CC-Link Direct Input Type Step Motor Controller (Servo / 24VDC

CC-Link Direct Input Type Step Motor Controller (Servo / 24VDC
Doc. no.LEC-OM06701
PRODUCT NAME
CC-Link Direct Input Type
Step Motor Controller
(Servo / 24VDC)
MODEL / Series / Product Number
LECPMJ
Contents
1. Safety Instructions..........................................................................................5
2. Product Outline ...............................................................................................7
2.1 Product features ........................................................................................7
2.2 How to order ..............................................................................................8
2.3 Product configuration ...............................................................................9
2.4 Start up Procedures ................................................................................10
(1) Confirmation of the package content .................................................10
(2) Installation.............................................................................................10
(3) Controller setting..................................................................................10
(4) PLC Setting ...........................................................................................10
(5) Wiring and connection .........................................................................10
(6) Power supply ........................................................................................11
(7) Parameter setting .................................................................................11
(8) Operation pattern setting .....................................................................12
(9) Trial run .................................................................................................12
3. Product Specifications .................................................................................13
3.1 Basic specifications ................................................................................13
3.2 Parts description .....................................................................................15
3.3 Outside dimension diagram ...................................................................16
(1) Screw mount type (LECPMJ*-*) ...........................................................16
(2) DIN rail mount type (LECPMJ*D-*) ......................................................16
3.4 How to install ...........................................................................................17
(1) How to install ........................................................................................17
(2) Ground wire connection ......................................................................17
(3) Installation location ..............................................................................18
4. Initial Setting .................................................................................................19
4.1 Switch (STATION NO., B RATE) ..............................................................19
4.2 Parameter Setting....................................................................................20
4.3 PLC Setting ..............................................................................................21
5. External Wiring Diagram ..............................................................................22
5.1 CN1: Power connector ............................................................................22
5.2 CN2: Motor power connector and CN3: Encoder connector ...............22
5.3 CN4: Serial I/O connector .......................................................................22
(1) Connection with the teaching box ......................................................22
(2) Connection with a PC...........................................................................23
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5.4 CN5: Communication plug connector ...................................................23
6. CN1: Power supply plug...............................................................................24
6.1 Power supply plug specifications..........................................................24
6.2 Electric wire specifications.....................................................................24
6.3 Wiring of power supply plug ..................................................................25
(1) Wiring of the power supply..................................................................25
(2) Wiring of the stop switch .....................................................................25
(3) Wiring of the lock release ....................................................................25
6.4 Stop circuits .............................................................................................26
(1) Example circuit 1- Single controller with teaching Box ....................26
(2) Example circuit 2 - multiple controllers (Stop relay contact (1)) ......27
(3) Example circuit 3 - Motor power shutdown (relay contact (2)) .........28
7. CN5: Communication Plug Connector ........................................................29
7.1 Wiring .......................................................................................................29
7.2 Electric wire specification.......................................................................30
7.3 Wiring of communication plug connector.............................................30
8. LED Display ...................................................................................................31
8.1 LED display ..............................................................................................31
8.2 Controller status and LED display .........................................................31
9. Mode...............................................................................................................32
9.1 Outline ......................................................................................................32
9.2 Step No. instructions operation function ..............................................32
9.3 Monitor function of Position/Speed .......................................................33
9.4 Numerical data instructions operation function ...................................33
9.5 Step data editing function.......................................................................33
10. Memory map................................................................................................36
10.1 Memory assignment ..............................................................................36
11. Setting Data Entry .......................................................................................52
11.1 Step data.................................................................................................52
11.2 Basic parameter .....................................................................................55
11.3 Return to origin parameter....................................................................58
12. Operation .....................................................................................................59
12.1 Return to origin......................................................................................59
12.2 Positioning operation............................................................................59
12.3 Pushing operation .................................................................................60
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(1) Pushing operation is successfully performed. ..................................60
(2) Pushing operation is failed (pushing the air).....................................60
(3) Movement of the workpiece after the completion of the pushing process ...60
12.4 Controller input signal response time .................................................61
12.5 Methods of interrupting operation .......................................................61
13. Operation (example) ...................................................................................62
13.1 Positioning operation............................................................................62
13.2 Pushing operation .................................................................................63
14. Operation instruction..................................................................................64
14.1 Outline of the operation instruction.....................................................64
14.2 The operation instruction of Step No. instructions operation function64
[1] Power on → Return to origin .............................................................64
[2] Positioning operation...........................................................................65
[3] Pushing operation ................................................................................66
[4] HOLD .....................................................................................................67
[5] Reset......................................................................................................67
[6] Stop........................................................................................................68
[7] Area output............................................................................................69
14.3 The operation instruction of Numerical data instructions operation
function ..........................................................................................................70
14.4 The operation instruction of Data editing function.............................71
15. Option ..........................................................................................................73
15.1 Actuator cable (5m or less)...................................................................73
15.2 Actuator cable (8-20m) ..........................................................................74
15.3 Actuator cable for with lock (5m or less).............................................74
15.4 Actuator cable for with lock (8-20m) ....................................................75
15.5 Controller setting kit..............................................................................76
15.6 Teaching box..........................................................................................77
15.7 Communication plug connector...........................................................78
16. Alarm Detection of Motor Control..............................................................79
16.1 Parallel output for the alarm group ......................................................79
16.2 Alarm details ..........................................................................................80
17. Alarm Detection for CC-Link Communication ..........................................85
17.1 Alarm details.........................................................................................85
18. Wiring of cables/Common precautions.....................................................87
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19. Electric actuators/Common precautions ..................................................88
19.1 Design and selection.............................................................................88
19.2 Mounting ................................................................................................89
19.3 Handling .................................................................................................90
19.4 Operating environment .........................................................................91
19.5 Maintenance...........................................................................................92
19.6 Precautions for actuator with lock .......................................................92
20. Controller and its peripheral devices /Specific product precautions ................93
20.1 Design and selection.............................................................................93
20.2 Handling .................................................................................................93
20.3 Installation..............................................................................................94
20.4 Wiring of cables/Common precautions ...............................................95
20.5 Power supply .........................................................................................95
20.6 Grounding ..............................................................................................95
20.7 Maintenace .............................................................................................96
21. Troubleshooting..........................................................................................97
22. Memory map list........................................................................................103
23. Remote register.........................................................................................109
24. Glossary.....................................................................................................110
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LECPMJ / Controller
1. Safety Instructions
These safety instructions are intended to prevent hazardous situations and/or equipment damage.
These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.”
They are all important notes for safety and must be followed in addition to International Standards
(ISO/IEC), Japan Industrial Standards (JIS)*1) and other safety regulations*2).
*1) ISO 4414: Pneumatic fluid power -- General rules relating to systems
ISO 4413: Hydraulic fluid power -- General rules relating to systems
IEC 60204-1: Safety of machinery -- Electrical equipment of machines (Part 1: General requirements)
ISO 10218-1992: Manipulating industrial robots -- Safety
JIS B 8370: General rules for pneumatic equipment.
JIS B 8361: General rules for hydraulic equipment.
JIS B 9960-1: Safety of machinery – Electrical equipment for machines. (Part 1: General requirements)
JIS B 8433-1993: Manipulating industrial robots - Safety. etc.
*2) Labor Safety and Sanitation Law, etc.
Caution
Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or
moderate injury.
Warning
Warning indicates a hazard with a medium level of risk which, if not avoided, could result in
Danger
Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or
death or serious injury.
serious injury.
Warning
1. The compatibility of the product is the responsibility of the person who designs the equipment or
decides its specifications.
Since the product specified here is used under various operating conditions, its compatibility with specific
equipment must be decided by the person who designs the equipment or decides its specifications based on
necessary analysis and test results.
The expected performance and safety assurance of the equipment will be the responsibility of the person who
has determined its compatibility with the product.
This person should also continuously review all specifications of the product referring to its latest catalog
information, with a view to giving due consideration to any possibility of equipment failure when configuring the
equipment.
2. Only personnel with appropriate training should operate machinery and equipment.
The product specified here may become unsafe if handled incorrectly.
The assembly, operation and maintenance of machines or equipment including our products must be
performed by an operator who is appropriately trained and experienced.
3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.
The inspection and maintenance of machinery/equipment should only be performed after measures to prevent
falling or runaway of the driven objects have been confirmed.
When the product is to be removed, confirm that the safety measures as mentioned above are implemented
and the power from any appropriate source is cut, and read and understand the specific product precautions
of all relevant products carefully.
Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.
4. Contact SMC beforehand and take special consideration of safety measures if the product is to
be used in any of the following conditions.
1) Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to
direct sunlight.
2) Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping,
vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and
beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other
applications unsuitable for the standard specifications described in the product catalog.
3) An application which could have negative effects on people, property, or animals requiring special safety
analysis.
4) Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a
mechanical protective function, and periodical checks to confirm proper operation.
-5-
LECPMJ / Controller
1. Safety Instructions
Caution
The product is provided for use in manufacturing industries.
The product herein described is basically provided for peaceful use in manufacturing industries.
If considering using the product in other industries, consult SMC beforehand and exchange specifications
or a contract if necessary.
If anything is unclear, contact your nearest sales branch.
Limited warranty and Disclaimer/Compliance Requirements
The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance
Requirements”.
Read and accept them before using the product.
Limited warranty and Disclaimer
The warranty period of the product is 1 year in service or 1.5 years after the product is delivered.*3)
Also, the product may have specified durability, running distance or replacement parts. Please
consult your nearest sales branch.
For any failure or damage reported within the warranty period which is clearly our responsibility, a
replacement product or necessary parts will be provided.
This limited warranty applies only to our product independently, and not to any other damage
incurred due to the failure of the product.
Prior to using SMC products, please read and understand the warranty terms and disclaimers noted
in the specified catalog for the particular products.
*3) Vacuum pads are excluded from this 1 year warranty.
A vacuum pad is a consumable part, so it is warranted for a year after it is delivered.
Also, even within the warranty period, the wear of a product due to the use of the vacuum pad or
failure due to the deterioration of rubber material are not covered by the limited warranty.
Compliance Requirements
When the product is exported, strictly follow the laws required by the Ministry of Economy, Trade and
Industry (Foreign Exchange and Foreign Trade Control Law).
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2. Product Outline
2.1 Product features
The followings are the main functions of this controller:

Connect with CC-Link
Operation from CC-Link, reading information and writing are possible by connecting with CC-Link.

Actuator control
A positioning operation and operation at a specific speed and force for the actuator are possible by
controlling the servo motor.

Specified force operation
Control the pushing force or the pressing force of the actuator.

Separated power supply
The power supply is separated into the drive power and the control power.
Therefore, even when
the drive power is off, if the control power is on, the position information from the encoder will be
maintained and the CC-Link communication and serial communication parallel I/O control are still
available.

Return to origin
Return the actuator to the home position by sending a signal of return to origin instruction from
CC-Link

Alarm detection function
Automatically detect the abnormal conditions and output the appropriate alarm signal via the
CC-Link communication and serial communication. The alarm information will be recorded into the
memory in the controller.

64 step data
Control the actuator according to the step data specified by operating memory that corresponds to
controller's input/output ports of DRIVE signal and INP signal, etc. from CC-Link.
It is possible to setup various parameters for each operation pattern.

Area output
The area output terminal will be activated if the actuator position is within the range specified by
“Area 1” and “Area 2” in the step data.

Data input method
It is possible to perform a parameter setup, status monitoring, trial run and alarm reset via the
operation in CC-Link communication or the serial communication with a PC installed with the
controller setting software or the teaching box.

Easy mode and Normal mode
There are two available modes for the controller setting software and the teaching box. In the Easy
mode, you can start the operation by only setting the speed, position, etc. On the other hand, in the
Normal mode, you can make a further detailed setup.
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Caution
Please Keep this manual safe for future use. It will be necessary to refer to this manual along with the
teaching box and actuator manuals at installation and faultfinding.
2.2 How to order
The part number construction for this product is as follows:
LECPMJ
Controller
Actuator part number
Compatible motor
P
(“LE” to “Stroke” of the actuator part number)
Step motor (Servo / 24VDC)
Example: If “LEFS16B-100B-S1MJS” is the
Kind of controller
complete actuator part number, “LEFS16B-100”
MJ CC-Link direct input type
will come here.
Communication plug connector
Nil
Method of installation
-
S
Straight type
Nil
Screw mount type
T
T-Branched type
D
DIN rail
mount
type
Caution
The controller and actuator are factory set Confirm the combination of the controller
and the actuator is correct.
<Check the following before use.>
Check the actuator label for model number.
This matches the controller.
LEHZ10K2-4
-8-
2.3 Product configuration
The product configuration of this controller is as follows.
CC-Link
Terminating
resistance
(*1)
●Electric Actuator
●Controller
PLC
Communication plug connector
LEC-CMJ-
(*3)
Power supply
24VDC
To CN5
Option
To CN4
●Actuator cable
Part No:
LE-CP-*-*
(Robotic type cable)
LE-CP-* -*- S
(Standard cable)
(*3)
●Communication
cable
To CN4
(*1)
To CN3
or
To CN2
(*2)
●Conversion
unit
モニ タ
現 在位 置
現 在速 度
設定
120.3 mm
200 mm/s
位置
動作 中
ア ラーム
速度
1
テスト
100
500
2
テスト
テスト
200
50
1000
3
200
To CN1
Controller power
supply 24VDC
PC
●Power supply plug
<Applicable cable size>
AWG20 (0.5mm2)
●Teaching box
(with 3m cable)
Part No:LEC-T1-3EG
●USB cable
(A-miniB type)
●Controller setting kit
(Controller setting software,
Communication cable,
Conversion unit and
USB cable is included.)
Part No:LEC-W2
(*1) These items are included when it is selected by ordering code.
(*2) The controller setting software must use the latest version.
Upgrade software be able to download on SMC website. http://www.smcworld.com/
(*3) When conformity to UL is required, the electric actuator and controller should be used with a
UL1310 Class 2 power supply.
Warning
Check all the connections as shown in section 5 and diagrams shown on page 22. Pay special
attention to details in section 18 on page 87.
Please Connect to the personal computer communication cable with the USB port cable via the
conversion unit.
Do not connect the teaching box directly to the personal computer.
Do not use LAN cable to connect to the controller, it will cause damage to the personal computer.
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2.4 Start up Procedures
Before using this controller, please connect cables and startup using the following procedures.
(1) Confirmation of the package content
When you open the product package for the first time; please check the package contents to confirm the
controller, label indication, quantity of accessories, etc. are correct.
Item
Quantity
Controller (LECPMJ***-*)
1 unit
Power supply plug
1 piece
Actuator *1
1 unit
Actuator cable
*1
Communication plug connector
Controller
Power supply plug
Actuator cable
1 piece
(LE-CP-*-*-*)
Communication plug connector *2
1 piece
(LEC-CMJ-*)
*1 These items are included if you ordered by the part number for a set of controller and actuator.
*2 This item is included if you ordered by the part number for a set of communication plug connector.
Option
Teaching box
Teaching box (part number: LEC-T1-3*G*)
Controller setting kit (part number: LEC-W2)
[Controller setting software, communication
cable, USB cable and conversion unit are
included.]
Controller setting kit
* In case of any shortages or damaged parts, please contact the selling office.
(2) Installation
Please refer to the 3.4 How to install (page17).
(3) Controller setting
It is necessary to set the address and the communication speed by the rotary switch of controller.
Please refer to the 4.1 Switch(STAION NO.,B RATE) (page 19).
(4) PLC Setting
It is necessary to set a parameter of PLC which becoming the master station.
Please refer to the 4.3 PLC Setting (page 21).
(5) Wiring and connection
Connect cables, etc. to the connector (CN1 to CN5) of the controller.
Please refer to the 5. External Wiring Diagram (page 22) for the wiring of the connectors.
- 10 -
(6) Power supply
Supply 24VDC power.
If the condition is normal, LED on the front of the gateway unit turns on as the table below when power
is supplied.
Functions
LED condition
Condition
PWR
Green On
Supply of power
ALM
Off
No alarm
Please refer to 8. LED Display (page 31) for the explanation of each LED lamp.
However, if the LED [ALM] lights in red, the controller is in the alarm (error) condition.
Caution
In case of alarm (error) condition:
Refer to the corresponding memory on CC-Link or connect a PC or the teaching box to the CN4 serial I/O
connector and check the details of the alarm. Then, remove the cause of the error referring to the 16.
Alarm Detection of Motor Control (page 79).
* Please refer to the manuals of the controller setting software or the teaching box for details of the
alarms.
(7) Parameter setting
It is necessary to set a parameter of the controller.
Please refer to the 4.2 Parameter Setting (page 20).
When setting of the PLC and the parameter are completed definitely, and CC-Link communication
is established, LED of the controller front turns on like a list shown below.
Functions
LED condition
Condition
PWR
Green On
Supply of power
ALM
Off
No alarm
L ERR
Off
CC-Link status normal
L RUN
Green On
CC-Link communicating
Please refer to 8. LED Display (page 31) for the explanation of each LED lamp.
When LED [L RUN] is off or LED [L ERR] is red on/ red flashing, the communication of PLC and
the controller is not established.
- 11 -
Caution
When the communication of PLC and the controller is not established
Please remove the cause referring to 17. Alarm Detection for CC-Link Communication (page 85).
And, With reference to 4.2 Parameter Setting (page 20) and 4.3 PLC Setting (page 21), please
confirm whether the communication speed of PLC and the controller, station information are set
correctly.
(8) Operation pattern setting
Setup the operation pattern (step data, basic parameter and return to origin parameters) to specify
the target position, speed, etc. by using a PC (with the controller setting software) or the teaching
box.
 PC (Normal mode)
 Teaching box
Please refer to the manuals of the controller setting software or the teaching box for how to setup the
operation pattern.
(9) Trial run
Refer to 10. Memory Map (page 36) for the memory assignment.
Input the signal from PLC and confirm the operation. Please refer to 14. Operation instruction (page
64) for the operating instruction for operation.
- 12 -
3. Product Specifications
3.1 Basic specifications
The basic specifications of this controller are as follows:
Item
Compatible motor
Specifications
Step Motor (Servo / 24VDC)
Power voltage:24VDC +/-10%
Power supply
Max.current consumption: 3A(Peak 5A)
(for both of motor drive power, control power,
stop, lock brake release)
Compatible encoder
Serial communication
Memory
LED indicator
Incremental A/B phase(800 pulse/rotation)
Conforming to RS485.
EEPROM
Functions
Contents
PWR
Power supply status
ALM
Alarm status
L ERR
Error status(CC-Link)
L RUN
Communication status(CC-Link)
Lock control
Forced-lock release terminal
Cable length
Actuator cable: 20m or less
Cooling system
Operating environment
Operating temperature
range
Operating humidity range
Storage temperature range
Storage humidity range
Natural air cooling
Do not use in the environment of explosive gas, corrosive gas,
oil mist, or powder dust.
0 – 40oC(No freezing)
90%RH or less (No condensation)
-10 – 60oC (No freezing)
90%RH or less (No condensation)
Vibration
4.9m/s2
Enclosure
IP20
Insulation resistance
Mass
Between the housing (radiation fin) and FG terminal
50MΩ (500VDC)
170g(screw mount type)
190g(DIN rail mount type)
- 13 -
【CC-Link type】
Item
Specifications
Field bus
CC-Link Version 1.10
Station type
Remote device station
Occupied number of stations
(Number of input/output points)
1 stations
2 stations
4 stations
32 points/32 points
64 points/64 points
128 points/128 points
4words/4words
Communication speed
156k/625k/2.5M/5M/10Mbps
Communication method
Broadcast Polling System
Synchronization system
Frame synchronous communication
Encoding method
NRZI
Transmission system
Bus system (EIA RS485 compliant)
Communication format
HDLC compliant
Error control system
CRC(X16+X12+X5+1)
Applicable communication cable
CC-Link cable
Communication
Maximum length
of cable
speed (bps)
Total cable
length (m)
- 14 -
16words/16words
8words/8words
156k
625k
2.5M
5M
10M
1200
900
400
160
100
3.2 Parts description
The detailed descriptions of each part are as follows:
2
Side (controller version mark)
SV2.06-1.00
3
1
4
10
9
5
6
PMJ・・・・・
7
8
11
Controller version mark label
Example) Controller version"SV2.06-1.00"
No.
Label
Name
1
-
LED
2
CN5
Communication plug
connector
Used to connect the CC-Link line.
3
STATION
NO.
STATION NO. switch
Switch for setting address X1 and X10.
4
B RATE
Communication
speed change switch
Used to set the communication speed of CC-Link.
5
CN4
6
CN3
7
CN2
Serial I/O
Connector
Encoder connector
Motor power
connector
8
CN1
Power connector
9
-
Compatible actuator
label
10
-
Controller label
11
-
FG
Description
LED to indicate the condition of the controller.
Used to connect the teaching box, PC, etc.
Used to connect the actuator cable.
Used to connect the controller power supply (24VDC) with
the power supply plug.
Common power(-),Motor power (+),Control power(+),Stop
signal(+),Lock release(+)
The label indicating the applicable actuator model.
The label indicating the part number of the controller.
Functional ground
(When the controller is mounted, tighten screws and
connect the grounding cable.)
- 15 -
3.3 Outside dimension diagram
The outside view of this product is as shown in the diagram below:
(1) Screw mount type (LECPMJ*-*)
(2) DIN rail mount type (LECPMJ*D-*)
- 16 -
3.4 How to install
(1) How to install
There are two types of controllers; screw mount type and DIN rail mount type.
