Oriental motor AZD-KED is a motorized actuator equipped with EtherCAT communication and EtherCAT Drive Profile Compatible. It can be used for various applications such as positioning, speed control, and torque control. The AZD-KED series is available in AC power input type and DC power input type.
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HM-60375-2
AZ
AZ
z AC power input type z DC power input type
Introduction
AC power input type
DC power input type
EtherCAT communication
Object list
Troubleshooting
Test operation using pulses
Reference materials
Thank you for purchasing an Oriental Motor product.
This Manual describes product handling procedures and safety precautions.
• Please read it thoroughly to ensure safe operation.
• Always keep the manual where it is readily available.
Original instructions
2
3
4
5
6
This part explains the product overview and safety precautions in addition to the types and descriptions about operating manuals.
Table of contents
1 Before using the product ....................... 8
2 Operating manuals ................................. 9
2-1 Related operating manuals ............................9
2-2 How to use operating manuals ....................9
3 Overview of the product ...................... 11
4 Safety precautions ................................ 12
(AC power input driver) ................................ 14
5 Precautions for use ................................ 15
Before using the product
Only qualified personnel of electrical and mechanical engineering should work with the product.
to observe the contents described in warning, caution, and note in this manual.
The product described in this manual is designed and manufactured to be incorporated in general industrial equipment. Do not use for any other purpose. Oriental Motor Co., Ltd. is not responsible for any compensation for damage caused through failure to observe this warning.
8
Operating manuals
2-1 Related operating manuals
For operating manuals, contact your nearest Oriental Motor sales office or download from Oriental Motor Website
Download Page.
Operating manual name
Included or not included with product
AZ Series/Motorized Actuator equipped with AZ Series
EtherCAT Drive Profile Compatible USER MANUAL (this document)
AZ Series/Motorized Actuator equipped with AZ Series
OPERATING MANUAL Function Edition
APPENDIX UL Standards for AZ Series
Read the following operating manuals for motors and motorized actuators.
Not included
Not included
Not included
Operating manual name
OPERATING MANUAL Motor Edition
OPERATING MANUAL Actuator Edition
Motorized Actuator Function Setting Edition
Included or not included with product
Not included
Included
Not included
2-2 How to use operating manuals
To use the product, read this manual together with the AZ Series OPERATING MANUAL Function Edition.
This manual describes contents specific to the EtherCAT Drive Profile Compatible driver, and the AZ Series OPERATING
MANUAL Function Edition describes contents common to the AZ Series products. Refer to the AZ Series OPERATING
MANUAL Function Edition for the contents not included in this manual.
Reference destinations are indicated according to the flow of use.
How to read reference destinations
The title name of the operating manual is described in the reference destination.
The title number described in the reference destination may be changed. Use the title name when checking the reference destination.
Procedure Setting of parameters
4 EtherCAT communication
5 Object lists
4 Parameters
7 Address/code lists
Reference destination in this manual
Reference destination in
AZ Series OPERATING MANUAL Function Edition
9
Operating manuals
Installation and connection
2 AC power input type
3 DC power input type
Before starting operation
1 Before starting
operation *1
Setting of node address
2 AC power input type
3 DC power input type
Setting of parameters
4 EtherCAT communication
5 Object lists
4 Parameters
7 Address/code lists
Operation
4 EtherCAT communication
3 I/O signals *2
8 Measures for various cases
11 Appendix *3
*1 When a motorized actuator is used, the following contents cannot be operated via EtherCAT communication. Use the support software MEXE02 .
· Copying the fixed value (parameter) of the ABZO sensor to a driver
· Creation of recovery data file and method of recovery
*2 Refer to this manual for “power removal function.”
· When the AC power input driver is used: p.38
· When the DC power input driver is used: p.73
*3 Refer to this manual for “LEDs of the driver.”
· When the AC power input driver is used: p.22
· When the DC power input driver is used: p.58
About notation of objects
In this manual, the index number is described in parentheses ( ) after the object name.
Example: Controlword (6040h)
10
Overview of the product
The AZ Series EtherCAT Drive Profile Compatible driver is the dedicated driver for the AZ Series products.
Lineup
Two types of the AZ Series EtherCAT Drive Profile Compatible drivers are available: AC power input type and DC power input type.
Setting methods of parameters
Parameters can be set via EtherCAT communication or using the MEXE02 .
This manual describes how to set parameters via EtherCAT communication.
Equipped with power removal function
The power removal function is a function that stops supplying the power to the motor by the hardware. The power removal function is assumed to be used to prevent unexpected starting of the moving parts of equipment when an operator works inside the operating range of the moving parts.
Providing the ESI file
The ESI file (EtherCAT Slave Information file) is the one that describes the specific information of the EtherCAT slave products in XML format. By importing the ESI file to the EtherCAT Configration Tool of the PLC (programmable controller), the settings of EtherCAT communication can be performed before you receive the driver.
