance The various functions of the driver are also useful for equipment maintenance. Tripmeter and Odometer The total amount of rotation and the cumulative amount of rotation of the motor stored in the driver can be used for equipment maintenance.

  • Page 203: Latch Function

    Useful for equipment maintenance Latch function The latch function is a function that saves the instantaneous operation information in the driver when the operation is stopped. A trigger to generate a latch is called a “latch trigger. ” The operation information saved by the latch function is maintained until it is cleared.
  • Page 204 If a new copy is required to replace an original manual that has been damaged or lost, please contact your nearest Oriental Motor branch or sales office. • Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use of any information, circuit, equipment or device provided or referenced in this manual.

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