The followings are the descriptions on how to install each type:
[1] Screw mount type (LECPMJ*-*)
(Installation with two M4 screws)
[2] DIN rail mount type (LECPMJ*D-*)
(Installation with the DIN rail)
DIN rail is locked.
Ground wire
Screw direction
DIN rail
Ground wire
Screw direction
Ground wire
A
Hook the controller on the DIN rail and
press the lever of section A in the arrow
direction to lock it.
(2) Ground wire connection
As shown in the diagram below, tighten the ground wire with a screw.
M4 screw
Cable with crimping terminal
Toothed washer
Controller
Caution
The M4 screw, cable with crimping terminal, and toothed washer should be obtained separately.
Ground the controller to shield it from electric noise.
- 17 -
Caution
(1) The earthling should be the dedicated grounding point. It should be a functional ground with less
than 100 Ω resistance.
(2) The cross section of the grounding wire should be greater than 2mm2.
The ground point should be near this controller to make the wire length shorter.
Controller
Controller
Other device
Recommended Functional grounding
Other device
Not Recommended grounding
(3) Installation location
Please install this controller at an appropriate place where the surrounding temperature will not
exceed 40oC.
As shown in the diagrams below, the controller should be installed on a vertical wall with 30 / 50mm or
larger spaces above and below it.
In addition, there should be 60mm or larger space between the
controller and the facing cover (the housing) so that it is possible to connect/disconnect the controller.
The controllers should be positioned appropriately with enough spaces to keep it within the above
mentioned operating temperature range.
Place supplies of vibration like a large-size electromagnetic contactor, no-fuse current chopper, etc. to
be mounted on a different panel or away from the controller.
Usually: 0mm or more
Specified model(LE□□) : 10mm or more
Cover(the housing)
*Except for LEH Series
Body size 25 or more
30mm or more
Controller
30mm or more (screw mount type)
50mm or more (DIN rail mount type)
60mm or more
Caution
Install the controller on a flat surface. Excessive pressure applied to the housing will damage the
controller.
- 18 -
4. Initial Setting
4.1 Switch (STATION NO., B RATE)
Set the CC-Link address and the CC-Link communication speed by the rotary switch. The table below
shows functions of switches.
The station No. of CC-Link is shown. (01~64)
The communication speed of CC-Link is shown.
●STATION NO
Switch name
Set range
STATION No (X10)
01~64
STATION No (X1)
Description
Set upper bits of the station.
Set lower bits of the station.
*The CC-Link address setting at the time of the factory shipment is set in “01".
●B RATE switch
*1 In case of set point =1 of Occupied
B RATE
CC-Link communication speed
9
8
:
5
4
Reset of Occupied number of stations *1
10Mbps
applying the power at the state of B
3
5Mbps
RATE=9.
2
2.5Mbps
1
625kbps
0
156kbps
number of stations:
The set point of Occupied number of
Nouse
stations is returns to “2” as delivered by
*The communication speed of CC-Link setting at the time of the factory shipment is set in “0" (156kbps).
Example) When 3 controllers tie as follows by 2 stations occupation (The communication speed of
CC-Link is 10Mbps)
PLC
LEC
PMJ
(1)
LEC
PMJ
(2)
LEC
PMJ
(3)
No. 1
No. 2
No. 3
Set 4 for B RATE, because the CC-LINK communication speed is 10Mbps.
Set STATION NO. as follows. (Set station number 0 as a master in PLC.)
Set station No. 1 for the first controller LECPMJ(1),because PLC’s station No. is 0.
STATION No. (X10)=0,STATION No. (X1) =1
- 19 -
The second controller LECPMJ(2) sets station number 3 that added 2(for 2 stations occupation) to
station number 1 of LECPMJ(1).
STATION No. (X10)=0,STATION No. (X1) =3
The third controller LECPMJ(3) sets station number 5 that added 2 to station number 3 of
LECPMJ(2).
STATION No. (X10)=0,STATION No. (X1) =5
.
4.2 Parameter Setting
Set the parameter of Occupied number of stations and operation setting at the time of the communication
error of LECPMJ. The set item is shown below.
・
Occupied number of stations setting
Set Occupied number of stations in "Optional setting 1" of basic parameter item.
Optional setting 1
Mode
Occupied number of stations
1
Single numerical data instructions
1 stations
2 (initial value)
Half numerical data instructions
2 stations
4
Full numerical data instructions
4 stations
Please refer to 9. Mode (page 32) for details of each mode.
.
・
Operation setting of CC-Link at the time of the communication error
Set the operation of CC-Link at the time of the communication error in “Undefine No.11" of basic
parameter item.
Undefine No.11
Output the data to control unit
0 (initial value)
HOLD
10
Alarm Stop
Please refer to 11.2 Basic parameter (page 55) for details of each parameter.
- 20 -
4.3 PLC Setting
Set PLC that becomes the master station. Must use the PLC which corresponding to CC-Link Ver. 1.10.
Show a case with CC-Link system master local unit (Q Series) of Mitsubishi for the example about setting.
PC series: QCPU (Q mode), PC type: Q00UJ
・
Initial addresses of Remote I/O (Rx, Ry) and Remote register (RWr, RWw), etc.
The PLC memory address shown in 10.1 Memory assignment (page 36) becomes the address
when doing the setting as the following list. Please set it according to the operating environment.
Example of setting the initial address
Initial addresses
・
Remote input(Rx)
X1000
Remote output(Ry)
Y1000
Remote register (RWr)
W0
Remote register (RWw)
W1000
Special relay (SB)
SB0
Special register (SW)
SW0
Station information setting
Set Occupied number of stations of LECPMJ which connected to the PLC. Please set the value
same as Occupied number of stations of “Optional setting 1” of Basic parameter.
Occupied number of stations of LECPMJ is set in “2” for shipment
Example of setting the station information
・
Station classification
Occupied number of stations
Remote device station
2 stations occupation
Mode setting
Set the Ver.1 mode.
・
Communication speed
Set the same value of communication speed as the value of 4.1 Switch (STATION NO., B RATE)
(P.19).
Please refer to the manual of PLC which is using for details of the setting.
- 21 -
5. External Wiring Diagram
The typical connections for each connector of this controller (CN1 to CN5) are as shown below.
5.1 CN1: Power connector
Controller
CN1
Controller power
supply 24VDC
Power cable
(The 24VDC power supply and the power cable should be obtained separately.)
* Please refer to 6. CN1: Power supply plug (page 24) for how to wire the CN1 connector.
Caution
The controller power supply (24VDC) does not use the power supply of “rush-current restraining type”.
5.2 CN2: Motor power connector and CN3: Encoder connector
Connect the controller and the actuator with the actuator cable (LE-CP-*-*).
Controller
CN3
Actuator
Actuator cable
Motor
CN2
5.3 CN4: Serial I/O connector
(1) Connection with the teaching box
Controller
Teaching box
CN4
(The 3m cable is provided.)
- 22 -
(2) Connection with a PC
*Controller setting kit
(Controller setting software, communication
cable, USB cable and the conversion unit are
provided.)
Controller
CN4
Conversion
unit
Communication
USB cable
(A-miniB type connector)
モニタ
現在位置
現在速度
設定
120.3 mm
200 mm/s
位置
動作中
アラーム
速度
1
テスト
100
500
2
テスト
200
1000
3
テスト
50
200
cable
PC
(The PC should be obtained separately.)
5.4 CN5: Communication plug connector
Communication cable
for CC-Link
CN5
PLC
(Please prepare communication cable for CC-Link and
PLC by the customer)
- 23 -
6. CN1: Power supply plug
6.1 Power supply plug specifications
The specifications of the provided power supply plug are as follows.
Power supply plug
Terminal
Function
BK RLS
0V
M24V
C24VM
EMG
0V
Descriptions
Common power (-)
The negative common power for M24V,
C24V, EMG and BK RLS.
The positive power for the actuator motor to
M24V
Motor power (+)
C24V
Control power (+)
The positive control power.
EMG
Stop signal(+)
The positive power for Stop signal.
Lock release (+)
The positive power for lock release.
BK RLS
be supplied via the controller.
6.2 Electric wire specifications
Prepare electric wire according to the following specification:
Item
Specifications
2
Applicable
wire size
AWG20 (0.5mm ): Single line, No insulation sleeve, Twisted wire with
bar terminal
* The rated temperature for the insulation coating: 60oC or more.
Stripped
section length
8mm
Caution
Multiple electric wires should not be connected to one terminal.
After the wiring of the power supply plug is completed, connect it to the CN1 connector of the controller.
Please refer to 6.3 Wiring of power supply plug (page 25) for how to wire the power supply plug.
Controller
Power supply plug connected to CN1
Power supply plug
Insert into CN1
- 24 -
6.3 Wiring of power supply plug
Connect the power supply plug to the 24VDC controller power supply according to instructions (1) (2) and
(3) and then, insert it into the CN1 connector of the controller.
(1) Wiring of the power supply
Connect the positive of the 24VDC controller power supply to the C24V and M24V.
And connect the
negative of that power supply to the 0V terminal.
Open/Close lever
Press these levers with the special driver,
etc. and insert electric wires into the
entries.
* Phoenix special driver (recommended)
(Part no: SZS0.4 x 2.0)
Wire entry
Power supply plug
BK RLS
EMG
C 24V
24V
0V
M 24V
0V
Controller
power supply
Caution
For controller input power supply (24VDC) use a power supply with a capacity not less than the
“momentary maximum power” of the actuator specifications. Do not use “inrush-current restraining type”
power supply.
(2) Wiring of the stop switch
Stop switch must be installed by the user to stop the actuator in abnormal situations.
Please refer to 6.4 Stop circuits (page 26) for examples of how to wire stop switches.
(3) Wiring of the lock release
Actuators with lock will need a lock release switch fitted.
* The switch (24VDC, Contact capacity: 0.5A or more) should be obtained separately.
One terminal of the lock release switch should be connected to the 24VDC power supply and the other
should be connected to the BK RLS terminal. When this is switched on, the lock will be released forcibly.
Power supply plug
Lock release switch
BK RLS
EMG
C 24V
24V
0V
M 24V
0V
Controller
power supply
Caution
1. If the actuator is a non lock type, it is not necessary to wire the BK RLS terminal.
2. The terminal BK RLS must not energize while using only for the adjustment and the return treatment in
the emergency and usually operating.
- 25 -
6.4 Stop circuits
When the outside stop switch or the teaching box’s stop switch becomes effective with this controller, the
actuator will stop.
(1) Example circuit 1- Single controller with teaching Box
When the teaching box is connected to the controller, the teaching box’s stop switch will become
effective.
Teaching box
(with 3m cable)
Controller
Teaching box is
connected.
Stop switch
CN4
Stop signal
Teaching box is not
connected.
CN1
External stop circuit
EMG
C24V
M24V
Power
supply plug
24V
0V
0V
Controller
power supply
Warning
The teaching box’s stop switch is effective only to the controller that is connected with it.
When shutdown is input, the controller stops with maximum deceleration speed, then the motor is turned
off.
- 26 -
(2) Example circuit 2 - multiple controllers (Stop relay contact (1))
If the system where this controller is installed has a stop circuit for whole system, or if the system has
multiple controllers with individual power supply, relay contacts should be made between the 24VDC
controller power supply and the EMG terminal of the power supply plug.
(Circuit example)
0V
24VDC
Reset switch
for stop
Ry
stop switch
Surge suppressor
Ry
Power supply plug
(the 1st controller)
BK RLS
EMG
Ry
C 24V
M 24V
0V
24V
0V
Controller
power supply
24V
0V
Controller
power supply
Power supply plug
(the 2nd controller)
BK RLS
EMG
Ry
C 24V
M 24V
0V
Power supply plug
(the 3rd controller)
BK RLS
EMG
Ry
C 24V
24V
0V
M 24V
0V
Controller
power supply
The relay must be a safety relay or monitored by a safety relay.
Caution
When shutdown is input, the controller stops with maximum deceleration speed, then the motor is turned
off.
- 27 -
(3) Example circuit 3 - Motor power shutdown (relay contact (2))
If there is a necessity to have circuit to shutdown the motor power externally, relay contacts should be
made between the 24VDC controller power supply and the M24V and EMG terminal of the power supply
plug.
Circuit example
0V
24VDC
Reset switch
for stop
Ry
stop switch
Ry
Surge suppressor
Power supply plug
(the 1st controller)
BK RLS
EMG
C 24V
M 24V
Ry
0V
24V
0V
Controller
power supply
Power supply plug
(the 2nd controller)
BK RLS
EMG
C 24V
M 24V
Ry
0V
24V
0V
Controller
power supply
24V
0V
Controller
power supply
Power supply plug
(the 3rd controller)
BK RLS
EMG
C 24V
M 24V
Ry
0V
The relay must be a safety relay or monitored by a safety relay.
Warning
1. Relay contacts should be made between the 24VDC controller power supply and the M24V and
EMG terminal of the power supply plug. The actuator may make unexpected movement.
2. Do not perform return to origin (SETUP input ON) when motor drive power (M24V) is disconnected.
The controller cannot recognize the correct origin point if a return to origin instruction is made with
the motor drive power (M24V) disconnected.
3. The terminal BK RLS must not energize when you disconnected motor drive power (M24V).
- 28 -
7. CN5: Communication Plug Connector
7.1 Wiring
The communication plug connector specification of the optional product is shown below.
Straight type
T-Branched type
5
4
3
2
1
5
4
3
2
1
5
4
3
2
1
LEC-CMJ-S
LEC-CMJ-T
Phoenix
Phoenix
Part no: MSTB2,5/5-ST-5,08 AU
Part no: TMSTB2,5/5-ST-5,08 AU
No
Designation
Description
1
DA
CC-Link communication line A
2
DB
CC-Link communication line B
3
DG
CC-Link ground line
4
SLD
CC-Link shield
5
FG
Frame ground
Connect the terminal resistance to the both ends of CC-Link main line.
CC-Link system has different terminal resistance to connect depending on used cables.
Type of cable
Resistance
Communication cable for CC-Link
110Ω 1/2W
CC-Link dedicated high-performance cable
120Ω 1/2W
PLC
LEC
PMJ
(1)
LEC
PMJ
(2)
LEC
PMJ
(3)
Please connect terminating resistance.
Set the terminating resistance
between DA and DB.
- 29 -
7.2 Electric wire specification
Prepare electric wire according to the following specification:
Item
Specifications
AWG24~12 (0.2~2.5mm2): Single line, No insulation sleeve, Twisted wire with
Applicable
bar terminal
wire size
* The rated temperature for the insulation coating: 60oC or more.
LEC-CMJ-S:7mm LEC-CMJ-T:10mm
Stripped
section length
7.3 Wiring of communication plug connector
Please wire the CC-Link communication cable to the communication plug connector, and then insert it into
CN5 connector of controller.
Screw for connection
Turn the screw with special driver, etc. and insert
electric wires into the entries.
・Special driver (recommended)
Phoenix (Part no: SZS0.6×3.5)
・Screw: M2.5
・Tightening force: 0.5~0.6Nm
Wire entry
Please insert CN5 connector of the controller after the communication plug connector ends wiring.
Communication connector
Controller
To CN5
The figure of communication
plug connector inset in CN5
- 30 -
8. LED Display
8.1 LED display
Details of the LED display are shown as follows.
LED name
PWR
ALM
L ERR
L RUN
Content
Power
supply
and
EEPROM writing status
Alarm status.
Error status
(CC-Link)
Communication status
(CC-Link)
Off
Power is not supplied
Green On
Power is supplied
Green flashing
EEPROM writing
Off
Normal status
Red On
Alarm is generated
Off
Normal status
Red On
Error is generated
Red flashing
Off
Communication disconnected
Green On
Communicating
Green flashing
Error is generated
8.2 Controller status and LED display
Controller state and LED display is shown below.
Controller state
Supply of power
CPU ROM ・ RAM check error for CC-Link
communication
Normal communication of CC-Link
The setting of Rotary switch is changed when
supplying of power
CC-Link communication stop
CC-Link CRC error
CC-Link
communication
area
STATION No. error
Communication speed error
(unused range)
WDT time-out error
Motor control
area
PWR
-
Alarm is generated
System error is generated
EEPROM writing
LED name and display
ALM
L ERR
-
Off
L RUN
Off
-
-
Red On
Green On
-
-
Green On
-
-
-
-
-
-
Off
Red
flashing
Off
Red On
-
-
Red On
Off
Off
Off
Green
flashing
Red
Green On
flashing
Red
Green
-
-
flashing
flashing
Off
Red On
-
-
Green On
Red On
-
-
Green flashing
-
-
-
-: The LED display is unrelated
-
-
Caution
Do not turn off the controller input power or remove the cable during EEPROM writing. (PWR (green) light
flashing). *Data(step data, parameter) might not be written correctly.
- 31 -
9. Mode
9.1 Outline
This controller has 3 types of operation mode (Single numerical data instructions, Half numerical data
instructions, Full numerical data instructions). These modes can be changed by registering the occupied
number of Stations with basic parameter "Option setting 1" of the controller.
Function of each mode setting that can be executed is shown below.
Mode
Option setting 1
*1
Occupied number
of stations
Step
No.
Single numerical
Half numerical data
Full numerical data
data instructions
instructions
instructions
11.2
1
2
4
-
1
2
4
Referent
instructions
operation function
Monitor function
of Position/Speed
9.2
○
9.3
○
Numerical data instructions
operation function
The number of Numerical
○
9.4
1
data modifiable items
Step data editing function
Maximum product to be
connected
6
9.5
-
12
○ *2
42
32
16
*1) At the time of the factory shipment, "Option setting 1" of the controller is set in “2".
Please refer to 9.4 Numerical data instructions operation function (page 33) for the number of
Numerical data modifiable items in each mode.
*2) It is possible to edit it from Teaching box/Controller setting software for “Single numerical data
instructions ". It is possible to edit it from Teaching box/Controller setting software and PLC (CC-Link) for
“Half numerical data instructions " and " Full numerical data instructions ".
9.2 Step No. instructions operation function
It operates by the memory which corresponds to the Input/Output ports of DRIVE signal and INP signal,
etc., and the operating state can be monitored by PLC (master).
The memory which corresponds to the Input/Output ports of DRIVE signal and INP signal, etc. can be
operated by Rx,Ry of Remote IO.
When operate with the operating data which are registered beforehand, select Step data No. of operating
data in Ry00~05:IN0~IN5 of remote IO and start operating with DRIVE signal.
Please refer to 14.2 Operating procedure of Step No. instructions operation function (page 64) for
details of the operating procedure.
- 32 -
9.3 Monitor function of Position/Speed
The current position and the current speed of the information of the controller can be read by turning on
controller control flag “RWw0, bit0: Setting read numerical data “of the remote register. (Refer to 10.1.2 (2)
Higher level device --> Controller [OUT] (page 46))
9.4 Numerical data instructions operation function
The actuator operates according to the value that specifying the position and the speed, etc. for the
controller. The value that can be instructed in each mode is shown below. The item except Numerical data
instructions refers to the step data which are registered in the controller.
And please do the operation similar to Step No. instructions operation for the preparation (SVON and
return to origin) of operation.
・Modifiable step data item in each mode
Item
Mode
Pushing
Move
Speed
Position
data instructions
Half numerical
data instructions
Full numerical data
instructions
Trigger
Moving
Area
Area
In
LV
F
1
2
pos
○ *2
-
-
-
-
○
○
○
○
○
Decel
Sp
Single numerical
Pushing
Accel
F
○
○ *1
○
○
○
○
○: It is possible to change.
○ *2
○
○
○
○
○
○
○
-: It is not possible to change.
*1 Only one item can be changed from the corresponding item.
*2 Only one item can be changed from the corresponding item.
Please refer to 14.3 Operating procedure of Numerical data instructions operation function (page
70) for details of the operating procedure.
9.5 Step data editing function
This is a function that read/write the step data from the controller, the occupied number of Stations and
State data. Please refer to 9.5.1 Data editing function (page 34) for setting Sub Function (Iinstruction
code), Address (reading/writing start address), and DATA (change data) when data is rewritten.
Please refer to 14.4 The operating procedure of Data editing function (page 71) for details of the
operating procedure.
- 33 -
9.5.1 Data editing function
●Sub Function (instruction code)
The instruction code, the function, and the setting data that can be used in this controller are shown
below.
Instruction
DATA(Sending)
DATA(Receiving)
code
Function
Address
(Sub
DATA(H)
DATA(L)
DATA(H) DATA(L)
Function)
Data returning for
Reading start
(01)h
Data
1word
number
Data returning for
Reading start
(02)h
Data
Data
2word
number
Data writing for
Writing start
(11)h
Data
Data
1word
number
Data writing for
Writing start
(12)h
Data
Data
Data
Data
2word
number
●Address (reading/writing start address)
Controller's memory address map is shown. The controller memory address shown in the following is a
hexadecimal notation.
・CC-Link occupied number of Stations setting address
Controller memory
Name
address
Word
Setting data range
Unit
1
1,2,4
-
D001d
occupied number of Stations setting
* This parameter becomes effective by reset.
・State data address
Controller memory
Name
Word
Setting data range
Unit
D9000
Current position
2
±2147483647
0.01mm
D9002
Current speed
1
0~65535
1mm/s
D9003
Current Force
1
0~300
1%
D9004
Target position
2
±2147483647
0.01mm
D9006
Step data No.