For details, contact your nearest Oriental Motor sales office.
11
Safety precautions
The precautions described below are intended to ensure the safe and correct use of the product, and to prevent the customer and others from exposure to the risk of injury. Use the product only after carefully reading and fully understanding these instructions.
Handling the product without observing the instructions that accompany a "WARNING" symbol may result in serious injury or death.
Handling the product without observing the instructions that accompany a "CAUTION" symbol may result in injury or property damage.
The items under this heading contain important handling instructions that the user should observe to ensure the safe use of the product.
The items under this heading contain related information and contents to gain a further understanding of the text in this manual.
Common to AC power input driver and DC power input driver
General
• Do not use the driver in explosive or corrosive environments, in the presence of flammable gases, in places subjected to splashing water, or near combustibles. Doing so may result in fire, electric shock, or injury.
• Assign qualified personnel to the task of installing, wiring, operating/controlling, inspecting, and troubleshooting the driver. Failure to do so may result in fire, electric shock, injury, or damage to equipment.
• Do not transport, install, connect, or inspect the driver while the power is supplied. Doing so may result in electric shock.
• Do not touch the driver while the power is supplied. Doing so may result in fire or electric shock.
• Take measures to keep the moving part in position if the product is used in vertical operations such as elevating equipment. Failure to do so may result in injury or damage to equipment.
• When an alarm is generated in the driver (any of the driver's protective functions is triggered), remove the cause before clearing the alarm (protective function). Continuing the operation without removing the cause of the problem may cause malfunction of the motor and the driver, leading to injury or damage to equipment.
Installation
• Install the driver inside an enclosure. Failure to do so may result in electric shock or injury.
• The driver is Class I equipment. When installing the driver, install it inside an enclosure so that it is out of the direct reach of users. Be sure to ground if users can touch it. Failure to do so may result in electric shock.
Connection
• Always keep the power supply voltage of the driver within the specified range. Failure to do so may result in fire or electric shock.
• Connect the product securely according to the wiring diagram. Failure to do so may result in fire or electric shock.
• Do not forcibly bend, pull, or pinch the cable. Doing so may result in fire or electric shock.
Operation
• Turn off the main power supply and the control power supply in the event of a power failure. Failure to do so may result in injury or damage to equipment.
• Do not remove the motor excitation during operation. Doing so may cause the motor to stop and lose the holding force, resulting in injury or damage to equipment.
Repair, disassembly, and modification
• Do not disassemble or modify the driver. Doing so may result in injury or damage to equipment.
12
Safety precautions
AC power input driver
General
• Do not touch the terminals indicated signs on the driver’s front panel while the power is supplied because high voltage is applied. Doing so may result in fire or electric shock.
Inspection and maintenance
• Do not touch the connection terminals of the driver immediately after turning off the main power supply and the control power supply. Before performing connection or inspection, turn off the main power supply and the control power supply, and check the CHARGE LED has been turned off. Residual voltage may cause electric shock.
Common to AC power input driver and DC power input driver
General
• Do not use the driver beyond its specifications. Doing so may result in electric shock, injury, or damage to equipment.
• Keep your fingers and objects out of the openings in the driver. Failure to do so may result in fire, electric shock, or injury.
• Do not touch the driver during operation or immediately after stopping. Doing so may result in a skin burn(s).
• Do not forcibly bend or pull the cable that is connected to the driver. Doing so may result in damage.
Installation
• Keep the area around the driver free of combustible materials. Failure to do so may result in fire or a skin burn(s).
• Do not leave anything around the driver that would obstruct ventilation. Doing so may result in damage to equipment.
Operation
• Use a motor and a driver only in the specified combination. An incorrect combination may cause a fire.
• Provide an emergency stop device or emergency stop circuit external to the equipment so that the entire equipment will operate safely in the event of a system failure or malfunction. Failure to do so may result in injury.
• Before turning on the main power supply and the control power supply, turn all input signals to the driver to OFF.
Failure to do so may result in injury or damage to equipment.
• When moving the moving part manually, put the motor into a non-excitation state. Continuing the work while the motor is in an excitation state may result in injury.
• When an abnormal condition has occurred, immediately stop operation to turn off the main power supply and the control power supply. Failure to do so may result in fire, electrical shock, or injury.
• Take measures against static electricity when operating the switches of the driver. Failure to do so may result in the driver malfunction or damage to equipment.
Inspection and maintenance
• Do not touch the terminals while conducting the insulation resistance measurement or the dielectric strength test.
Doing so may result in electric shock.
AC power input driver
Operation
• For the control power supply, use a DC power supply with reinforced insulation on its primary and secondary sides.
Failure to do so may result in electric shock.
DC power input driver
Operation
• For the main power supply and the control power supply, use a DC power supply with reinforced insulation on its primary and secondary sides. Failure to do so may result in electric shock.
13
Safety precautions
4-1 Graphical symbols on the driver's front panel
This is the Protective Earth Terminal. Be sure to ground because improper grounding may result in electric shock.