1
0~63
-
D9008
Alarm
2
0~255
-
address
・Step data address
Controller memory
Name
Word
Setting data range
Unit
D0400~D040F
Step data (No.0)
16
-
-
D0410~D041F
Step data (No.1)
16
-
-
D0420~D042F
Step data (No.2)
16
-
-
.
.
.
.
.
.
.
.
.
.
D04F0~D04FF
Step data (No.63)
16
-
-
address
*Please refer to the example of the following in a detailed address of each step data.
- 34 -
Ex) Address for step data No.0
Controller memory
Name
Word
Setting data range
Unit
D0400
Movement MOD
1
1=ABS,2=INC
-
D0401
Speed
1
1~65535
1mm/s
D0402
Position
2
±2147483647
0.01mm
D0404
Acceleration
1
1~65535
1mm/s2
D0405
Deceleration
1
1~65535
1mm/s2
D0406
Pushing force
1
0~1000
1%
D0407
Trigger LV
1
0~1000
1%
D0408
Pushing speed
1
1~65535
1mm/s
D0409
Moving force
1
0~1000
1%
D040A
Area 1
2
±2147483647
0.01mm
D040C
Area 2
2
±2147483647
0.01mm
D040E
In position
2
1~2147483647
0.01mm
address
- 35 -
10. Memory map
10.1 Memory assignment
10.1.1 Remote IO (Rx and Ry)
List and details of remote IO according to the mode are shown as follows. Address Rx00、Ry00
corresponds to initial address of Remote IO memory allocated in masters
●Controller --> Higher level device [IN] (Remote to Master)
PLC
Single numerical data
Half numerical data
memory
instructions
instructions
address
Rx00~Rx0F
Rx10~Rx1F
Input port equivalency signal Input port equivalency signal
CC-Link system area
Input port equivalency signal
(Nouse)
Rx20~Rx2F
Rx30~Rx3F
Full numerical data
instructions
CC-Link system area
Rx40~Rx4F
(Nouse)
Rx50~Rx5F
Rx60~Rx6F
CC-Link system area
Rx70~Rx7F
●Higher level device --> Controller [OUT] (Master to Remote)
PLC
Single numerical data
Half numerical data instructions Full numerical data instructions
memory address
instructions
Ry00~Ry0F
Ry10~Ry1F
Output port equivalency signal Output port equivalency signal Output port equivalency signal
CC-Link system area
(Nouse)
Ry20~Ry2F
Ry30~Ry3F
CC-Link system area
Ry40~Ry4F
(Nouse)
Ry50~Ry5F
Ry60~Ry6F
CC-Link system area
Ry70~Ry7F
- 36 -
●Details: Controller --> Higher level device [IN] (Remote to Master)
PLC
memory
Signal name
address
Single
Half numerical
Full numerical
Rx
numerical data
data
data instructions
instructions
instructions
00
OUT0
01
OUT1
Content
When the operation is started and DRIVE is turned OFF, a
Bit no. corresponding to the number of the active step data
will be output from these terminals. This output signal will
be updated when DRIVE terminal is be turned ON.
Example)When output the step data No.3
OUT5 OUT 4 OUT 3 OUT 2 OUT 1 OUT 0
02
OUT2
03
OUT3
04
OUT4
05
OUT5
06
-
-
07
-
-
OFF
OFF
OFF
OFF
ON
ON
Caution
1 When RESET is turned ON, these terminals are turned
OFF.
2 During the alarm, these terminals output the alarm
group.
3 During the pushing operation, if the actuator runs over
the defined pushing width, these terminals will be turned
OFF.
This terminal is ON during the movement of the actuator
(during the positioning operation, etc.).
Caution
08
BUSY
During the pushing operation without movement (no
movement but the actuator generating the pushing force),
BUSY is OFF. BUSY signal stays on for 50ms or
longer after operation starts.
09
SVRE
0A
SETON
When the servo motor is OFF, SVRE is OFF. When the servo
motor is ON, SVRE is ON.
When the actuator is in the SETON status (the position
information is established), this terminal is turned ON.
When the position status is not established, this terminal is OFF.
- 37 -
Because of actuator action, if output INP is ON, the
actuator condition can vary.
At the origin when within the ±“default Inposition” in the
Basic parameter.
During positioning operation
Turns ON when the current position is within "Step
data position +/- positioning range".
During pushing operation
When the pushing force exceeds the value set in the
step data “Trigger LV”.
Caution
0B
Pushing operation is finished, it is automated change to
energy saving mode INP output signal is set to ON.
And pushing operation stopped seat is change to
running state general power running is repeatedly
(Example) Step data“force”is 100%
Step data” Trigger LV”is 80%,
The energy saving setting of
INP
the actuator is 40%(*1)
Force
INP(ON)
100
80
40
Time
(*1)The actuator model determines the energy settings.
Please refer to the specifications of actuator for more
0C
AREA
0D
WAREA
0E
ESTOP
0F
ALARM
10~1A
1B
1C~1F
details.
When the actuator is within the range between Area 2
and Area1 in the step data, this terminal will be turned ON.
The range changes depending on the active step data.
When the actuator is within the output range between
"W-AREA1 and W-AREA2" of basic parameter, this terminal
will be turned ON.
During activation of Teaching Box stop switch, this terminal
is OFF. During the normal operation, this is ON. This
is synchronized to the input terminal for the EMG signal on
the controller connector CN1
When there are no alarms, this terminal is ON.
When there are alarms, this is OFF.
CC-Link
system area
-
●Only at Single numerical data instructions
During the normal status, this terminal is OFF, during
the abnormal status (The WDT time-out of CPU is generated)
this is ON.
Remote station
READY
(Nouse)
CC-Link
(Nouse)
system area
20~2F
30~3A
3B
-
CC-Link
system area
●Only at Half numerical data instructions
The content of Remote station READY is as same as at
Single numerical data instructions. Please refer to the content
of Rx1B.
Remote station
READY
- 38 -
3C~3F
CC-Link
system area
40~6F
70~7A
-
CC-Link
system area
●Only at Full numerical data instructions
7B
Remote station The content of Remote station READY is as same as at
Single numerical data instructions. Please refer to the content
READY
of Rx1B.
7C~7F
CC-Link
system area
-
The table below shows the changes in the output signal with respect to controllers state.
State
Output signal
Controller powered down [SVOFF] with no motion
Controller powered down [SVON] with no motion
During returning to origin, [SETUP].
The actuator is at the origin. On completion of
[SETUP]
During movement by positioning/pushing operation.
The actuator is paused by [HOLD]
On completion of the positioning operation.
Stopped due to pushing a work-load in pushing
operation.
Stopped due to no detection of work-load during a
pushing operation.
On completion of return to origin and then with
[SVON] turned off.
EMG signal stop from the CN1 connector after the
actuator is at the origin.
BUSY
INP
SVRE
Lock
SETON
OUT0-5
OFF
OFF
ON
OFF
OFF
OFF
OFF
ON
ON
Lock
Release
Release
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON(* 1)
ON
Release
ON
OFF
ON
OFF
OFF
OFF
ON
ON
Release
Release
ON
ON
ON(* 2)
ON(* 2)
OFF
ON(* 4)
ON
Release
ON
ON(* 2)
OFF
ON
ON
Release
ON
ON(* 2)
OFF
OFF
ON
Release
ON
OFF
OFF
OFF(* 4)
OFF
Lock
ON
ON(* 3)
OFF
OFF(* 4)
OFF
Lock
ON
OFF
* 1: The output turns on when the actuator is within the range defined in the basic parameter setup.
* 2: The output is updated on the transiton of (ON→OFF) of the DRIVE input signal.
* 3: Retains the previous state.
* 4: The output turns on when the actuator is "In position" of the step data.
- 39 -
●Details: Higher level device --> Controller [OUT] (Master to Remote)
PLC
memory
Signal name
address
Content
Single
Half numerical Full numerical
Ry
numerical data
data instructions data instructions
instructions
00
IN0
Bit no. to specify the step data
01
IN1
(Specify the number by combining On/Off of the terminals.)
02
IN2
Example: (Bit no. to specify the step data no.3.)
03
IN3
IN5
IN4
IN3
IN2
IN1
IN0
04
IN4
OFF
OFF
OFF
OFF
ON
ON
05
IN5
06
-
Please always turn OFF.
07
-
Please always turn OFF.
If HOLD input is ON during operation, the speed
decreases at maximum deceleration speed of the
basic parameter until the actuator stops. The
remaining stroke will be on hold as long as HOLD is
ON and when HOLD is turned OFF, the actuator restart
to travel the remaining stroke.
* When DRIVE or SETUP is ON:
08
DRIVE
ON
or
SETUP OFF
HOLD
HOLD
On hold
ON
OFF
Restart
Speed
Caution
1. As long as HOLD is ON, the DRIVE input will be
disabled.
2. The output signals are rendered invalid whilst hold is
in operation.
09
SVON
0A
DRIVE
0B
RESET
0C
SETUP
0D
0E
0F
-
-
-
10~1F
CC-Link
system area
(Nouse)
When SVON is ON, the servo motor will be turned ON.
When this is OFF, the servo motor will be turned OFF.
When DRIVE is turned ON, the system scans the input IN0
to IN5 and starts the operation of the actuator. Then, when
this terminal is turned OFF, the number of the active
step data will be output via the terminals OUT0 to OUT5.
The terminal to reset the alarm and the operation.
After RESET, the speed decreases at
maximum deceleration speed of the basic parameter
until the actuator stops. INP and OUT0 to OUT5 will
be turned OFF (however, if the actuator is stopped
within the in-position range, the INP will be turned ON).
When SVRE is ON, the SETUP operation (return to
origin operation) will be performed. During the
SETUP operation, BUSY will be turned ON and
after completion of the SETUP operation, SETON and
INP will be turned ON.
Please always turn OFF.
Please always turn OFF.
Please always turn OFF.
(Nouse)
20~2F
- 40 -
-
CC-Link
system area
30~3F
40~6F
CC-Link
system area
70~7F
Effective condition of the Parallel I/O signal
Signal name
Condition
SETUP
(Return to origin)
DRIVE
(Operation start
instruction)
SETON
SVRE
BUSY
-
ON
OFF(*1)
ON
ON
-
(“-“ =It doesn't depend In the ON/OFF state of the each output signal)
*1 During the positioning operation the SETUP input will be disabled whilst hold is in operation.
Caution
SETUP and DRIVE can only be accepted during the above conditions. An Alarm condition will
happen during all other times. Keep the input signal combination for 15 ms (30 ms if possible) or longer.
- 41 -
10.1.2 Remote register (RWr and RWw)
List of remote register according to the mode are shown as follows.
In Half numerical data instructions and Full numerical data instructions the memory assignment is
different according to the function to use. The change of Numerical data instructions operation function
and Step data editing function uses RWw0, bit1: Setting parameter rewriting.
Address RWr0,RWw0 corresponds to top address of remote register memory allocated in masters.
●Controller --> Higher level device [IN] (Remote to Master)
Half numerical data instructions
Single numerical
data instructions
PLC
Numerical data
Numerical data
memory
instructions
Data editing
instructions
address
operation
function
operation
function
function
Controller
Controller
Controller
RWr0
information flag
information flag
information flag
RWr1
RWr2
RWr3
RWr4
RWr5
RWr6
RWr7
RWr8
RWr9
RWrA
RWrB
RWrC
RWrD
RWrE
RWrF
Current position
Current position
Current speed
Current speed
Current force
Target position
Current position
Return of
Parameter
rewriting
Alarm
Full numerical data instructions
Numerical data
instructions
operation
function
Data editing
function
Controller
information flag
Controller
information flag
Current position
Current position
Current speed
Current force
Current speed
Current force
Target position
Target position
Alarm
Alarm
Alarm
Alarm
Occupation area
Return of
Parameter
rewriting
Occupation area
Occupation area
- 42 -
● Higher level device --> Controller [OUT] (Master to Remote)
Single numerical
Half numerical data instructions
Full numerical data instructions
data instructions
PLC
Numerical data
Numerical data
memory Numerical data
Data editing
Data editing
instructions
operation
instructions
operation
instructions
address
function
function
function
function
operation
function
Controller control
Controller control /
Controller
Controller control /
Controller
RWw0
/Numerical data
Numerical data flag information flag Numerical data flag information flag
flag
Movement MOD
Movement MOD
Movement MOD
RWw1
/Start flag
/Start flag
/Start flag
RWw2
RWw3
RWw4
Speed
Numerical data
instructions data
Target position
Speed
Send of
Parameter
rewriting
Acceleration / Pushing
speed
Deceleration / Trigger
LV
Pushing force
Occupation area
RWw5
RWw6
Target position
Send of
Parameter
rewriting
Acceleration
Deceleration
RWw7
Pushing force
Occupation area
RWw8
Trigger LV
RWw9
Pushing speed
Occupation area
RWwA
Moving force
RWwB
Area 1
RWwC
RWwD
Occupation area
Area 2
RWwE
RWwF
In position
“Occupation area” is an area that secured compulsorily by LECPMJ. LECPMJ does not exchange data
with PLC in “Occupation area”.
●Details: Numerical data instructions operation function
(1) Controller --> Higher level device [IN] (Remote to Master)
[Single numerical data instructions]
PLC memory
RWr Data name
address
Single numerical data
instructions
RWr
bit/byte
Return of Occupied
number of stations(L)
1
Return of Occupied
number of stations(H)
2
0
3
4
Controller information flag
0
Sending
Sending completed
READY
5
ALARM flag
6
Initial
Content
Current occupied number of stations is shown.
H L
Occupied number of stations
0 0
1 Station occupied
0 1
2 Station occupied
1 0
-
1 1
4 Station occupied
After turning Start flag on at Numerical data instructions
operation, this terminal will be ON during sending. And this
terminal is OFF when the sending is completed or waiting
for the sending instruction.
When the data sending is completed at Numerical data
instructions operation, Sending flag will be OFF and this
terminal will be ON. Then Start flag turns OFF and this
terminal will be OFF.
During the normal status, this terminal is always ON.
During the normal status, this terminal is OFF. When there are
alarms, this terminal will be ON.
During initial processing, this terminal is OFF. When the initial
processing is completed, it will hold ON.
- 43 -
Return of the read
numerical data
(Nouse)
7
8~C
1
2
F~0
D
Data editing error
receiving
E
Parameter anomaly
detection
F
The abnormal station
detection
H
7~0
L
F~8
H
3
-
When the error occurs in the data editing function, this
terminal will be ON with RWr0, bit5: ALARM flag. When
RWw0, bit2: Reset is turned on, it is cleared.
When there is an abnormality in the parameter, this
terminal will be ON with RWr0, bit5: ALARM flag. When
RWw0, bit2: Reset is turned on, it is cleared. Please refer to
17. Alarm Detection for CC-Link Communication (page
85) for details.
When detect the abnormal station, this terminal will be ON
with RWr0, bit5: ALARM flag. And it becomes OFF when
reapply the power. Please refer to Please refer to 17.
Alarm Detection for CC-Link Communication (page 85)
for details.
Current position
When the read numerical data is effective, this terminal will
output the current position of the actuator by 0.01[mm] unit
Example) When 800.00[mm](80000d=13880h) is output
RWr1=3880h
RWr2=0001h
Current position
When the read numerical data is effective, this terminal will
output the current speed of the actuator by 1[mm/s] unit
Example) When 300[mm/s](300d=012Ch) is output
RWr3=012Ch
L
F~0
When the read numerical data is effective, this terminal will
be ON, invalidity, it becomes OFF.
H=Most Significant Byte or upper word
L=Least Significant Byte or lower word
- 44 -
[Half numerical data instructions, Full numerical data instructions]
PLC memory
address
RWr
bit
0
1
0
Controller information flag
2
3
4
5
6
RWr data name
Half numerical
Full numerical
data instructions data instructions
Return of Occupied number of
stations(L)
Return of Occupied number of
stations(H)
Sending
Sending completed
READY
ALARM flag
Initial
Return of the read numerical
data
7
8
9~C
D
E
F
1
F~0
L
2
F~0
H
7~0
F~8
7~0
F~8
F~0
F~0
L
H
L
H
L
H
Return of parameter rewriting
4
5
6
7~0
When the parameter rewriting is effective, this terminal will be
ON, invalidity, it becomes OFF.
-
10.1.2 Single numerical data instructions of (1) of Details:
Numerical data instructions operation function (page 43) for
details.
Current speed
Current Force
Target position
Alarm 1
Alarm 1
7
F~8
As same as Single numerical data instructions. Please refer to
10.1.2 Single numerical data instructions of (1) of Details:
Numerical data instructions operation function (page 43)
for details.
(Nouse)
Data editing error
receiving
Parameter anomaly detection
The abnormal station detection As same as Single numerical data instructions. Please refer to
Current position
3
Content
Alarm 2
Alarm 2
7~0
Alarm 3
8
When the read numerical data is effective, this terminal will
output the current force of the actuator by 1[%] unit.
When the read numerical data is effective, this terminal will
output the target position of the actuator by 0.01[mm] unit
When the read numerical data is effective and alarm is
generated, alarm code (3 decimal digits) will be output. It is
possible to output up to 2 alarms at 2 Station occupied and
output up to 4 alarms at 4 Station occupied.
As for the alarm, generated latest alarm code is output to alarm
1. It is updated every time when the alarm is generated, and
alarm code which occurred in the past shifts in order of alarm
1→2→3→4.
When the number of generated alarms exceeds the maximum
alarm output of each mode, it is deleted from the history in order
of the alarm code generated in the past.
Ex) When the alarm is generated in order of (1)→(5)
Alarm 1
(1)
(2)
(3)
(4)
(The latest)
Alarm 2
0
(1)
(2)
(3)
Alarm 3
0
0
(1)
(2)
Alarm 4
0
0
0
(1)
*(1) to (5) in the list shows generated alarm code.
F~8
Alarm 4
(5)
(4)
(3)
(2)
Please refer to 16.2 Alarm details (page 80) for details of the
content of the alarm.
Occupation area
-
A-F
F~0
H=Most Significant Byte or upper word
L=Least Significant Byte or lower word
- 45 -
(2) Higher level device --> Controller [OUT] (Master to Remote)
[Single numerical data instructions]
PLC memory address
RWw Data name
Single numerical data
RWw
bit
instructions
Controller control
flag
0
1
2
3
0
Setting numerical data
4
5
6
7
8
9
A
B
C
D
E
F
When turn this terminal ON, the read numerical data will is
effective. When turn this terminal OFF, the read numerical
data will is invalid.
-
Clear “RWr0, bit5: ALARM flag” by turning this terminal ON
from OFF.
Controller’s reset is executed again when OFF is changed
to ON.
Setting read
numerical data
(Nouse)
Reset flag
Restart flag
Movement MOD
Speed *2
Position *1
Acceleration *2
Deceleration *2
Pushing force *2
Trigger LV *2
Pushing speed *2
Moving force *2
Area 1 *1
Area 2 *1
In position *2
0
Start flag
1~7
8~F
(Nouse)
Movement MOD
1
Content
In the case of Numerical data instructions operation, when
each set point is turned on, Numerical data instructions are
possible.
In the case of Single numerical data instructions, it is
impossible to input following 11 items (except Movement
MOD) at the same time.
When repeat RWw0, bit5~F: Setting numerical data A, the
alarm (parameter anomaly detection) occurs.
Please refer to 17. Alarm Detection for CC-Link
Communication (page 85) for details.
It is a data sending flag at Numerical data instructions
operation. When waiting for the sending, this terminal is
OFF. And this terminal is ON during sending numerical data
to controller.
1:ABS(Absolute) 2:INC(incremental)
*1 RWw0,bit4~F: Setting numerical data in the case of "Position" or "Area 1" or " Area 2"
2
F~0
L
3
F~0
H
Numerical data
instructions data
(2 word data)
Input the numerical value of the item which appoint in
Setting numerical data. Please refer to (page 41) for the
input range and the unit of each item.
Example) Turn on RWw0,bit6:Position and direct 655.37
[mm](65537d=10001h)
RWw2=0001h
RWw3=0001h
*2 RWw0,bit4~F: Setting numerical data in the case of "Speed", " Acceleration", " Deceleration ", " Pushing
force", " Trigger LV ", " Pushing speed ", " Moving force ", or " In position ".
2
7~0
L
F~8
H
Numerical data
instructions data
(1 word data)
Input the numerical value of the item which appoint in
Setting numerical data. Please refer to (page 41) for the
input range and the unit of each item.
Example) Turn on RWw0,bit5:Speed and direct 300[mm/s]
RWw2=300d
3
F~0
(Nouse)
H=Most Significant Byte or upper word
L=Least Significant Byte or lower word
-
- 46 -
[Half numerical data instructions, Full numerical data instructions]
PLC memory
RWw data name
address
Half numerical data Full numerical
instructions
data instructions
RWw
bit
Controller information flag
0
1
2
0
3
Setting numerical data
4
5
6
7
8
9
A
B
C
D
E
F
0
Setting read numerical data
Setting parameter rewriting
Reset flag
Restart flag
Movement MOD
Speed
Position
Acceleration *1
Deceleration *2
Pushing force *1
Trigger LV *2
Pushing speed
Moving force
Area 1
(Nouse)
Area 2
In position
1
(Nouse)
Movement MOD
7~0
F~8
L
H
3
F~0
L
4
F~0
H
7~0
L
F~8
H
7~0
L
F~8
H
7~0
L
F~8
H
7~0
F~8
7~0
F~8
L
H
L
H
5
6
7
8
9
Speed
Numerical data instructions operation
2
Unit
Setting data range
As same as Single numerical data instructions. .Please refer
to 10.1.2 Single numerical data instructions of (2)
of Details: Numerical data instructions operation
function (page 46) for details.
When this terminal is ON, it is in Step data editing function.
And when this terminal is OFF; it is in Numerical data
instructions operation function.
Must turn this terminal OFF, when use in Numerical data
instructions operation. function
As same as Single numerical data instructions. .Please refer
to 10.1.2 Single numerical data instructions of (2)
of Details: Numerical data instructions operation
function (page 46) for details.
It is possible to change the value when each terminal is ON
in Numerical data instructions operation function. When the
Setting parameter rewriting flag is ON, it becomes invalid.
*1 Acceleration and Pushing force cannot be input at the
same time at Half numerical data instructions.
*2 Deceleration and Trigger LV cannot be input at the same
time at Half numerical data instructions.
And when the above-mentioned data is overlapping, the
alarm (parameter anomaly detection) is generated. Please
refer to 17. Alarm Detection for CC-Link Communication
(page 85) for details. for details.
It is a data sending flag at Numerical data instructions
operation function. When waiting for the sending, this
terminal is OFF. And this terminal is ON during sending
numerical data to controller.
-
Input the
specified 1:ABS 2:INC
-
value to the controller.
1 to “Max speed”
And it is possible to
1mm/s
of the basic parameter
input
plural
data
(speed and target
“Stroke (-)” to
position, etc.) at the
“Stroke (+)” of the 0.01mm
same time.
basic parameter
Start flag
1~7
8~F
Content
Target position
Acceleration
(Pushing force)
Acceleration
Deceleration
(Trigger LV)
Deceleration
Pushing speed
Pushing force
Please refer to 11.1
1 to “Max ACC/DEC”
Step data (page 52)
1mm/s^2
of the
for 9details of each
(1%)
basic parameter(*3)
data.
1 to “Max ACC/DEC”
Example)
1mm/s^2
When turn on the of the
(1%)
“RWw0,bit6:Position”, basic parameter(*3)
instruct
655.37 [mm](65537d
=10001h)
1mm/s
*3
1%
RWw3=0001h
RWw4=0001h
Trigger LV
*3
1%
Pushing speed
*3
1mm/s
- 47 -
A
7~0
F~8
L
H
B
F~0
L
C
F~0
H
D
F~0
L
E
F~0
Moving force
*3
1%
Area 1
“Stroke (-)” to “Stroke
(+)” of the
0.01mm
basic parameter
Area 2
“Stroke (-)” to “Stroke
(+)” of the
0.01mm
basic parameter
H
7~0 L
In position
*3
0.01mm
F~8 H
H=Most Significant Byte or upper word
L=Least Significant Byte or lower word
*3 It is different depending on the actuator kind. Please refer to the actuator manual for details.
F
- 48 -
●Details: Data editing function
(1) Controller --> Higher level device [IN] (Remote to Master)
PLC memory
RWr data name
address
Contents
Half numerical Full numerical data
data instructions
instructions
RWr
bit
Return of Occupied number of As same as Single numerical data instructions. Please refer to
0
10.1.2 Single numerical data instructions of (1) of Details:
stations(L)
Return of Occupied number of Numerical data instructions operation function (page 43) for
1
details.
stations(H)
3
0
4
5
6
7
Controller information flag
2
8
9~C
D
E
F
1
F~0 L
2
F~0 H
After turning Start flag on at Step data editing function, this
terminal will be ON during sending. And this terminal is OFF
Sending
when the sending is completed or waiting for the sending
instruction.
When the data sending is completed at Step data editing
function, Sending flag will be OFF and this terminal will be ON.
Sending completed
Then Start flag turns OFF and this terminal will be OFF.
READY
As same as Single numerical data instructions. Please refer to
10.1.2 Single numerical data instructions of (1) of Details:
ALARM flag
Numerical data instructions operation function (page 43) for
Initial
Return of the read numerical data details.
When the parameter rewriting is effective, this terminal will be
Return of parameter rewriting
ON, invalidity, it becomes OFF.
(Nouse)
-
Data editing error receiving
Parameter anomaly detection
The abnormal station detection
Current position
7~0 L
3
Sub Function
7~0 L
4
Return of Data editing
F~8 H
Address
F~8 H
5
F~0 L
Address (always 0)
As same as Single numerical data instructions. Please refer to
10.1.2 Single numerical data instructions of (1) of Details:
Numerical data instructions operation function (page 43) for
details.
●Half numerical data instructions
The executed instruction code is output. Please refer to 9.5.1
Data editing function (p34) for details of the instruction code.
The value of 80h that is the OR (logical add) is output to Sub
Function which set in RWw1. *3
Current speed
●Full numerical data instructions
When the read numerical data is effective, this terminal will
output. Please refer to 10.1.2 Single numerical data
instructions of (1) of Details: Numerical data instructions
operation function (page 43) for details.
●Half numerical data instructions
The start address of the executed instruction code is output.
Please refer to 9.5.1 Data editing function (page 34) for
details of the instruction code
00h is output in abnormal conditions. *3
Current Force
●Full numerical data instructions
When the read numerical data is effective, this terminal will
output. Please refer to 10.1.2Full numerical data instructions
of (1) of Details: Numerical data instructions operation
function (page 45) for details.
●Half numerical data instructions
0 is always output.
●Full numerical data instructions
Target position When the read numerical data is effective, this terminal will
output. Please refer to 10.1.2 Full numerical data instructions
of (1) of Details: Numerical data instructions operation
function (page 45) for details.
- 49 -
6
F~0 H
DATA(H)
7~0
Alarm 1
7
DATA(L)
F~8
Alarm 2
7~0
Alarm 3
F~8
Alarm 4
9
F~0
Sub Function
A
F~0
Address
B
F~0
Address
(always 0)
C
F~0
DATA(H)
D
F~0
DATA(L)
8
●Half numerical data instructions
The data of the executed instruction code is output.
Error code is output in abnormal conditions.
●Full numerical data instructions
When the read numerical data is effective, this terminal will
output. Please refer to 10.1.2 Full numerical data instructions
of (1) of Details: Numerical data instructions operation
function (page 45) for details.
●Half numerical data instructions
The data of the executed instruction code is output.
00h is output in abnormal conditions. *3
●Full numerical data instructions
When the read numerical data is effective, this terminal will
output. Please refer to 10.1.2 Full numerical data instructions
of (1) of Details: Numerical data instructions operation
function (page 45) for details.
When the read numerical data is effective, this terminal will
output. Please refer to 10.1.2 Full numerical data instructions
of (1) of Details: Numerical data instructions operation
function (page 45) for details.
The executed instruction code is output. Please refer to 9.5.1
Data editing function (p34) for details of the instruction code.
The value of 80h that is the OR (logical add) is output to Sub
Function which set in RWw1. *3
The start address of the executed instruction code is output.
Please refer to 9.5.1 Data editing function (page 34) for
details of the instruction code.
00h is output in abnormal conditions. *3
0 is always output
The data of the executed instruction code is output. Error code
is output in abnormal conditions. *3
The data of the executed instruction code is output. 00h is
output in abnormal conditions. *3
E
Occupation
-
F~0
area
F
H=Most Significant Byte or upper word
L=Least Significant Byte or lower word
*3 When the error occurred in the data edit function by the specified address which is out of the range etc.,
the value of 80h that is the OR (logical add) is output to Sub Function which set in RWw1 is returned to
Sub Function RWr3 (RWr9 at Full numerical data instructions), and the received error code is returned to
DATA(H) [RWr6](RWrC at Full numerical data instructions).And RWr4:Address and RWr7:
DATA(L)( RWrA and RWrD at Full numerical data instructions) will be 00h. Error code is shown below.
Error code
2
Name
Content
Out of address
1) The setting of the reading/writing start number is out of address range
range
2) Writing in a number (address) which is not permitted
Out of access
3
point number
The setting of the reading/writing final number is out of the range
range
- 50 -
(2) Higher level device --> Controller [OUT] (Master to Remote)
PLC memory
RWw data name
address
Half numerical Full numerical
data instructions data instructions
RWw
bit
0
0
2
3
Controller control flag
1
4
5~F
F~0
2
F~0
Send of Data
editing
1
Content
As same as Single numerical data instructions. Please refer to
10.1.2Single numerical data instructions of (2) of Details:
Setting read numerical data
Numerical data instructions operation function (page 46)
for details.
When this terminal is ON, it is in Step data editing function. And
when this terminal is OFF; it is in Numerical data instructions
Setting parameter rewriting operation.
Must turn this terminal ON, when use in Step data editing
function.
As same as Single numerical data instructions. Please refer
Reset flag
to 10.1.2Single numerical data instructions of (2) of Details
: Numerical data instructions operation function (page 46)
Restart flag
for details.
It is a data sending flag at Step data editing function. When
waiting for the sending, this terminal is OFF. And this terminal is
Start flag
ON during sending numerical data to controller.
(Nouse)
-
The executed instruction code is output. Please refer to 9.5.1
Sub Function
Data editing function (p34) for details.3
The start address of the executed instruction code is output.
Address
Please refer to 9.5.1 Data editing function (p34) for details.3
Address(always 0)
0 is always output.
DATA(H)
Please input data for a part of instruction code. Please refer to
9.5.1 Data editing function (p34) for details.3
DATA(L)
3
F~0
4
F~0
5
F~0
6
F~0
Occupation area
7
F~0
8-F
F~0
Occupation area
H=Most Significant Byte or upper word
- 51 -
-
-
L=Least Significant Byte or lower word
11. Setting Data Entry
In order to move the actuator to a specific position, it is necessary to setup the patterns of operations with
a PC (with the controller setting software) or the teaching box.
This setup data input by the software or
teaching box will be recorded in the memory of the controller.
For the controller setting software and the teaching box, there are two available modes (the Easy mode
and the Normal mode).
You can select the appropriate one depending on the operation.
* Easy mode
In Easy mode, you can start up the actuator by entering only a limited number of settings with
the controller setting software and the teaching box.
* The combination of settings you need to setup will change depending on the type of actuators
(Combination of data can be selected.)
* Normal mode
In Normal mode, you can make a further detailed setup (conditions for actuator and
controller, etc.) than the Easy mode.
You can change three kinds of setting data, “Step data,” “Basic parameter” and “Return to
origin parameter” in this mode.
11.1 Step data
A “step data” is the setting data mainly describing the movement of the actuator. Total 64 step data (12
types) can be handled with this controller. Each step data will become effective as soon as it is recorded
into the controller.
(Example) Step data on the PC (controller setting software) screen [Normal mode]
Speed
Position
Accel
Decel
PushingF
TriggerLV
PushingSp
Moving F
Area1
Area2
In pos
mm/s
mm
mm/s2
mm/s2
%
%
mm/s
%
mm
mm
mm
Absolute
100
20.00
1000
1000
0
0
0
100
18.00
22.50
0.5
1
Absolute
50
10.00
1000
1000
70
60
5
100
6.0
12.0
1.5
63
Absolute
20
5.00
500
500
0
0
0
100
3.0
8.0
1.2
No.
Move
0
- 52 -
Details of step data
Setting name
No.
Range
0 to 63
Description
Number of the step data.
The setting to specify the coordinate system for the target position.
Software
TB
PLC
Blank
Disable
0
3 options
MovementMOD
(See the right
Description
The step data is ineffective.
The target position will be defined by
Absolute
Absolute
1
descriptions.)
the absolute coordination based on the
zero point.
The target position will be defined by
Relative
Relative
2
the relative coordination based on the
current position.
Speed
*1
The speed to move to the target position (Unit: mm/s)
“Stroke (-)” to
Position
“Stroke (+)” of the
The target position (Unit: mm)
basic parameter
1 to “Max
Acceleration
ACC/DEC” of the
The acceleration to reach to the Speed (Unit: mm/s2)
basic parameter
1 to “Max
Deceleration
ACC/DEC” of the
The deceleration to reach to the Speed (Unit: mm/s2)
basic parameter
The setting to define the pushing operation or the positioning operation.
For the positioning operation, the value specifies the force as the percentage
against the maximum force (Unit: %).
* The maximum force changes depending on the actuator. Please refer to
the manual and the rated force of the actuator.
Pushing force
*1
Value
Operation
Description
0
Positioning
operation
The actuator moves to the position
1~100
Pushing
operation
The actuator moves to the position
specified in the “Position.
specified in the “Position” and then,
performs a pushing action with a force
not more than the set force.
* Effective only for the pushing operation (when the value for the “Pushing
force” is from 1 to 100).
Trigger LV
This is the setting to define the conditions where the INP will be turned ON.
*1
When the actuator generates a force over this value, INP will be turned ON.
(Unit: %)
For the positioning operation, this value is ignored.
- 53 -
* Effective only for the pushing operation (when the value for the “Pushing
force” is from 1to 100).
This defines the movement speed during the pushing operation.
Pushing speed
*1
If this
Speed is too high, it may cause damage to the actuator or work piece due to
impacts.
Therefore, enter a value within the range appropriate for the
actuator. (Unit: mm/s)
* Please refer to the actuator manual for the appropriate range of the speed.
* For the positioning operation, this value is ignored.
The setting to define the maximum torque during the positioning operation.
Moving force
*1
(Unit: %)
Enter a value within the range appropriate for the actuator. (Unit: mm/s).
* Please refer to the actuator manual for the appropriate range of the speed.
Area1
“Stroke (-)” to
The setting to define the conditions where the AREA output will be turned ON
“Stroke (+)” of the
(Unit: mm).
basic parameter
Area2
If the current position is within the range between the Area1 and Area2, the
“Stroke (-)” to
AREA output will be turned ON.
“Stroke (+)” of the
* If Area1 >Area2, the alarm “Step Data ALM1” will be activated.
basic parameter
(However, no alarm is generated if “Area1”= “Area2”= 0, the AREA output
will be turned OFF)
The functions of this will be different between the pushing operation and the
positioning operation.
* Positioning operation: Positioning range (Unit: mm)
* Pushing operation: Pushing distance (Unit: mm)
Operation
Description
This is the setting to define the conditions where
the INP output will be turned ON.
When the actuator enters within this range from
the target position, the INP will be turned ON.
(It is unnecessary to change this from the initial
In position
*1
Positioning
operation
value.)
If it is required to get a signal before the actuator
completes the positioning operation, this value
should be larger.
* The INP output will be turned on. Target position
- in position ≦ actuator position ≦ target position +
in position
This is the setting to define the distance pushed by
the actuator during the pushing operation.
Pushing
operation
When the actuator pushed exceeding this
distance, the pushing operation will end.
In case of such stop exceeding the pushing
distance, the INP will not be turned ON.
* 1: The range varies depending on the actuator. Please refer to the manual of the actuator for more
details.
- 54 -
11.2 Basic parameter
The “Basic parameter” is the data to define the operating conditions of the controller, conditions of the
actuator, etc.
Details of basic parameter
Activation: “■” = Become effective just after recorded into the controller
“○” = Become effective after restarting the controller
“-“ = The parameter cannot be changed (fixed value)
Parameter name
Controller setting
software
Range
Description
1 to 32
Identification number (axis) parameters of serial communications are set.
Fixed
This is the fixed value for this controller (* It should not be changed).
value
The value for this should be 64(Standard).
ACC/DEC
Fixed
This is the fixed value for this controller (* It should not be changed).
pattern
value
This defines the trapezoid acceleration/deceleration parameter.
Teaching box
Controller ID
Controller ID
IO pattern
IO pattern
ACC/DEC pattern
S-motion rate
S-motion rate
Fixed
value
This is the fixed value for this controller (* It should not be changed).
Activation
○
-
-
-
This defines the positive (+) side limit of the position. (Unit: mm)
Stroke (+)
Stroke (+)
*1
Any value greater than the [stroke(+)] value cannot be entered in the
■
“Position” field data of step parameter setup.
This defines the negative (-) side limit of the position. (Unit: mm)
Stroke (-)
Stroke (-)
*1
Any value less than the [stroke(-)] value cannot be entered in the
■
“Position” field data of step parameter setup.
This defines the maximum limit of the speed (Unit: mm/s).
Max speed
Max speed
*1
Any value greater than the [Max speed] value cannot be entered in the
■
“Speed” field data of step parameter setup.
This defines the maximum limit of the ACC/DEC (Unit: mm/s2).
Max ACC/DEC
Max ACC/DEC
*1
Any value greater than the [Max ACC/DEC] value cannot be entered in
■
the “Accel” field data of step parameter setup.
Def In position
Def In position
*1
This defines the range to activate the INP output when the actuator is
within it after the return to origin operation. (Unit: mm)
- 55 -
■
This defines the position of the actuator after the return to origin
operation. (Unit: mm)
* The ORIG offset is 0 (mm).
M
ORIG offset
ORIG offset
*1
Actuator
Between the left examples, the
The position recognized by the
controller after the return to the origin
operation (0mm).
actuator positions are not
* The ORIG offset is 100 (mm).
will be changed after the return
to origin operation.
M
different but the reference point
that the controller recognizes
■
Actuator
The position is identified by the controller after
the return to the origin operation (100mm).
Caution
If the value for the “ORIG offset” is changed, the “Stroke (+)”
and “Stroke (-)” of the basic parameter should be checked.
Max force
Max force
*1
The maximum force for the pushing operation (Unit: %).
■
Sets the range in which parameter and step data can be changed.
Para protect
Para protect
1 to 2
(1)Basic parameter + Step data (Basic parameter + Return to origin
parameter + Step data)
■
(2)Basic parameter(Basic parameter + Return to origin parameter)
This defines the status of the Enable switch of the teaching box.
Enable SW
Enable SW
1 to 2
1. Enable
■
2. Disable
Unit name
Unit name
Fixed
Indication of actuator type compatible to the controller.
value
(* It should not be changed).
■
“Stroke
W-AREA1
W-AREA1
(-)” to
The condition that the WAREA output turns ON.(unit mm):
“Stroke
When the current position is within W-AREA1 and W-AREA2, the
(+)” of
WAREA output turns ON.
■
the
W-AREA2
W-AREA2
basic
parame
When “W-Area 1 < W-Area2”,the “Parameter ALM “of alarm occurs. But if
both W-Area1 and W-Area2 is 0, the alarm will not be activated, and the
WAREA output turns OFF
■
This is the fixed value for this controller (* It should not be changed).
-
This is the fixed value for this controller (* it should not be changed)
-
ter
ORG Correct
Link Offset
Sensor type
Sensor type
Fixed
value
Fixed
value
Setting the Occupied number of stations of CC-Link.
Option 1
Option 1
(Occupied number (Occupied number
of stations of
of stations of
CC-Link)
CC-Link)
1~4
Parameter
1
2
4
Occupied number of
1 Station
2 Station
4 Station
stations
occupied
occupied
occupied
- 56 -
○
Set the operating method of CC-Link communication abnormality
(time-out, malfunction, and CRC error).
Parameter
Output the data to
Details
control unit
Even
Undefine No.11
Undefine No.11
(Operation setting (Operation setting at
0, 10
CC-Link
at CC-Link
communication
communication
error)
error)
0
if
communication
Hold
abnormality occurs in CC-Link,
(Hold the operating
the alarm does not occur. The
state)
control unit continues operation
and executes it.
When
the
○
communication
abnormality occurs in CC-Link,
10
Alarm stop
the control unit will be stop
state by the alarm and outputs
“Communication alarm 150”.
When the WDT time-out is generated, it will be the emergency stop state
regardless of the parameter, and alarm 206 is output.
Undefine No.12
Undefine No.12
Fixed
value
This is the fixed value for this controller (* it should not be changed)
* 1: The range varies depending on the actuator. Please refer to the manual of the actuator for more
details.
- 57 -
-
11.3 Return to origin parameter
The “Return to origin parameter” is the setting data for the return to origin operation.
Details of Return to origin parameter
Activation: “■” = Become effective just after recorded into the controller
“○” = Become effective after restarting the controller
“-“= The parameter cannot be changed (fixed value)
Name
Controller
setting
Teaching box
Range
Description
Activation
software
Sets the direction of return to origin operation.
ORIG direction
ORIG direction
1 to 2
1. CW
2. CCW
○
*1
The setting for the return to origin operation
ORIG mode
ORIG mode
1 to 2
1. pushing origin operation [Stop]
■
2. limit switch origin [Sensor]
ORIG limit
ORIG limit
ORIG time
ORIG time
ORIG speed
ORIG speed
ORIG ACC/DEC
ORIG ACC/DEC
Creep speed
Creep speed
*1
A pushing force level at which to set the origin.
■
This is the fixed value for this controller (* It should not be changed).
-
*1
The allowable speed to move to origin.
■
*1
The acceleration and deceleration during find origin.
■
This is the fixed value for this controller (* It should not be changed).
-
Fixed
value
Fixed
value
The setting for ORIG sensor
ORIG sensor
ORIG sensor
0 to 2
0. The origin sensor is not effective. [Disable]
■
1. The origin sensor is N.O type. [N.O].
2. The origin sensor is N.C type. [N.C.]
ORIG SW DIR
ORIG SW DIR
Undefine No.21
Undefine No.21
Fixed
value
Fixed
value
This is the fixed value for this controller (* it should not be changed)
-
This is the fixed value for this controller (* it should not be changed)
-
* 1: The range varies depending on the actuator. Please refer to the manual of the actuator for more
details.
- 58 -
12. Operation
12.1 Return to origin
After entering the setting data, it is necessary to perform a return to origin operation before starting the
positioning or pushing operation. (To ensure the position of origin)
* The return to origin direction is dependent on the actuator.
 Return to origin operation
The actuator moves in the return to origin direction (* this direction is dependent on the actuator) from the
initial position at the moment of power-on: See (1) in the diagram below.
When the actuator reaches the end of travel limit it pauses for a short time. The controller recognizes
the position as the end of travel limit of the actuator.
Then, the actuator moves at a low speed in the
direction opposite to the return to origin direction: See (2) in the diagram below.
Return to origin signal Move in the return to origin direction
movement Move in the opposite direction Origin position
Stop the
(Example) Return to origin operation
Load
Basic parameter
“Def in position”
Actuator
M
Motor
(2)
Origin position
Actuator end
(1)
Initial position
Caution
This direction is dependent on the actuator.
12.2 Positioning operation
* Step data “Pushing force” is 0.
The actuator moves to the target position specified by the step data “Position.”
* Positioning operation
* Positioning operation
(Example)
[Speed/Position] (Example)
Step data “In
Load
Actuator
position”
Step data
“Speed”
Speed
Positioning range
(In position)
M
Motor
Position
Origin position
Target position
→Step data “Position”
Target position
- 59 -
12.3 Pushing operation
The pushing operation is active when a Value greater than “1” is set in the Step data” pushing force".
Similar to the positioning operation, the actuator moves according to the settings of “Position” and
“Speed” in the step data and then, when it reaches to the target position, it starts the pushing process.
The actuator pushes the load with the force no more than the maximum force set in the “Pushing force”
of the step data.
(1) Pushing operation is successfully performed.
During the pushing operation, if the pushing force is kept higher than the value specified by “Trigger LV” of
the step data for a certain time, the INP output will be turned ON.
Even after this completion of pushing
operation, the actuator keeps generating the force setup in the step data.
Step data “In
position”
* Pushing operation
(Example)
Load
Actuator
* Pushing operation
(Speed/Position)
Step data “Pushing
speed”
Pushing force
Pushing
process
Speed
Step data
“Speed”
M
Pushing process
Motor
Origin position
Position
Target
position
Target position
→Step data “Position”
Positioning range
(In position)
(2) Pushing operation is failed (pushing the air).
If the pushing process is not completed even after the actuator runs over the range specified in the
step data from the target position (the starting point of the pushing process), the operation will be
completed.
In such case, the INP output will be turned OFF.
Pushing process
Speed
Target position
Position
Positioning range
(In position)
(3) Movement of the workpiece after the completion of the pushing process
(1) Movement of the workpiece in the pushing direction
After completion of the pushing operation, if the reaction force from the workpiece becomes smaller,
the actuator may move with a force smaller than that specified in the “TriggerLV” of the step data.
In such case, the INP output will be turned OFF and the actuator moves within the positioning range
according to the balance of the force.
If the pushing force is kept higher than the value specified by “Trigger LV” of the step data for a certain
time again, the INP output will be reactivated.
- 60 -
Pushing process
Speed
Position
Target position
Positioning range
(In position)
(2) Movement of the workpiece in the direction opposite to the pushing direction
(The actuator is pushed back since the reaction force from the workpiece is too large.)
After completion of the pushing operation, if the reaction force from the workpiece becomes larger, the
actuator may be pushed back.
In such case, while the INP output is kept be ON, the actuator will be
pushed back to the point where the reaction force and the actuator pushing force are balanced
(pushed back toward the target position).
If the actuator is pushed back over the target position, the
alarm (ORIG ALM) will be activated.
Speed
Counterforce
Position
Target position
Positioning range
(In position)
12.4 Controller input signal response time
The factor that may cause the controller to delay’s in responding to the input signal are as follows:
(1) The controller delayed in scanning the input signal.
(2) The analysis and computing of the input signal is delayed.
(3) The analysis and processing of the command is delayed.
Leave an interval of 15 ms (30 ms if possible) or more between input signals and maintain the state of the
signal for 30ms or more, as PLC processing delays and controller scanning delays can occur.
12.5 Methods of interrupting operation
There are two methods of interrupting operation and stopping the actuator during positioning operation
and pushing operation, as shown below. The state after stopping is different, so use the method
appropriate to the application.
[Stopping by EMG signal]
If the EMG signal is turned OFF during operation, after the actuator decelerates and stops, the servo will
turn OFF so the stopped position is not held. (For an actuator with lock, it is held by the lock function.)
[Stopping by RESET signal]
If the RESET signal is turned ON during operation, after the actuator decelerates and stops, the stopped
position is held. (The servo does not turn OFF.)
[Stopped by HOLD signal]
The actuator decelerates to stop when HOLD signal is ON during operation.
Caution
If instructed to stop by EMG signal and RESET signal, all OUT signals will turn OFF.
- 61 -
13. Operation (example)
13.1 Positioning operation
Example) Move an actuator from the origin to 50mm point with 100mm/s. (Using Step No.1)
Next, it shows setting example to move the actuator from the 50mm point to 100mm point by moving it 5
times continuously, 10mm at a time, with a speed of 50 mm/s.(Step No. 2)
1. [Normal mode] Step data example
No.
Move
Speed
mm/s
Position
mm
Accel
Decel
2
2
mm/s
mm/s
Pushing
Trigger
Pushing
Moving
F
LV
Sp
F
%
%
mm/s
%
Area1
Area2
In pos
mm
mm
mm
0
-
-
-
-
-
-
-
-
-
-
-
-
1
Absolute
100
50.00
1000
1000
0
0
0
100
0
0
0.1
2
Relative
50
10.00
1000
1000
0
0
0
100
0
0
0.1
Controller
Parallel I/O signal
Signal
(2)(5)(10)(13)
(1)
DRIVE
Input
IN0
(9)
PLC
Category
IN1
(7)
OUT0
(15)
OUT1
(14)(11)(6)(3)
(16)(12)(8)(4)
Output
INP
BUSY
Operation (Example)
Actuator
Load
Motor
・・・
M
・・・
0mm
Origin
50mm 60mm
100mm
End position
(1) Select/input Step No.1 (Turn on “IN0”)
↓
(2) Turn on “DRIVE” input
↓
Start moving to the position of Step No. 1
↓
Step No. output (OUT0 to 5) turns off
↓
(3) “INP” output turns off
↓
(4) “BUSY” output turns on
↓
(5) Turn off “DRIVE” input
↓
(6) Step No.1 output turns on
(“OUT0” output turns on)
↓
(7) “INP” output turns on
↓
(8) “BUSY” output turns off
↓
Completed to move to the position of Step No.1
↓
(9) Select/input Step No.2. (Turn off “IN0” input, and
turn on “IN1”)
↓
(10) Turn on “DRIVE” input
↓
Start moving to 10mm away from the current position.
↓
Step No. output (OUT0 to 5) turns off
↓
(11) “INP” output turns off
↓
(12) “BUSY” output turns on
5 times
↓
(13) Turn off “DRIVE” input
↓
(14) Step No.2 output turns on
(“OUT1” output turns on)
↓
(15) “INP” output turns on
↓
(16) “BUSY” output turns off
↓
Completed to move to 10mm away
- 62 -
13.2 Pushing operation
Example) Move an actuator from the origin to 100mm point with 100mm/s. (Using Step No.1)
From the 100mm point, the actuator starts the pushing operation of 10mm/s speed and 50% or less force
(the pushing distance is up to 5mm). Then, the actuator moves from the position where the pushing
operation was completed (where INP was turned on) to the 50mm point with 50mm/s. (Using Step No.2)
[Normal mode] Step data example
No.
Move
Speed
Position
Accel
Decel
mm/s
mm
mm/s
2
mm/s
2
Pushing
Trigger
Pushing
Moving
F
LV
Sp
F
%
%
mm/s
%
Area1
Area2
In pos
mm
mm
mm
0
-
-
-
-
-
-
-
-
-
-
-
-
1
Absolute
100
100.00
1000
1000
50
40
10
100
0
0
5
2
Absolute
50
50.00
1000
1000
0
0
0
100
0
0
0.1
(1) Select/input Step No.1 (Turn on “IN0”)
↓
(2) Turn on “DRIVE” input
↓
Start moving to the position of Step No. 1
↓
Step No. output (OUT0 to 5) turns off
↓
(3) “INP” output turns off
↓
(4) “BUSY” output turns on
↓
(5) Turn off “DRIVE” input
↓
Move at low speed after passing
the “Position” of the Step No.1
↓
Push the workpiece with the specified
pushing force
↓
(6) Step No.1 output turns on
(“OUT0” output turns on)
↓
(7) “INP” output turns on
↓
(8) “BUSY” output turns off
↓
Completed to move to the position of Step No.1
↓
(9) Select/input Step No.2. (Turn off “IN0” input, and
turn on “IN1”)
↓
(10) Turn on “DRIVE” input
↓
Start moving to 50mm away from the current position.
↓
Step No. output (OUT0 to 5) turns off
↓
(11) “INP” output turns off
↓
(12) “BUSY” output turns on
↓
(13) Turn off “DRIVE” input
↓
(14) Step No.2 output turns on
(“OUT1” output turns on)
↓
(15) “INP” output turns on
↓
(16) “BUSY” output turns off
↓
Completed to move to the “Position” of the Step No.2
Controller
Parallel I/O signal
Signal
(2)(5)(10)(13)
(1)
PLC
(9)
(7)
(15)
(14)(11)(6)(3)
(16)(12)(8)(4)
Category
DRIVE
Input
IN0
IN1
OUT0
OUT1
Output
INP
BUSY
Step No.1 Pushing
operation (Example)
Actuator
Load
Motor
M
Pushing motion
0mm
Origin
100mm
Step No.2 Positioning
operation (Example)
Load
Actuator
50mm
End position
Pushing completed
Motor
M
position
- 63 -
14. Operation instruction
14.1 Outline of the operation instruction
The method of operation instruction in each function shown by 9. Mode (page 32) is shown.
14.2 The operation instruction of Step No. instructions operation function
Please refer to the following “Procedures” and “Timing chart” for each operation. And please refer to 10.1
Memory assignment (page 36) for memory assignment of each signal.
[1] Power on → Return to origin
- Procedures(1) Apply the power.
- Timing chart-
When the initialization of the controller
is over, RWr0, bit6:Initial is turned on.
24 V
0V
ON
OFF
・
・
Power
SVON
Input
SETUP
↓
BUSY
ON
OFF
(2) SVON is turned ON.
SVRE
・
↓
SETON
Output
(3) SVRE is turned ON.
(lock release)
* The time [SVRE] output turns ON is
dependant on the type of actuator and
the customer usage.
↓
(4) SETUP is turned ON.
INP
・
・
・
・
OFF
ON
RWr0 , bit6
:Initial
External Lock
Speed
0mm/s
Return to origin
↓
If the actuator is within the “In
position” range, INP will be turned
ON but if not, it will remain OFF.
(5) BUSY is turned ON.
(The actuator moves.)
After BUSY was turned ON, SETUP is turned OFF
↓
(6) SETON and INP are turned ON.
When the BUSY output is turned
OFF, the return to origin operation
has been completed.
- 64 -
[2] Positioning operation
- Procedures(1) Input step data No. (IN0 to IN5)
↓
(2) DRIVE is turned ON.( OUT0-5 is turned off.)
-Timing chartInput the step
data no.
IN0~5
↓
Input
* Then, if DRIVE is turned OFF, the step data
OUT0~5
number will be output (from the output OUT0 to
BUSY
Output
SVRE
SETON
↓
INP
(4) When INP turns ON and BUSY turns OFF,
the positioning operation will be completed.
SVON
DRIVE
(The positioning operation starts.)
OUT5).
24V
0V
Power
→Scan the step data number (from IN0 to IN5).
(3) BUSY is turned ON.
Scan the step
data no.
External Lock
Speed
Min15m s
ON
OFF
・
・
Output the
step data no. ・
・
ON
OFF
・
・
・
・
・
・
・
・
・
OFF
ON
0mm
If the actuator is within the “In
position” range, INP will be turned
ON but if not, it will remain OFF.
- 65 -
[3] Pushing operation
- Procedures(1) Input step data No. (IN0 to IN5)
↓
- Timing chart Input the step
data no.
Scan the step
data no.
(2) DRIVE is turned ON. (OUT0-5 is turned
off.)
→Scan the step data number (from IN0 to
IN5).
↓
IN0~5
Input
SVON
DRIVE
(3)When start the pushing operation, BUSY is
turned ON.
OUT0~5
* After this, if DRIVE is turned OFF, the step
data number will be output (from the outputs
24V
0V
Power
BUSY
Output
OUT0 to OUT5).
SVRE
SETON
↓
INP
(4) When INP output is turned ON and BUSY
is turned OFF, the pushing operation will be
Min15m s
Output the
step data no.
ON
OFF
・
・
・
・
ON
OFF
・
・
・
・
・
・
・
・
・
OFF
ON
External Lock
completed (the actuator generates the force
larger than that specified in “TriggerLV” of the
Speed
step data).
0mm/s
If the actuator is within the “In
position” range, INP will be turned
ON but if not, it will remain OFF.
- 66 -
[4] HOLD
-Procedures-
-Timingchartchart-Timing
(1) HOLD is turned ON during the operation
(when HOLD is ON).
↓
(2) BUSY is turned OFF (the actuator stops).
↓
(3) HOLD is turned OFF.
↓
Slow-down starting point
(4) BUSY is turned ON (the actuator restarts).
-Timing chart- Driving reset
[5] Reset
Input
-Procedures- [Driving reset]
(1)RESET is turned ON during the operation
Output
BUSY
INP
↓
(2) BUSY output, OUT0 to OUT3 output is OFF.
(1) An alarm is activated (ALARM is turned
ON and the output OUT0 to OUT3 is turned
ON
OFF
ON
OFF
ON
OFF
OUT0~5
(BUSY output is ON).
-Procedures- [Alarm reset]
ON
OFF
RESET
0mm/s
Speed
Slow-down starting point
* If the actuator is within the “In position” range, INP will be turned ON.
-Timing chart- Alarm reset
ON.)
Imput
↓
RESET
ON
OFF
OUT0~5
ON
OFF
Output
(2) RESET is turned ON.
ALARM
↓
(3) ALARM is turned OFF and the output OUT0
to OUT3 is turned OFF (the alarm is
deactivated).
- 67 -
Alarm ou t
ON
OFF
[6] Stop
-Procedures-
-Timing chart-
(1) The stop [EMG] input is turned OFF during the
operation (when BUSY is ON). [stop command]
24V
0V
Power
ON
OFF
Stop[EMG]
↓
Input
(2) ESTOP is turned ON.
SVON
↓
BUSY
(3) BUSY is turned OFF (the actuator stops).
SVRE
SVRE is turned OFF (if the actuator has a lock).
S ETON
Output
↓
INP
(4) The stop [EMG] input is turned ON.
ALARM
[The stop release command]
ESTOP
↓
(5) ESTOP is turned OFF.
ON
OFF
ON
OFF
・
・
・
・
・
・
・
・
・
・
・
OFF
ON
External Lock
* SVRE is turned ON. (lock release)
(* If the actuator has a lock.)
Speed
0mm/s
If the actuator is within the “In position” range, INP will
be turned ON but if not, it will remain OFF.
* The “ALARM” and “ESTOP” are expressed as negative-logic circuit.
* When "Stop" is OFF, the stop is activated.
- 68 -
[7] Area output
-Procedures-
-Timing chart-
* Operation of Step Data No.1
Example:
(1) Input step data No. (IN0 to IN5).
↓
The initial position: 50mm
Operation of step data No.1: Position: 200mm, Area1-Area2: 150-250mm
Operation of step data No.2: Position: 100mm, Area1-Area2: 130-170mm
(2) DRIVE is turned ON.
→ Receive the step data no.1 (from the input
IN0 to IN5).
↓
DRIVE
(3) BUSY is turned ON.
(The actuator starts the operation).
INP is turned OFF.
Then, if the DRIVE is turned OFF, the step
ON
OFF
・
・
IN0~5
Input
Min15ms
Min15ms
ON
OFF
・
・
・
・
・
・
・
OUT0~5
Output
BUSY
INP
AREA
data will be output (from the output OUT0 to
OUT5).
Speed
50mm
150mm 200mm
↓
0mm/s
100mm
170mm 130mm
(4) AREA output is turned ON for the step data
no.1 (at 150mm from the origin point).
↓
(5) BUSY is turned OFF.
If the now position is inside of step
data positioning. The INP signal is
ON. Otherwise, the signal is OFF.
If the now position is inside of 1,
and 2 area scope for step data.
The AREA signal is ON.
Otherwise, the signal is OFF
(The actuator stops.)
INP is turned ON.
↓
* Operation of Step Data No.2
(6)Input step data no. (IN0 to IN5).
↓
(7) DRIVE is turned ON.
→ Receive the step data no.2 (from the input IN0 to IN5).
↓
(8) AREA is turned OFF.
BUSY is turned ON. (The actuator starts the operation.)
* Then, if the DRIVE is turned OFF, the step data will be output (from the output OUT0 to OUT5).
↓
(9) AREA output is turned ON for the step data no.2 (at 170mm from the origin point).
↓
(10)AREA output is turned OFF for the step data no.2 (at 130mm from the origin point).
↓
(11)BUSY is turned OFF.
(The actuator stops.)
INP is turned ON.
- 69 -
14.3 The operation instruction of Numerical data instructions operation function
Numerical data instructions operation function is possible to be operated in all modes. The example
using in Half numerical data instructions mode is described as follows.
Example) Operate an actuator to the position of 50.00[mm]. But use Half numerical data instructions with
reference to the value of step No. 0 other than numerical data instructions items such as speed, the
addition and subtraction speed.
Please details of remote IO (Rx and Ry) must refer to 10.1.1 RemoteIO (Rx and Ry) (page 36) and refer
to 10.1.2 Remote register (RWr and RWw) (page 42) for details of a remote register (RWr and RWw).
Please complete SVON and SETUP before doing Numerical data instructions operation.
(1) Please confirm Remote register ‘RWw1, bit0
: Start flag‘ is turning off. If the Start flag is ON,
Timing chart/Number data instructions operation
IN0~5
(2) Input the step data no.
(2)
SVON
Example) Select the Step No.0.Turn off all of
‘Ry00~05:IN0~IN5’.
24V
0V
Power
please turn it OFF.
Input
ON
OFF
・
・
(8) ・
・
・
・
(1)
Start flag
(3)
RW w0, bit4~F
(4)
(3)The bit of the place that corresponds to the
Data(position, speed)
changed value is turned on by Remote register
for the value not changed, the operating data of
BUSY
step data No. selected by ‘Ry00~05:IN0~IN5
SVRE
’ of Remote IO is applied.)
Example) Chang the ‘Position’of Setting
ON
OFF
OUT0~ 5
‘RWw0,bit4~F:Setting numerical data‘.( As
Output
SETON
(7)
INP
numerical data. And turns RWw0,bit6 ON.
(5)
Sending
(6)
(4)Input the data of position and the speed, etc.
Sending completed
into Remote register ‘RWw1,bit8~F:Movement
External Lock
MOD’ and ‘RWw2~15’.
・
・
・
・
・
・
・
・
・
・
・
・
OFF
ON
Example) Input 50.00[mm] into Position.
Speed
RWw3: Target position(L)= (5000)d
RWw4: Target position (H)= (0)d
(5) When Remote register ‘RWw1,bit0:Start flag‘ is turned on, operation instructions are transmitted
to the actuator. During the transmission of data, Remote register ‘RWr0,bit2:Sending‘ is turned ON.
(6) When the transmission to an actuator is completed, Remote register ‘RWr0,bit2:Sending‘ turns OFF
and ‘RWr0,bit3:Sending completed‘ turns ON, and the operation of the actuator begins.
(7) When the actuator operates and the condition(refer to 10.1.1 RemoteIO (Rx and Ry) (page 36) that
the INP signal is turned on consists, ‘Rx0B:INP‘ signal of Remote IO is turned on.
(8) After turning on the INP signal like (5), ‘RWr0,bit3:Sending completed‘ becomes OFF, when turn
off Remote register ‘RWw1,bit0: Start flag‘.
- 70 -
0mm/
14.4 The operation instruction of Data editing function
Data editing function is possible to be operated in Half numerical data instructions mode and Hull
numerical data instructions mode. The example using in Half numerical data instructions mode is
described as follows.
Example) Input 50.00[mm] into the position of Step No.1.However uses Half numerical data instructions.
Please details of remote IO (Rx and Ry) must refer to 10.1.1 RemoteIO (Rx and Ry) (page 36) and refer
to 10.1.2 Remote register (RWr and RWw) (page 42) for details of a remote register (RWr and RWw).
(1) Please confirm Remote register ‘RWw1,bit0:Start flag‘ is turning off. If the Start flag is ON, please
turn it OFF. Then, turn Remote register ‘RWw0, bit1:Setting parameter rewriting’ ON.
(2)Set the data(Sub Function, Address, DATA) for rewriting to Remote register ‘RWw1~5:Send of
parameter rewriting ‘. Please refer to 9.5.1 Data editing function (page 34) for the data setting.
Because the Position for 2 words, so input Instruction code [2 words writing](12)h to Sub Function.
RWw1:Sub Function = (0012)h
Input the address D0412 of [position] of step No.1 into the RWw2~3: Address.
RWw2:Address = (0412)h
RWw3:Address = (0000)h
Input 50.00[mm] into the RWw4~5: Data.
RWw4:DATA(H) = (0000)h
RWw5:DATA(L) = (5000)d
(3) When Remote register ‘RWw0,bit4:Start flag‘ is turned on, the data above-mentioned (2) is
transmitted. During the transmission of data, Remote register ‘RWr0,bit2:Sending‘ is turned ON.
(4) When the data sending is completed, Remote register ‘RWr0,bit2:Sending‘ turns OFF and ‘RWr
0,bit3:Sending completed‘ turns ON.
(5) ‘RWr0,bit3:Sending completed‘ becomes OFF, when turn off Remote register ‘RWw0,bit4:Start
flag‘.
(6) Confirm that the step data is normally edited. Data is set as well as (2). Using Instruction code [Two
word reading] (02)h to read [position](address D0412) of step No. 1.
RWw1: Sub Function = (0002)h
RWw2: Address = (0412)h
RWw3: Address = (0000)h
(7) Confirm the data sending and the sending completion like (3), (4).
When the sending is completed, the position of step No.1 is output to Remote register RWr6~7:DATA.
RWr6: DATA(H) = (0000)d
RWr7: DATA(L) = (5000)d
- 71 -
(8) When confirmed that the step data is normally edited, and terminates the step data editing function,
please turn off Remote register RWw0, bit1: Setting parameter rewriting.
24V
0V
ON
OFF
(8)
・
・
・
・
Power
Start flag
Input
(1)
(5)
(3)
Setting parameter rewriting
(6)
(2)
Data(SubFunction etc.)
Output
ON
OFF
(4)
Sending
Sending completed
(7)
DATA(H,L)
- 72 -
・
・
・
・
15. Option
15.1 Actuator cable (5m or less)
LE - CP - □ - □
Cable length (L)
1
1.5m
3
3m
5
5m
①
signal
A
A
B
B
COM-A/COM
COM-B/ -
②
Terminal no.
B-1
A-1
B-2
A-2
B-3
A-3
Shield
Actuator cable type
Nil
Robot cable
S
Standard cable
Vcc
GND
A
A
B
B
B-4
A-4
B-5
A-5
B-6
A-6
③
Cable color
Brown
Red
Orange
Yellow
Green
Blue
Terminal no.
2
1
6
5
3
4
Cable color
Brown
Black
Red
Black
Orange
Black
-
Terminal no.
12
13
7
6
9
8
3
Controller side
Actuator side
(14.2)
B1
(17.7)
①
(14)
A1
(φ8)
②
5
1
③
2
6
2
(18)
A6
1
B6
L
(30.7)
- 73 -
(11)
15
16
15.2 Actuator cable (8-20m)
①
LE - CP - □
Cable length (L)
8
8m*
A
10m*
B
15m*
C
②
signal
A
A
B
B
COM-A/COM
COM-B/ -
Terminal no.
B-1
A-1
B-2
A-2
B-3
A-3
Shield
Vcc
GND
A
A
B
B
20m*
*produced upon receipt of order
* Only "Robotic type cable"
can be selected.
③
B-4
A-4
B-5
A-5
B-6
A-6
Actuator side
Cable color
Brown
Red
Orange
Yellow
Green
Blue
Terminal no.
2
1
6
5
3
4
Cable color
Brown
Black
Red
Black
Orange
Black
-
Terminal no.
12
13
7
6
9
8
3
Controller side
(14.2)
①
B1
②
2
6
③
1
(φ6.3)
L
(30.7)
2
(18)
B6
A6
1
5
(17.7)
A1
(14)
(φ5.5)
15
(11)
16
15.3 Actuator cable for with lock (5m or less)
①
LE - CP - □ - B - □
Cable length (L)
1
1.5m
3
3m
5
5m
②
signal
A
A
B
B
COM-A/COM
COM-B/ -
Terminal no.
B-1
A-1
B-2
A-2
B-3
A-3
Shield
Actuator cable type
Nil
Robot cable
S
Standard cable
④
Vcc
GND
A
A
B
B
signal
Lock(+)
Lock(-)
Sensor(+)
Sensor(-)
B-4
A-4
B-5
A-5
B-6
A-6
Terminal no.
B-1
A-1
B-3
A-3
Actuator side
①
④
B3
Terminal no.
12
13
7
6
9
8
3
Red
Black
Brown
Blue
4
5
1
2
(14.2)
(18)
A3
Cable color
Brown
Black
Red
Black
Orange
Black
-
(14)
B6
B1
A6
A1
Terminal no.
2
1
6
5
3
4
Controller side
(φ8)
B1
(10.2) (17.7)
A1
③
Cable color
Brown
Red
Orange
Yellow
Green
Blue
(φ5.7)
L
(30.7)
- 74 -
(11)
1
②
2
5
1
③
6
2
15
16
15.4 Actuator cable for with lock (8-20m)
①
LE - CP - □ - B
A
A
B
B
COM-A/COM
COM-B/ -
Cable length (L)
8
8m*
A
10m*
B
15m*
C
20m*
*produced upon receipt of order
* Only "Robotic type cable"
can be selected.
signal
④
Vcc
GND
A
A
B
B
signal
Lock(+)
Lock(-)
Sensor(+)
Sensor(-)
②
Terminal
no.
B-1
A-1
B-2
A-2
B-3
A-3
Shield
B-4
A-4
B-5
A-5
B-6
A-6
Terminal no.
B-1
A-1
B-3
A-3
Actuator side
(φ5.5)
B1
B6
B1
A6
A1
④
B3
Terminal no.
12
13
7
6
9
8
3
Red
Black
Brown
Blue
4
5
1
2
2
1
(φ6.3)
(14.2)
5
1
②
③
6
2
(18)
A3
Cable color
Brown
Black
Red
Black
Orange
Black
-
Controller side
(10.2) (17.7)
①
Terminal no.
2
1
6
5
3
4
(14)
A1
③
Cable color
Brown
Red
Orange
Yellow
Green
Blue
(φ5.7)
L
(30.7)
- 75 -
(11)
15
16
15.5 Controller setting kit
LEC – W2
Controller setting kit
Contents
(1) Controller setting software (CD-ROM)
(2) Communication cable
(3) Conversion unit
(4) USB cable
Hardware requirements
PC/AT compatible machine installed with Windows XP and Windows 7 and equipped
with USB1.1 or USB2.0 ports.
*Windows and Windows XP, Windows 7 are registered trade marks of Microsoft Corporation.
Caution
The controller setting software must use the latest version.
Upgrade software be able to download on SMC website. http://www.smcworld.com/
- 76 -
15.6 Teaching box
LEC
– T1
–
3
E G
□
Enable switch
Teaching box
Cable length
Nil
No enable
switch
S
Equipped with
enable
3m
3
Initial language
E
English
J
Japanese
Stop switch
Equipped with stop
switch
G
Dimensions
No
Name
Function
(1)
LCD
Liquid crystal display (with backlight)
(2)
Ring
The ring to hang the teaching box.
(3)
Stop switch
Pressing down to lock this, controlled stop
will be activated.
Turn clockwise to release the lock.
(4)
Stop guard
Protector for the stop switch
(5)
Enable switch
Switch to prevent unintentional operation of
(Option)
Jog test function.
* Does not apply to other functions e.g.
(6)
Key switch
Entry switches
(7)
Cable
3m length
(8)
Connector
The connector to be connected to the
CN4 of the controller
- 77 -
15.7 Communication plug connector
LEC – CMJ – □
5
4
Type
Correspondence network
3
MJ
2
CC-Link
1
S
Straight type
T
T-Branched type
Straight type
5
4
3
2
1
T-Branched type
No.
Name
5
1
DA
CC-Link communication line A
4
2
DB
CC-Link communication line B
3
3
DG
CC-Link ground line
2
4
SLD
CC-Link shield
1
5
FG
Frame ground
- 78 -
Function
16. Alarm Detection of Motor Control
The details of the alarm of motor control can be checked using a PC (the controller setting software) or the
teaching box.
* Please refer to the manuals of the controller setting software or the teaching box for how to check the
details of the alarms.
Please refer to section 16.2 Alarm details (page 80) of this manual on how to, deactivate the alarm.
There are two types of alarms: the ones that can be deactivated by the RESET input via the parallel
communication and the other that can be deactivated by cycling the controller power supply (C24V).
16.1 Parallel output for the alarm group
In case of an alarm, this controller outputs a signal that informs the type of alarm.
The type of alarm is classified into 5 groups and output from OUT0 to OUT3.
The status of output terminal for each alarm group is as follows:
Output signal of Remote IO
Alarm group
ALARM
OUT0
OUT1
OUT2
OUT3
Alarm group A
ON
ON
OFF
OFF
OFF
Alarm group B
ON
OFF
ON
OFF
OFF
Alarm group C
ON
OFF
OFF
ON
OFF
Alarm group D
ON
OFF
OFF
OFF
ON
Alarm group E
ON
OFF
OFF
OFF
OFF
When the alarm has activated, the status of output terminal will be as follows:
Alarm group
Parallel output
SVRE
SETON
Procedure of restart
Alarm group A
There is no change.
There is no change.
RESET input
Alarm group B
There is no change.
There is no change.
RESET input
Alarm group C
There is no change.
There is no change.
RESET input
Alarm group D
OFF
There is no change
RESET input
Alarm group E
OFF
OFF
Power off ⇒Turn on the power again
<Procedure to restart>
1. Input RESET → SVRE: automatically turned on (if SVON is ON when RESET is input)
2. Input SETUP → Instruction to restart after return to origin is completed
- 79 -
16.2 Alarm details
Alarm of
setting
software
(code)*1
Step data
ALM1
(048)
Parameter
ALM
(049)
Small Dec
(050)
Step data
ALM2 (051)
Group
B
B
How to
deactivate
Alarm contents/Countermeasure
RESET
input
<Contents>The
step
data
is
in-correct
for
the
following
conditions:(Assignable value range)
(1) Area1 < Area2
(If both Area1 and Area2 is 0, the alarm will not be activated.)
(2) Trigger LV ≤ Pushing force
(3) Minimum speed of actuator ≤ Pushing speed ≤ Speed
(4) Pushing speed ≤ Maximum pushing speed of actuator
(5) Pushing force ≥ Minimum pushing force of actuator
(6) Basic parameters “Max force” ≥ Minimum pushing force of actuator
(7) Basic parameters “Max force” ≥ Trigger LV
<Countermeasure> Modify the step data and basic
parameters setting.
Caution
Please confirm this pushing force and minimum speeds of Data
maximum speed and 0 or more of the actuator with the actuator
manual or the catalog.
RESET
input
<Contents> The basic parameter is not correct for the following
condition:(Assignable value range)
(1) Stroke (-) < Stroke (+)
(2) W-Area 1 < W-Area2
(* If both W-Area1 and W-Area2 is 0, the alarm will not be activated.)
(3) Maximum pushing force < Maximum pushing force of actuator
<Countermeasure> Modify the basic parameter setting.
Caution
Please refer to the manual or the catalogue of the actuator for the
max/min pushing force/speed for the actuator.
B
B
RESET
input
RESET
input
<Contents> For an operation for a specific step data no., the actuator
cannot stop within the stroke limit due to the value set for the “Deceleration”
of the step data.
<Countermeasure>Modify the Deceleration value to a value with a
sufficient margin so that the actuator can stop within the stroke limit.
<Contents> For an operation for a specific step data no., the requested
number of the step data is not registered. (When operation is commanded
through PLC, this alarm will be generated depending on the input signal
interval and the holding time of signals)
<Countermeasure> (1)Make sure that the “Movement MOD” of the step
data is not "Blank (Disabled)".
(2) Process delay of PLC or scanning delay of the controller may occur.
Keep the input signal combination for 15 ms (30 ms if possible) or longer.
Refer to 14.2[2] Positioning operation (page 65)
- 80 -
<Contents> The actuator goes out the stroke limit specified by the basic
parameters, “Stroke (+)” and “Stroke (-)” if it performs the requested
operation. (Including JOG operation after return to origin)
Stroke limit
(052)
Pushing
ALM
(096)
B
RESET
input
C
RESET
input
C
RESET
input
<Countermeasure> Make sure that the basic parameter, “Stroke (+)” and
“Stroke (-)” are consistent with the distance of actuator movement specified
in the step data.
Caution
If the “Movement MOD” of the step data is relative, pay attention
to the starting point and distance of the actuator movement.
<Contents> In the pushing operation, if push back is bigger than pushing
operation, the push back is requested.
<Countermeasure> Increase the distance from the pushing operation
origin position to the object being pushed. Or, increase the pushing force.
<Contents> Return to origin is not completed within the set time.
ORIG ALM
(097)
Servo off
ALM
C
(098)
RESET
input
<Countermeasure> Check whether the movement of the actuator is
obstructed.
<Contents> While the servo motor is off, the return to origin operation,
positioning operation, pushing operation or JOG operation is requested.
<Countermeasure> Modify the setting so that those operations will be
requested while the servo motor is ON (the SVON input is ON).
<Contents> A positioning operation or pushing operation is requested.
Before the return to origin position is completed.
Drive ALM
(099)
C
RESET
input
<Countermeasure> Modify the setting so that those operations will be
requested after the return to origin position is completed.
<Contents> Return to origin parameter has the conditions shown below.
Parameter setting content
ORIG mode
1
ORIG Sens
ALM
(103)
C
RESET
input
Pushing origin operation [Stop]
ORIG sensor
1. N.O
0. Disable
or
1. N.O
* Alarm is generated with condition above when the sensor is not mounted
to the actuator.
2
Limit switch origin [Sensor]
<Countermeasure> Sensor installation and return to origin parameter and
motor and sensor type is setting to have confirmed.
- 81 -
AbEnc
Comm ALM
(106)
Over speed
(144)
C
D
RESET
SVON
input
RESET
SVON
Input
(*1)
<Contents> The alarm is generated when the communication between the
controller circuit and the absolute circuit is not normal. (This controller has
not absolute function.)
<Countermeasure> Make sure that the sensor type of the basic parameter
is 1. After the parameter is changed, it is necessary to reapply the power.
<Contents> The motor speed exceeds a specific level due to an external
force, etc.
<Countermeasure> Make improvements such that the motor speed will not
exceed the maximum speed of the actuator.
Caution
Please refer to the manual or the catalogue of the actuator for the
maximum speed of the actuator.
<Contents>The motor power supply voltage is out of range. During
[SVON] .
Over motor
Vol
D
(145)
Over Temp.
(146)
Over Crtl
Vol
(147)
D
D
RESET
SVON
Input
(*1)
RESET
SVON
Input
(*1)
RESET
SVON
Input
(*1)
<Countermeasure> Make sure that the voltage supplied to the motor power
(M24V) of the controller is within specification.
Caution
If the power supply is “rush-current restraining type”, a voltage
drop may cause an alarm during the acceleration/deceleration.
<Contents> Also, a regenerative electric power may cause an alarm due to
the method of operation of the actuator.
<Countermeasure> Make sure that the operating conditions are within the
specifications.
Caution
Please refer to the manual or the catalogue of the actuator for the
method of operation of the actuator.
<Contents> The temperature around the power element of the controller is
too high.
<Countermeasure> Make improvements so that the temperature around
the controller is kept appropriate.
<Contents> The control power supply voltage within the controller is out of a
range.
<Countermeasure> Make sure that the voltage supplied to the control power
(C24V) of the controller is appropriate.
Caution
If one power supply is commonly used for the control power and the
motor power, or the power supply is “rush-current restraining type”,
a power voltage drop may be caused due to a voltage drop during
the acceleration/deceleration.
<Contents> Also, a regenerative electric power may be generated to cause
an alarm due to the method of operation of the actuator.
<Countermeasure> Make sure that the operating conditions are within the
specifications.
Caution
Please refer to the manual or the catalogue of the actuator for the
method of operation of the actuator.
- 82 -
Over load
(148)
Posn failed
(149)
D
RESET
SVON
Input
(*1)
D
RESET
SVON
Input
(*1)
<Contents> The output current accumulated value exceeds the specified
value.
<Countermeasure> Check whether the movement of the actuator is
obstructed. Also confirm whether the actuator load, speed, acceleration and
deceleration are within the specification range of the actuator.
<Contents> Failed to reach to the set position within the set time limit.
<Countermeasure> Eliminate any obstructions that interfere with the
actuator movement.
Also, make sure that the load, speed, acceleration and deceleration are
within the range of the actuators.
<Contents> The connection with the higher-level devices (such as the PC,
teaching box and PLC) is disconnected.
<Countermeasure> Make sure that the higher-level devices will not be
disconnected during the actuator operation.
Ctrl Comm
ALM
D
RESET
SVON
Input
(*2)
or
Power off
controlled
source
and PLC
E
Power off
(150)
Encoder
ALM
(192)
Phase Det
ALM
(194)
・Communication alarm by PC/TB: After a reconnection, reset operation of
the alarm is possible with a PC or TB.
・Communication alarm by PLC: Only when "10:Alarm stop" has been
selected by "Undefinition parameter 11"of Basic parameter, the alarm is
generated. In this case, the alarm clear method is shown in the following.
The abnormal
Cause of
LED
station detection communica
Alarm clear method
(LRUN)
RWr0,bit F
tion error
Turn on RWw0, bit 2: Reset
ON
PLC
flag, and then turn on Ry0B:
On
RESET.
OFF
PC/TB
Turn on Ry0B: RESET
PLC or
Power off controlled source
Off
PC/TB
and PLC
PC: Computer TB: Teaching box
<Contents> Abnormality in communication with the encoder.
<Countermeasure> Check the connection of the actuator cable.
E
Power off
(193)
Over
current
*2 Please clear the alarm according to the state of following LED and the flag
after confirming the connection with PLC.
<Contents> Unable to find the motor phase within the set time.
(When the servo motor is turned on (SVON is turned on) first time after the
power is applied, the actuator needs to move a little to find the motor phase.
However, if this actuator movement is prevented, this alarm will be activated.)
<Countermeasure> Make sure there are no obstructions that interfere with
the actuator movement and then, turn on the servo motor (SVON is turned
on).
<Contents> The output current of the power circuit is extraordinarily high.
E
Power off
<Countermeasure> Make sure that there are no short circuits of actuator
cables, connectors, etc. In addition, make sure that the actuator conforms to
the controller.
- 83 -
I sens ALM
(195)
Err overflow
(196)
Memory
ALM
(197)
CPU ALM
(198)
<Contents> An abnormality is detected by the current sensor that is checked
when the controller is reset.
E
Power off
<Countermeasure> Make sure that the actuator conforms to the controller.
Even after this measure, if the alarm regenerates when the power is
reapplied, please contact SMC.
<Contents> An overflow of the position error counter inside of the controller
is occurred.
E
Power off
E
Power off
E
Power off
<Countermeasure> Make sure there are no obstructions that interfere with
the actuator movement. Also, make sure that the load, speed, acceleration
and deceleration are within the range of the actuators.
<Contents> An error of the EEPROM is occurred.
<Countermeasure> Please contact SMC.
<Contents> The CPU is not operating normally.
(It is possible that the CPU or surrounding circuits is failed or a malfunction
of the CPU is occurred due to an electric noise).
<Countermeasure> If the alarm cannot be deactivated even after the
power is reapplied, please contact SMC.
(*1) It is displayed in Controller setting software as 1(
= code in the table).
And as for the alarm of Remote register (RWr), only
(
= code in the table) is output. Please refer
to 10.1.2 Remote register (RWr and RWw) (page 42) for details of Remote register.
- 84 -
17. Alarm Detection for CC-Link Communication
The content of the alarm about CC-Link communication can be confirmed referring to Controller LED
display or corresponding memory on CC-Link.
Please refer to section 17.1 Alarm details (page 85) of this manual on how to, deactivate the alarm
There are two types of alarms: the ones that can be deactivated by the RESET or restart signal input and
the other that can be deactivated by cycling the controller power supply (C24V).
17.1 Alarm details
The following tables show alarm details that can be confirmed by Controller LED display.
Controller
state
LED name and display
PWR ALM L RUN
L ERR
CPU
ROM・RAM
check error
-
CC-Link
Communication
stop
-
Green
On
Red
On
-
-
Off
Off
CC-Link CRC
error
-
-
Off
Red On
STATION No.
error
-
-
Green
flashing
Red On
Communication
speed error
(unused range)
-
-
Green
On
Red
flashing
WDT Time-out
error
-
-
Green
flashing
Red
flashing
How to
deactivate
Alarm contents/Countermeasure
<Contents> Checksum error of built-in flash or RAM
check error was occurred with communication CPU.
Power off
<Countermeasure> If the alarm cannot be deactivated
even after the power is reapplied, please contact SMC.
<Contents>
Communication
time-out
and
communication abnormality occurred in CC-Link.
<Countermeasure> Please clear the alarm according
to the state of following LED and the flag after
Input
confirming the connection with PLC.
REST
The abnormal
after
LED
station detection
Alarm clear method
Reset flag
(LRUN)
RWr0,bit F
ON
Turn on RWw0, bit 2:
or
On
ON
Reset flag, and then
Power off
turn on Ry0B: RESET.
Power off controlled
Flashing
source and PLC
<Contents> The CRC error occurred in CC-Link.
<Countermeasure>
Input
・When the communication of CC-Link is possible
REST
Turn on the RWw0, bit 3: Restart flag. And, when the
after
Reset flag Undefine No.11 (Operation setting at CC-Link
communication error) is 10, please turn on RWw0, bit 2:
ON
Rest flag, then turn on Ry0B:RESET.
or
Power off ・When the communication of CC-Link is impossible
Please power off.
<Contents>When Station numbers except Station
number setting range (1~63) are set to Rotary Switch
Power off (B RATE), the alarm is occurred.
<Countermeasure> Please confirm whether the
setting of Rotary Switch (B RATE) is correct.
<Contents> When Rotary Switch (B RATE) is set
within the range (5~9) of unused, the alarm will be
Power off occurred.
<Countermeasure> Please confirm whether the
setting of Rotary Switch (B RATE) is correct.
<Contents> The WDT time-out was generated by
communication CPU.
Power off
<Countermeasure> If the alarm cannot be deactivated
even after the power is reapplied, please contact SMC.
-: The LED display is unrelated
- 85 -
The following tables show alarm details that can be confirmed by Controller LED display.
RWr 0
Controller
state
bit
5
Reception of
Data editing
Error
(Out of
address
range) *1
ON
Reception of
Data editing
Error
ON
(Out of access
point number
range) *1
Parameter
anomaly
detection
ON
The abnormal
station
ON
detection
bit
D
ON
ON
-
-
bit
E
-
-
ON
-
bit
F
RWr 6
(2
Station)
RWr C
(4
Station)
0~F
0~F
0002h
-
-
0002h
0003h
-
-
0003h
Turn on
RWw0,bit
2: Reset
flag
-
Turn on
RWw0,bit
2: Reset
flag
-
-
ON
How to
deactivate
Turn on
RWw0,bit
2: Reset
flag
-
Turn on
RWw0,bit
2: Reset
flag
or
Power off
-
Alarm contents/Countermeasure
<Contents>When the setting of the
reading/writing start number is out of
address range, or when writing in a
number (address) which is not permitted,
this alarm will happen.
<Countermeasure>
Please confirm whether the
reading/writing number (address) is
correct.
<Contents> When the setting of the
reading/writing final number is out of the
range, this alarm will happen.
<Countermeasure>
Please confirm whether the
reading/writing data is correct.
<Contents> There is a mistake in the
Input/Output flag etc. specified from
PLC. The conditions that Parameter
anomaly detection becomes ON are as
follows.
(a) When use in Numerical data
instructions operation
・RWw0,bit4~C: Setting numerical data is
not set correctly.
(b) When use in Step data editing
function
1. When write in an address which is not
permitted.
2.When the setting of the reading/writing
start address number is out of range
<Countermeasure>Please confirm
whether the ‘Setting numerical data’ flag
and the data at the time of parameter
rewriting is correct.
<Contents> The abnormal station is
detected in CC-Link.
<Countermeasure>
Please confirm whether the station
number
setting
is
correct
by
programming of PLC side.
*1 Only in Parameter writing mode
-: ON, OFF does no matter
- 86 -
18. Wiring of cables/Common precautions
Warning
1. Adjusting, mounting or wiring change should never be done before shutting off the power
supply to the product.
Electrical shock, malfunction and damaged can result.
2. Never disassemble the cable. Use only specified cables.
3.
Never connect or disconnect the cable or connector with power on.
Caution
1. Wire the connector securely. Do not apply any voltage to the terminals other than those
specified in the product Manual.
2.
Wire the connector securely.
Check for correct connector wiring and polarity.
3.
Take appropriate measures against noise.
Noise in a signal line may cause malfunction. As a countermeasure, separate high voltage and low
voltage cables, and shorten wiring lengths, etc.
4.
Do not route wires and cables together with power or high voltage cables.
The product can malfunction due to interference of noise and surge voltage from power and high
voltage cables to the signal line. Route the wires of the product separately from power or high voltage
cables.
5.
Take care that actuator movement does not catch cables.
6.
Operate with cables secured. Avoid bending cables at sharp angles where they enter the product.
7.
Avoid twisting, folding, rotating or applying an external force to the cable.
Risk of electric shock, wire break, contact failure and lost of control for the product can happen.
8.
Fix the motor cable protruding from the product in place before using.
The motor and lock cables are not robotic type cables and can be damaged when moved. Therefore
do not place A part below it in a flexible moving tube.
Connector
Motor cable
Actuator cable
Robotic type cable (Flexible type cable)
A
9.
Select “Robotic type cables” in case of inflecting actuator-cable repeatedly. And do not put
cables into a flexible moving tube with a radius smaller than the specified value. (Min. 50mm).
Risk of electric shock, wire break, contact failure and loss of control for the product can happen if
“Standard cables” are used in case of inflecting the cables repeatedly.
/Confirm proper wiring of the product.
Poor insulation (interference with other circuits, poor insulation
between terminals and etc.) can apply excessive voltage or current to the product causing damage.
10. The Speed / pushing force may vary, depending on the cable length, load and mounting
conditions etc..
If the cable length exceeds 5m, the speed / pushing force will be reduced by a maximum of 10% per
5m. (If cable length is 15m: Maximum 20% reduction.)
[Transportation]
Caution
1. Do not carry or swing the product by the motor or the cable
- 87 -
19. Electric actuators/Common precautions
19.1 Design and selection
Warning
1. Be sure to read the Operation Manual.
Handling or usage/operation other than that specified in the Operation Manual may lead to breakage
and operation failure of the product.
Any damage attributed to the use beyond the specifications is not guaranteed.
2. There is a possibility of dangerous sudden action by the product if sliding parts of machinery
are twisted due to external forces, etc.
In such cases, human injury may occur, such as by catching hands or feet in the machinery, or damage to the
machinery itself may occur. Design the machinery should be designed to avoid such dangers.
3. A protective cover is recommended to minimize the risk of personal injury.
If a driven object and moving parts of the product are in close proximity, personal injury may occur.
Design the system to avoid contact with the human body.
4. Securely tighten all stationary parts and connected parts so that they will not become loose.
When the product operates with high frequency or is installed where there is a lot of vibration, ensure
that all parts remain secure.
5. Consider a possible loss of power source.
Take measures to prevent injury and equipment damage even in the case of a power source failure.
6. Consider behavior of emergency stop of whole system.
Design the system so that human injury and/or damage to machinery and equipment will not be
caused, when it is stopped by a safety device for abnormal conditions such as a power outage or a
manual emergency stop of whole system.
7. Consider the action when operation is restarted after an emergency stop or abnormal stop of
whole system.
Design the system so that human injury or equipment damage will not occur upon restart of operation
of whole system.
8. Disassembly and modification prohibited
Do not modify or reconstruct (including additional machining) the product. An injury or failure can result.
9. Do not use stop signal, "EMG" of the controller and stop switch on the teaching box as the
emergency stop of system.
The stop signal, "EMG" of controller and the stop switch on the teaching box are for decelerating and
stopping the actuator.
Design the system with an emergency stop circuit which is applied relevant safety standard separately.
10. When using it for vertical application, it is necessary to build in a safety device.
The rod may fall due to the weight of work. The safety device should not interfere with normal
operation of the machine.
Caution
1. Operate within the limits of the maximum usable stroke.
The product will be damaged if it is used with the stroke which is over the maximum stroke. Refer to
the specifications of the product.
2. When the product repeatedly cycles with partial strokes, operate it at a full stroke at least once
a day or every 1000 strokes.
Otherwise, lubrication can run out.
- 88 -
3.
Do not use the product in applications where excessive external force or impact force is
applied to it.
The product can be damaged. Each component that includes motor is made with accurate tolerance.
So even slightly deformed or miss-alignment of component may lead operation failure of the product.
4.
Return to origin cannot return while operating.
It cannot be done during positioning operation, pushing operation and pushing.
5.
Refer to a common auto switch /matter (Best Pneumatics No 2) when an auto switch is built in
and used.
6.
When conformity to UL is required, the electric actuator and controller should be used with a
UL1310 Class 2 power supply.
19.2 Mounting
Warning
1.
Install and operate the product only after reading the Operation Manual carefully and
understanding its contents. Keep the manual in a safe place future reference.
2.
Observe the tightening torque for screws.
Tighten the screws to the recommended torque for mounting the product.
3.
Do not make any alterations to this product.
Alterations made to this product may lead to a loss of durability and damage to the product, which can
lead to human injury and damage to other equipment and machinery.
4.
When using external guide, the guide axis should be parallel to the actuator axis.
There will be damage/excessive wear on the lead screw if the external guide is not parallel.
5.
When an external guide is used, connect the moving parts of the product and the load in such
a way that there is no interference at any point within the stroke.
Do not scratch or dent the sliding parts of the product tube or piston rod etc., by striking or grasping
them with other objects. Components are manufactured to precise tolerances, so that even a slight
deformation may cause faulty operation.
6.
Prevent the seizure of rotating parts.
Prevent the seizure of rotating parts (pins, etc.) by applying grease.
7.
Do not use the product until you verify that the equipment can be operated properly.
After mounting or repair, connect the power supply to the product and perform appropriate functional
inspections to check it is mounted properly.
8.
At the overhang mounted impeller fixation
There is a possibility that the power at the bending moment damages the actuator when moving it at
high speed.
The support metal fittings that suppress the vibration of the main body of the actuator are installed.
Lower and use speed for the state that the actuator doesn't vibrate.
9.
When mounting the actuator or attaching to the work piece, do not apply strong impact or
large moment.
If an external force over the allowable moment is applied, it may cause looseness in the guide unit, an
increase in sliding resistance or other problems.
10.
Maintenance space.
Allow sufficient space for maintenance and inspection.
- 89 -
19.3 Handling
1.
2.
3.
4.
5.
6.
1.
2.
3.
4.
5.
6.
7.
Warning
Do not touch the motor while in operation.
The surface temperature of the motor can increase to approx. 90oC to 100oC due to operating
conditions. Energizing alone may also cause this temperature increase. As it may cause burns, do not
touch the motor when in operation.
If abnormal heating, smoking or fire, etc., occurs in the product, immediately shut off the
power supply.
Immediately stop operation if abnormal operation noise or vibration occurs.
If abnormal operation noise or vibration occurs, the product may have been mounted incorrectly.
Unless operation of the product is stopped for inspection, the product can be seriously damaged.
Never touch the rotating part of the motor or moving part of the actuator while in operation.
When installing, adjusting, inspecting or performing maintenance on the product, controller and related
equipment, be sure to shut off the power supply to each of them. Then, lock it so that no one other than
the person working can turn the power on, or implement measures such as a safety plug.
In the case of the actuator that has a servo motor (24VDC), the “motor phase detection step" is
done by inputting the servo on signal just after the controller power is turned on. The “motor
phase detection step” operates the table/rod to the maximum distance of the lead screw. (The
motor rotates in the reverse direction if the table hits an obstacle such as the end stop
damper.) Take the “motor phase detection step” into consideration for the installation and
operation of this actuator.
Caution
Keep the controller and product combined as delivered for use.
The product is set in parameters for shipment. If it is combined with a different parameter, failure can result.
Check the product for the following points before operation.
a) Damage to electric driving line and signal lines
b) Looseness of the connector to each power line and signal line
c) Looseness of the actuator/cylinder and controller/driver mounting
d) Abnormal operation
e) Emergency stop of the total system
When more than one person is performing work, decide on the procedures, signals, measures
and resolution for abnormal conditions before beginning the work. Also, designate a person
to supervise work other than those performing work.
Actual speed of the product will be changed by the workload.
Before selecting a product, check the catalog for the instructions regarding selection and
specifications.
Do not apply a load, impact or resistance in addition to a transferred load during return to origin.
In the case of the return to origin by pushing force, additional force will cause displacement of the
origin position since it is based on detected motor torque.
Do not remove the name plate.
Operation test should be done by low speed. Start operation by predefined speed after
confirming there is no trouble.
[Earth]
Warning
Please give the earth of the actuator.
Please make it to the earth of the exclusive use. The earth construction is D seed.
(Below earth resistance 100Ω)
3. Please shorten the distance until the actuator and earth.
1.
2.
- 90 -
[Unpackaging]
Caution
1. Check the received product is as ordered.
If a different product is installed from the one ordered, injury or damage can result.
19.4 Operating environment
1.
2.
3.
4.
5.
Warning
Avoid use in the following environments.
a. Locations where a large amount of dusts and cutting chips are airborne.
b. Locations where the ambient temperature is outside the range of the temperature specification
(refer to specifications).
c. Locations where the ambient humidity is outside the range of the humidity specification (refer to
specifications).
d. Locations where corrosive gas, flammable gas, sea water, water and steam are present.
e. Locations where strong magnetic or electric fields are generated.
f. Locations where direct vibration or impact is applied to the product.
g. Areas that are dusty, or are exposed to splashes of water and oil drops.
h. Areas exposed to direct sunlight (ultraviolet ray).
Do not use in an environment where the product is directly exposed to liquid, such as cutting oils.
If cutting oils, coolant or oil mist contaminates the product, failure or increased sliding resistance can
result.
Install a protective cover when the product is used in an environment directly exposed to
foreign matters such as dust, cutting chips and spatter.
Play or increased sliding resistance can result.
Shade the sunlight in the place where the product is applied with direct sunshine.
Shield the valve from radiated heat generated by nearby heat sources.
When there is a heat source surrounding the product, the radiated heat from the heat source can
increase the temperature of the product beyond the operating temperature range. Protect it with a
cover, etc.
6.
Grease oil can be decreased due to external environment and operating conditions, and it
deteriorates lubrication performance to shorten the life of the product.
[Storage]
Warning
1. Do not store the product in a place in direct contact with rain or water drops or is exposed to
harmful gas or liquid.
2.
Store in an area that is shaded from direct sunlight and has a temperature and humidity within
the specified range (-10oC to 60oC and 35 to 85% No condensation or freezing.
3.
Do not apply vibration and impact to the product during storage.
- 91 -
19.5 Maintenance
Warning
1. Do not disassemble or repair the product.
Fire or electric shock can result.
2. Before modifying or checking the wiring, the voltage should be checked with a tester 5
minutes after the power supply is turned off.
Electrical shock can result.
Caution
1. Maintenance should be performed according to the procedure indicated in the Operating
Manual.
Incorrect handling can cause injury, damage or malfunction of equipment and machinery.
2. Removal of product.
When equipment is serviced, first confirm that measures are in place to prevent dropping of work
pieces and run-away of equipment, etc, and then cut the power supply to the system. When
machinery is restarted, check that operation is normal with actuators in the proper positions.
[Lubrication]
Caution
1. The product has been lubricated for life at manufacturer, and does not require lubrication in
service.
Contact SMC if lubrication will be applied.
19.6 Precautions for actuator with lock
1.
2.
3.
4.
5.
6.
7.
8.
Warning
Do not use the lock as a safety lock or a control that requires a locking force.
The lock used for the product with a lock is designed to prevent dropping of work piece.
For vertical mounting, use the product with a lock.
If the product is not equipped with a lock, the product will move and drop the work piece when
the power is removed.
"Measures against drops” means preventing a work piece from dropping due to its weight
when the product operation is stopped and the power supply is turned off.
Do not apply an impact load or strong vibration while the lock is activated.
If an external impact load or strong vibration is applied to the product, the lock will lose it’s
holding force and damage to the sliding part of the lock or reduced lifetime can result. The same
situations will happen when the lock slips due to a force over the thurst of the product, as this
accelerates the wear to the lock.
Do not apply liquid or oil and grease to the lock or its surrounding.
When liquid or oil and grease is applied to the sliding part of the lock, its holding force will reduce
significantly.
Take measures against drops and check that safety is assured before mounting,
adjustment and inspection of the product.
If the lock is released with the product mounted vertically, a work piece can drop due to its weight.
When the actuator is operated manually (when SVRE output signal is off), supply 24DCV
to the [BK RLS] terminal of the power supply connector.
If the product is operated without releasing the lock, wearing of the lock sliding surface will be
accelerated, causing reduction in the holding force and the life of the locking mechanism.
Do not supply 24VDC power supply constantly to the [BK RLS(Lock release)] terminal.
Stop supplying 24VDC power supply to the [BK RLS(Lock release) terminal during normal
operation. If power is supplied to the [BK RLS] terminal continuously, the lock will be released,
and workpieces may be dropped at stop (EMG).
/Refer to the operation manual of LEC (controller) for details of wiring.
- 92 -
20. Controller and its peripheral devices /Specific product precautions
20.1 Design and selection
Warning
1.
Be sure to apply the specified voltage.
Otherwise, a malfunction and breakage of the controller may be caused.
If the applied voltage is lower than the specified, it is possible that the load cannot be moved due to an
internal voltage drop. Please check the operating voltage before use.
2.
Do not operate beyond the specifications.
It may cause a fire, malfunction or actuator damage can result. Please check the specifications before
use.
3.
Install an emergency stop circuit.
Please install an emergency stop outside of the enclosure so that it can stop the system operation
immediately and intercept the power supply.
4.
In order to prevent danger and damage due to the breakdown and the malfunction of this
product, which may occur at a certain probability, a backup system should be established
previously by giving a multiple-layered structure or a fail-safe design to the equipment, etc.
5.
If a fire or danger against the personnel is expected due to an abnormal heat generation,
ignition, smoking of the product, etc., cut off the power supply for this product and the system
immediately.
20.2 Handling
1.
2.
3.
4.
5.
6.
7.
8.
Warning
The inside of the controller and its connector should not be touched.
It may cause an electric shock or damage to the controller.
Do not perform the operation or setting of this equipment with wet hands.
It may cause an electric shock.
Product with damage or the one lacking of any components should not be used.
It may cause an electric shock, fire, or injury.
Use only the specified combination between the controller and electric actuator.
It may cause damage to the controller or the actuator.
Be careful not to be caught or hit by the workpiece while the actuator is moving.
It may cause an injury.
Do not connect the power supply or power on the product before confirming the area where
the work moves is safe.
The movement of the work may cause accident.
Do not touch the product when it is energized and for some time after power has been
disconnected, as it is very hot.
It may lead to a burn due to the high temperature.
Check the voltage using a tester for more than 5 minute after power-off in case of installation,
wiring and maintenance.
There is a possibility of getting electric shock, fire and injury.
- 93 -
9.
Do not use in an area where dust, powder dust, water or oil is in the air.
It will cause failure or malfunction.
10. Do not use in an area where a magnetic field is generated.
It will cause failure or malfunction.
11. Do not install in the environment of flammable gas, corrosive gas and explosive gas.
It could lead to fire, explosion and corrosion.
12. Radiant heat from strong heat supplys such as a furnace, direct sunlight, etc. should not be
applied to the product.
It will cause failure of the controller or its peripheral devices.
13. Do not use the product in an environment subject to a temperature cycle.
It will cause failure of the controller or its peripheral devices.
14. Do not use in a place where surges are generated.
When there are units that generate a large amount of surge around the product (e.g., solenoid type
lifters, high frequency induction furnaces, motors, etc.), this may cause deterioration or damage to the
product’s' internal circuit. Avoid supplys of surge generation and crossed lines.
15. Do not install this product in an environment under the effect of vibrations and impacts.
It will cause failure or malfunction.
16. If this product is used with a relay or solenoid valve, they should be the surge absorbing
element built-in type.
20.3 Installation
Warning
1.
The controller and its peripheral devices should be installed on a fire-proof material.
A direct installation on or near a flammable material may cause fire.
2.
Do not install this product in a place subject to vibrations and impacts.
It may cause an electric shock, fire, or injury.
3.
Take measure so that the operating temperature of this controller and its peripheral devices
are within the range of the specifications.
Also, this controller should be installed with 50mm
or larger spaces between each side of it and the other structures or
components.
It may cause a malfunction of the controller and its peripheral devices and a fire.
4.
Do not mount this controller and its peripheral devices together with a large-sized
electromagnetic contactor or no-fuse breaker, which generates vibration, on the same panel.
Mount them on different panels, or keep the controller and its peripheral devices away from
such a vibration supply.
5.
This controller and its peripheral devices should be installed on a flat surface.
If the mounting surface is distorted or not flat, an unacceptable force may be added to the housing, etc.
to cause troubles.
- 94 -
20.4 Wiring of cables/Common precautions
Warning
1.
Do not apply any excessive force to cables by repeated bending, tensioning or placing a heavy
object on the cables.
It may cause an electric shock, fire, or breaking of wire.
2.
Connect wires and cables correctly.
Incorrect wiring could break he controller or its peripheral devices depending on the seriousness.
3.
Do not connect wires while the power is supplied.
It can break the controller or its peripheral devices could be damaged to cause a malfunction.
4.
Do not carry this product by holding its cables.
It may cause an injury or damage to the product.
5.
Do not connect power cable or high-voltage cable in the same wiring route as the unit.
Te wires to the controller or its peripheral devices can be interrupted with noise or induced surge
voltage from power lines or high-voltage lines and malfunction could be caused.
Separate the wiring of the controller and its peripheral device from that of power line and high voltage
line.
6.
Verify the insulation of wiring.
Insulation failure (interference with other circuit, poor insulation between terminals and etc.) could
introduce excessive voltage or current to the controller or its peripheral devices and damage them.
20.5 Power supply
Caution
1. Use a power supply that has low noise between lines and between power and ground.
In cases where noise is high, an isolation transformer should be used.
2. The power supplys should be separated between the controller power and the I/O signal power
and both of them do not use the power supply of “rush-current restraining type”.
If the power supply is “rush-current restraining type”, a voltage drop may be caused during the
acceleration of the actuator.
3. To prevent surges from lightning, an appropriate measure should be taken. Ground the surge
absorber for lightning separately from the grounding of the controller and its peripheral
devices.
20.6 Grounding
Warning
1. Be sure to carry out grounding in order to ensure the noise tolerance of the controller.
It may cause an electric shock or fire.
2. Dedicated grounding should be used.
Grounding should be to a D-class ground (Ground resistance of 100 Ω or less.)
- 95 -
3.
Grounding should be performed near the unit as much as possible to shorten the grounding
distance.
4.
In the unlikely event that malfunction is caused by the ground, it may be disconnected.
20.7 Maintenace
Warning
1. Perform a maintenance check periodically
Confirm wiring and screws are not loose.
Loose screws or wires may cause unintentional malfunction.
2. Conduct an appropriate functional inspection after completing the maintenance.
In case of any abnormities (in the case that the actuator does no move, etc.), stop the operation of the
system. Otherwise, an unexpected malfunction may occur and it will become impossible to secure the
safety.
3. Do not disassemble, modify or repair this controller and the peripheral equipment.
4.
Do not put anything conductive or flammable inside of this controller.
It may cause a fire and explosion.
5.
Do not conduct an insulation resistance test and withstand voltage test on this product.
6.
Ensure sufficient space for maintenance activities.
Provide space required for maintenance.
Design the system that allows required space for maintenance.
- 96 -
21. Troubleshooting
In case of any troubles, please select the trouble phenomenon from the following flow charts. Consider
replacing controller, if not of the causes on this table are applicable. It is possible that this product is
damaged due to the operating conditions (applications), please contact SMC to discuss appropriate
measures.
The system does not
operate normally
LECPMJ
Trouble 1
LED is OFF
Either of L RUN or L ERR
Trouble 2
is ON or flashing
Or both of them are OFF
ALM RED ON
Trouble 3
Communication
Trouble 4
fault (LEC-W2)
The actuator does not
Trouble 5
operate normally
Please contact SMC
- 97 -
Trouble
No.
Trouble
Possible
cause
Power fault
1
How to diagnose the trouble
Check if the LED (green) of the
controller is lit.
LED is OFF
Check if the controller is wired
Wiring fault
correctly according to this manual
without any breakings and short
circuits.
CPU
Check if the both of LED of
malfunction
L RUN(Green),L ERR(Red) are lit.
L ERR
is ON/ Flashing
The power supply, voltage or current
should be modified to an appropriate
one.
->/P.22 5. External Wiring Diagram
->/P.24 6. CN1: Power supply plug
Correct the wiring so that the
input/output of each signal is performed
appropriately.
->/P.22 5. External Wiring Diagram
->/P.36 10.1 Memory assignment
L RUN or
2
Solutions
The malfunction maybe happened by
CPU and trouble of neighboring circuits
or noise.
-> Even after this measure, if the alarm
regenerates when the power is
reapplied, please contact SMC.
Please check the state of
CC-Link
communication
abnormality
L RUN(Green),L ERR(Red).
Check if the controller is in the
alarm condition. If it is, check the
type of alarm referring to this
Take appropriate measures according
to this manual.
->/P.31 8. LED Display
->/P.85 17. Alarm Detection for
CC-Link Communication
manual.
3
ALM RED ON
Check if the controller is in the
Take appropriate measures according
Alarm
alarm condition. If it is, check the
to this manual.
condition
type of alarm referring to this
->/P.79 16. Alarm Detection of Motor
manual.
Control
- 98 -
4
USB driver is
not installed
Please confirm if the USB driver
of the communication unit is
installed.
Incorrect COM
port setting
Please confirm if the correct
COM port is set to the ACT
Controller
Inappropriate
connection
Please confirm the connection
status.
Communication
fault.(LEC-W2)
Please install the USB driver of the
communication unit.
The USB driver's installation starts when
the communication unit is connected
with PC.
The detail of the installation procedure is
shown in "Installation procedure of the
LEC-W2 setting software".
The COM port allocated to the
communication unit is different
according to customer’s PC. Please
confirm the COM port number with the
PC communication unit connected. The
COM port number can be checked by
checking device manager in PC. Please
confirm.
The detail of the COM port checking
method and setting method is shown in
"Installation procedure of the LEC-W2
setting software".
Please confirm motor controller (LEC) =
communications cable = communication
unit = USB cable = PC is connected.
As example, can not make the
communication if the connector has
been damaged.
Please confirm the power supply of
motor controller (LEC) has been turned
on. The communication is not made if
the Power supply is off.
If the equipments (PLC and
measurement hardware) except motor
controller (LEC) is connected with PC.
(There is a possibility that the
communication with other equipment
interferes in PC.) Interferes in PC.)
- 99 -
Lock release
error
The actuator
does not move
External
device fault
at all.
Inappropriate
specifications
Wiring fault
Electric noise
Inappropriate
parameter
5
Voltage drop
Check if you can hear the sound of
lock release when the manual
lock switch is turned on and off.
Check if the PLC connected to the
controller is working well. Test
operation of the controller
stand-alone.
Check if the controller’s
specifications are appropriate, the
power supply is suitable and the
actuator is compatible to the
controller.
Check if the controller is wired
correctly according to this manual
without any break and short
circuits.
Check if the grounding for the
controller is appropriate. Also,
check if the cables are not
bundled.
Check if the parameters are
appropriate.
Check if the controller is
compatible to the actuator.
Check if there are any temporary
voltage drops for the power supply.
(In case of a voltage drop, the
EMG terminal of CN1 power
connector will be turned off to put
the actuator in a stop condition.
However, this stop will be released
when the voltage recovers.)
Move
occasionally.
The pushing
operation
defective.
Check during pushing operation the
INP output signal is turning on.
(On completion of pushing the
operation the output INP signal is
generated, the PLC cannot confirm
the completion of driving. )
If there is no sound of lock release, the
lock brake is possibly broken.
-> If the trouble continues, please
contact SMC.
Take appropriate measures according
to this manual.
->/P.36 10.1 Memory assignment
Check the actuator part number to
replace with one of the appropriate
ones compatible to the controller.
->P.13 3. Product Specifications
Correct the wiring so that the
input/output of each signal is
performed appropriately.
->/P.22 5. External Wiring Diagram
->/P.36 10.1 Memory assignment
Take appropriate measures according
to this manual.
->/P.17 3.4 How to install
Modify the parameters accordingly and
check the operation.
->/P.52 11.Setting Data Entry
Replace the power supply.
But do not use the power supply of
“rush-current restraining type”. That
has a sufficient capacity.
->P.13 3. Product Specifications
If the controller version is below
SV1.00
The pushing force is reduced when the
energy saving mode is turned on. If the
pushing force is reduced to a value
less than the value in step data “trigger
LV” the INP output signal is turned off.
Check the INP output signal before the
energy saving mode is turned on.
->/P.36 10.1 Memory assignment
Inappropriate
specifications
Check if the controller’s
specifications are appropriate, the
power supply is suitable and the
controller is compatible to the
actuator.
Check the actuator part number to
replace with one of the appropriate
ones compatible to the controller.
->P.13 3. Product Specifications
PLC processing delay and controller
scan delay are generated. Please
Signal timing
Check the timing of the signal from
the PLC to the controller.
ensure an interval of 15ms(30 ms if
possible)or more between input
signals, and maintain the signal state.
->/P.61 12.4 Controller input signal
response time
- 100 -
Incorrect origin
position
5
The actuator
does not move
to the correct
position.
Inappropriate
basic
parameters
Inappropriate
specifications
Wiring fault
If it is a pushing operation, repeat
return to origin operations several
times to check if the actuator
returns to the origin correctly.
Check if the values for the
parameter are appropriate and the
program is correct.
Review the maximum speed, the
maximum acceleration and the
maximum deceleration of the
actuator.
Check if the controller’s
specifications are appropriate, the
power supply is suitable and the
controller is compatible to the
actuator.
Check if the controller is wired
correctly according to this manual
without any breaks and short
circuits
Take measure to make the actuator
operates normally (remove foreign
matters that interferes with the actuator
movement, etc.)
Modify the parameters to appropriate
ones and test the operation.
->/P.52 11.Setting Data Entry
Take appropriate measures according
to this manual.
->P.13 3. Product Specifications
Correct the wiring so that the
input/output of each signal is
performed appropriately.
->/P.22 5. External Wiring Diagram
->/P.36 10.1 Memory assignment
Check if the controller’s
Inappropriate
specifications
specifications are appropriate, the
power supply is suitable and the
controller is compatible to the
Take appropriate measures according
to this manual.
->P.13 3. Product Specifications
actuator.
The actuator
does not move
correctly.
Signal timing
Check the timing of the signal from
the PLC to the controller.
PLC processing delay and controller
scan delay are generated. Please
ensure an interval of 15ms (30 ms if
possible) or more between input
signals, and maintain the signal state.
->/ P.61 12.4 Controller input signal
response time
Data writing
Check whether data (step data,
parameter) is written correctly.
Do not turn off the controller input
failure
power or remove the cable while
data is being written (green light
Insufficient
speed
Inappropriate
basic
parameters
flashing).
Check if the values for the
parameter are appropriate and the
program is correct.
Review the maximum speed and
the maximum acceleration of the
actuator.
Input correct data (step data,
parameter) again and confirm
operation.
->/P.15 3.2 Parts description
->/P.52 11.Setting Data Entry
Modify the values of the parameters to
appropriate ones and test the
operation.
->/P.52 11.Setting Data Entry
Check if a trapisodial acceleration
/ deceleration is programmed for
Inappropriate
the actuator operation. In case of
step data
such operation, the actuator may
start slowing down before it
Modify the setting to make the moving
distance longer or the acceleration
larger.
->/P.52 11.Setting Data Entry
reaches the maximum speed.
Check if the controller’s
Inappropriate
specifications
specifications are appropriate, the
power supply is suitable and the
controller is compatible to the
actuator.
- 101 -
Take appropriate measures according
to this manual.
->P.13 3. Product Specifications
Check if there has been any
temporary voltage drop in the
power supply.
(If there is a temporary voltage
drop in the power supply, the
Voltage drop
EMG terminal of CN1 power
connector will turn OFF so the
actuator will stop. However, this
stop will be released when the
voltage recovers.)
- 102 -
There is a possibility of a momentary
voltage drop because the capacity of
the power supply is insufficient, or the
power supply has inrush current
restraining specification.
->P.13 3. Product Specifications
22. Memory map list
The memory map according to the mode is shown below. Please refer to 10. Memory map (page 36) for
details of each signal.
●Single numerical data instructions (1 Station occupied) [Remote IO]
PLC memory
address
Rx
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10~1A
1B
1C~1F
Signal name
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
-
-
BUSY
SVRE
SETON
INP
AREA
WAREA
ESTOP
ALARM
CC-Link system area
Remote station READY
CC-Link system area
- 103 -
PLC memory
address
Ry
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10~1F
Signal name
IN0
IN1
IN2
IN3
IN4
IN5
-
-
HOLD
SVON
DRIVE
RESET
SETUP
-
-
-
CC-Link system
area
●Single numerical data instructions (1 Station occupied) [Remote register]
PLC memory
address
RWr
bit
0
1
2
3
4
5
6
0
7
8
9
A
B
C
D
E
F
RWr Data name
Return of Occupied
number of stations(L)
Return of Occupied
number of stations(H)
Sending
Sending completed
READY
ALARM flag
Initial
Return of the read
numerical data
PLC memory
address
RWw
bit
0
(Nouse)
Data editing error
receiving
Parameter anomaly
detection
The abnormal station
detection
RWw Data name
0
Setting read numerical data
1
(Nouse)
2
3
4
5
6
Reset flag
Restart flag
Movement MOD
Speed
Position
7
Acceleration
8
9
A
B
C
Deceleration
Pushing force
Trigger LV
Pushing speed
Moving force
D
Area 1
E
Area 2
F
In position
Start flag
(Nouse)
Movement MOD
Current position
Numerical data
Numerical data
2
F~0
instructions data
2
F~0
instructions data
(1 word data)*2
(2 word data) *1
3
F~0
Current position
3
F~0
(Nouse)*2
*1 RWw0, bit4~F: Setting numerical data in the case of "Position" or "Area 1" or "Area 2".
*2 RWw0,bit4~F: Setting numerical data in the case of " Speed " or " Acceleration " or " Deceleration " or “Pushing
force” or “Trigger LV” or “Pushing speed” or “Moving force” or “In position”.
1
F~0
1
- 104 -
0
7~1
F~8
●Half numerical data instructions (2 Station occupied) [Remote IO]
PLC memory
address
Rx
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10~2F
30~3A
3B
3C~3F
Signal name
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
-
-
BUSY
SVRE
SETON
INP
AREA
WAREA
ESTOP
ALARM
(Nouse)
CC-Link system area
Remote station
READY
CC-Link system area
- 105 -
PLC memory
address
Ry
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10~2F
30~3F
Signal name
IN0
IN1
IN2
IN3
IN4
IN5
-
-
HOLD
SVON
DRIVE
RESET
SETUP
-
-
-
(Nouse)
CC-Link system area
●Half numerical data instructions (2 Station occupied) [Remote register]
PLC memory
address
RWr
2
3
Numerical
data
Data editing
instructions
operation
Return of Occupied number of
stations(L)
Return of Occupied number of
stations(H)
Sending
Sending completed
4
READY
5
6
7
8
9
A
B
C
D
E
F
ALARM flag
Initial
Return of the read numerical data
Return of parameter rewriting
bit
0
1
0
1
PLC memory
address
RWr Data name
F~0
RWw
bit
(Nouse)
Data editing error receiving
Parameter anomaly detection
The abnormal station detection
Current position
1
F~0
3
F~0
4
F~0
5
F~0
6
F~0
7
7~0
F~8
Current
speed
Current Force
Target
position
Alarm 1
Alarm 2
1
Setting parameter rewriting
2
3
Reset flag
Restart flag
Movement
Start flag
MOD
Speed
Position
Acceleration
Deceleration
Pushing force
(Nouse)
Trigger LV
Pushing speed
5
6
7
8
9
A
B
C
D
E
F
0
7~1
2
F~0
Sub Function
3
F~0
Address
4
F~0
Address
(always 0)
5
F~0
DATA(H)
6
F~0
DATA(L)
7
F~0
- 106 -
Data editing
Setting read numerical data
F~8
2
Numerical data
instructions
operation
0
4
0
RWw Data name
(Nouse)
Start flag
(Nouse)
Movement
MOD
Speed
Target position
Acceleration
(Pushing
force)
Deceleration
(Trigger LV)
Pushing speed
Sub Function
Address
Address
(always 0)
DATA(H)
DATA(L)
Occupation area
●Full numerical data instructions (4 Station occupied) [Remote IO]
PLC memory
address
Rx
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10~6F
70~7A
7B
7C~7F
Signal name
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
-
-
BUSY
SVRE
SETON
INP
AREA
WAREA
ESTOP
ALARM
(Nouse)
CC-Link system area
Remote station READY
CC-Link system area
- 107 -
PLC memory
address
Ry
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10~6F
70~7F
Signal name
IN0
IN1
IN2
IN3
IN4
IN5
-
-
HOLD
SVON
DRIVE
RESET
SETUP
-
-
-
(Nouse)
CC-Link system area
●Full numerical data instructions (4 Station occupied) [Remote register]]
PLC memory
address
RWr
2
3
Numerical
data
Data editing
instructions
operation
Return of Occupied number of
stations(L)
Return of Occupied number of
stations(H)
Sending
Sending completed
4
READY
5
6
7
8
9
A
B
C
D
E
F
ALARM flag
Initial
Return of the read numerical data
Return of parameter rewriting
bit
0
1
0
1
F~0
2
F~0
3
F~0
4
5
6
9
A
F~0
F~0
F~0
7~0
F~8
7~0
F~8
F~0
F~0
B
F~0
C
D
E
F
F~0
F~0
F~0
F~0
7
8
PLC memory
address
RWr Data name
RWw
bit
RWw Data name
Numerical data
instructions
operation
Data editing
0
Setting read numerical data
1
Setting parameter rewriting
2
3
2
F~0
Current speed
3
F~0
Current Force
4
5
6
F~0
F~0
F~0
Reset flag
Restart flag
Movement
Start flag
MOD
Speed
Position
Acceleration
Deceleration
Pushing force
Trigger LV
(Nouse)
Pushing speed
Moving force
Area 1
Area 2
In position
Start flag
(Nouse)
Sub Function
Movement
MOD
Speed
Address
Address
Target position
(always 0)
DATA(H)
Acceleration
DATA(L)
Deceleration
7
F~0
Pushing force
8
F~0
Trigger LV
9
A
F~0
F~0
Pushing speed
Moving force
B
F~0
C
D
E
F
F~0
F~0
F~0
F~0
4
0
(Nouse)
Data editing error receiving
Parameter anomaly detection
The abnormal station detection
1
Current position
5
6
7
8
9
A
B
C
D
E
F
0
7~1
F~8
Target position
Alarm 1
Alarm 2
Alarm 3
Alarm 4
Sub Function
Address
Address
(always 0)
Occupation
area
DATA(H)
DATA(L)
Occupation area
- 108 -
Area 1
Area 2
In position
Occupation area
23. Remote register
Remote register allocates 1 byte, 1 word and 2 word datas according to the content of data.
1 byte data
Please treat 1 byte data of the alarm as follows.
Example) When Alarm 1 and Alarm 2 are displayed in RWwn+7.
(Full numerical data instructions, 4 Station occupied)
Alarm 1 and Alarm 2 are expressed by the decimal number. Display form of the value of RWrn+7 is
different according to the setting of PLC. So please convert it into the decimal number to read.
Alarm 1
0~255
RWrn+7
Alarm 2
0~255
0bit
8bit 7bit
Fbit
1 word data
Please treat 1 word data of Speed, Acceleration, and Deceleration etc. as follows.
Example) When input 100mm/s into Speed (RWwn+2). (Full numerical data instructions, 4 Station occupied)
100mm/s becomes 0064h by the hexadecimal number.
Please do as follows when input” 00 64 h” into the register.
RWwn+2
64h
00h
8bit
Fbit
0bit
7bit
2 word data
Please treat 2 word data of Position etc. as follows.
Example 1) When input 700.00mm into Position (RWwn+3, 4). (Full numerical data instructions, 4 Station
occupied)
The position is data of the 0.01mm unit. 700.00mm is shown by 70000 and it becomes 00011170h in
the hexadecimal number.
Please do as follows when input 00 01 11 70 h into the register.
RWwn+3
70h
11h
Fbit
RWwn+4
8bit
7bit
8bit
7bit
0bit
01h
00h
Fbit
0bit
Example 2) When input -700.00mm into Position (RWwn+3,4). (Full numerical data instructions, 4 Station
occupied)
The position is data of the 0.01mm unit. The value of minus sign uses the 2's complement expression.
-700.00mm is shown by -70000 and it becomes FFFEEE90h in the hexadecimal number.
Please do as follows when input FF FE EE 90 h into the register.
RWwn+3
90h
EEh
Fbit
RWwn+4
8bit
7bit
8bit
7bit
0bit
FEh
FFh
Fbit
0bit
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24. Glossary
The main term used in this operation manual is as follows.
Term
CC-Link
C
Communication
speed
F
Field bus
N
Number of stations
O
P
Occupied number of
stations
PLC
Rx
Ry
RWr
R
RWw
Remote device station
Definition
It is a standard of the field bus that Mitsubishi Electric
Corporation etc. promote. The share in the Asian area and
Japan is high and CC-Link is used mainly in a large number of
companies.
It is a speed at which data is sent and received in the field bus
etc. It depends on PLC etc. , and the unit uses bps(bit per
second).
It is a standard to perform the communication of signal of Spot
apparatus (measuring instrument, operation device) which
operates in factories and PLC by the digital signal.
It is the total of the occupation station of all slaves station
connected in CC-Link.
Number of the stations on the network which one slave station
uses. It is possible to set from Station 1 to Station 4 according
to the number of the data.
Abbreviation of Programmable Logic Controller. It is a
controller which sequential control by programs of the
Boolean operation, the order operation, and the arithmetic
operation, etc.
It is a remote I/O region of the input side which the master
station receives the bit data from the slave station.
It is a remote I/O region of the output side which the master
station sends the bit data from the slave station.
It is a remote register region of the input side which the master
station receives the word data from the slave station.
It is a remote register region of the output side which the
master station sends the word data from the slave station.
It is the slave station that can use bit data and word data.
Remote IO
It is a memory area that treats the bit data.
Remote register
It is a memory area that treats the word data.
It is 0 of the master station and numbers from 1 to 64 to assign
to the slave station on CC-Link .The slave station is necessary
to assign it not to repeat in consideration of the number of the
occupation station.
It is a generic name of the slave station. By usable data(bit
data and word data), there is a type of the remote I/O station,
the remote device station and the intelligent device station.
Station No.
S
Station type
The company name, system name, and the product name described in this book are the registered
trademarks or trademarks of each company. [TM]、[ R ] is not described clearly in the text.
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Revision history
No.LEC-OM06701
May/2013 1st printing
4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021 JAPAN
Tel: + 81 3 5207 8249 Fax: +81 3 5298 5362
URL http://www.smcworld.com
Note: Specifications are subject to change without prior notice and any obligation on the part of the manufacturer.
© 2013 SMC Corporation All Rights Reserved
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