A high voltage is applied to the motor connector (CN3) and the main power supply input terminals (CN4). Do not touch them while the power is supplied. Doing so may result in fire or electric shock. (AC power input driver)
4-2 Warning indication (AC power input driver)
A warning about handling precautions is described on the driver.
Be sure to observe the description contents when handling the product.
Electrical hazard warning label
Material: PET
14
Precautions for use
This chapter covers restrictions and requirements the user should consider when using the product.
Common to AC power input driver and DC power input driver z Be sure to use our cable to connect the motor and the driver.
Check the cable models on p.49 (AC power input driver) or p.81 (DC power input driver).
z When conducting the insulation resistance measurement or the dielectric strength test, be sure to separate the connection between the motor and the driver.
Conducting the insulation resistance measurement or dielectric strength test with the motor and the driver connected may result in damage to the product.
z Note on connecting a power supply whose positive terminal is grounded
The USB communication connector, CN5, CN6, and CN7 connectors on the driver are not electrically insulated. When grounding the positive terminal of the power supply, do not connect any equipment (PC, etc.) whose negative terminal is grounded. Doing so may cause the driver and this equipment to short, damaging both. When connecting, do not ground equipment.
z Saving data to the non-volatile memory
Do not turn off the control power supply while writing the data to the non-volatile memory, and also do not turn off for 5 seconds after the completion of writing the data. Doing so may abort writing the data and cause an alarm of
EEPROM error to generate. The non-volatile memory can be rewritten approximately 100,000 times.
z Noise elimination measures
AC power input driver z Preventing leakage current
Stray capacitance exists between the driver’s current-carrying line and other current-carrying lines, the earth and the motor, respectively. A high-frequency current may leak out through such capacitance, having a detrimental effect on the surrounding equipment. The actual leakage current depends on the driver’s switching frequency, the length of wiring between the driver and the motor, and so on. When installing an earth leakage breaker, use a product offering resistance against high frequency current such as the one specified below.
Mitsubishi Electric Corporation: NV series z If vertical drive (gravitational operation) such as elevator applications is performed or if sudden startstop operation of a large inertial load is repeated frequently, connect our regeneration resistor
RGB100 .
An alarm of overvoltage may be detected depending on the operating condition of the motor. When the alarm of overvoltage has been detected, reconsider the operating condition or use our regeneration resistor RGB100 . Refer to
p.27 for the connection method.
15
16
This part explains contents specific to the AC power input type driver.
Table of contents
1 System configuration ............................ 18
2 Preparation ............................................. 19
2-1 Checking the product ................................... 19
2-2 How to identify the product model ......... 19
2-3 Products possible to combine ................... 19
2-4 Information about nameplate ................... 20
2-5 Names and functions of parts .................... 20
2-6 Indication of LEDs ........................................... 22
3 Installation .............................................. 23
3-1 Installation location ....................................... 23
3-2 Installation method ....................................... 23
4 Connection ............................................. 25
4-1 Connection example ..................................... 25
4-2 Connecting the control power supply .... 26
4-3 Connecting the regeneration resistor ..... 27
4-4 Connecting the main power supply ........ 27
4-5 Grounding the driver..................................... 28
4-6 Connecting the EtherCAT communication cable ................................... 29
4-7 Connecting the USB cable ........................... 29
4-8 Connecting the I/O signals .......................... 30
4-9 Noise elimination measures ....................... 34
4-10 Conformity to the EMC Directive .............. 36
5 Setting of node address ....................... 37
5-1 Setting method ............................................... 37
6 Power removal function ....................... 38
6-1 Safety parameters ........................................... 38
6-3 I/O signals .......................................................... 39
6-4 Operation of power removal function .... 40
6-5 Example of use................................................. 43
6-7 Related functions ............................................ 44
7 Inspection and maintenance .............. 48
7-1 Inspection .......................................................... 48
7-2 Warranty ............................................................. 48
7-3 Disposal .............................................................. 48
8 Cables ...................................................... 49
8-1 Connection cable ............................................ 49
8-2 I/O signal cable ................................................ 51
9 Accessories.............................................. 52
9-2 Relay contact protection parts/circuits .. 52
9-3 Regeneration resistor .................................... 52
System configuration
The figure shows models for the electromagnetic brake type with single-phase 200 to 240 VAC input.
Regeneration resistor
RGB100
Control power supply
GND +24 V
Driver
Thermostat output (AWG22)
EtherCAT communication
EtherCAT communication compatible products
*
Regeneration resistor
(AWG18)
Motor
EtherCAT master
Grounding
Grounding
Main power supply
Circuit breaker or ground fault interrupt circuit
Noise filter
* Connect when using direct I/O or sensors.
18
Preparation
2-1
This chapter explains the items you should check, as well as names and functions of each part.
Checking the product
Verify that the items listed below are included. Report any missing or damaged items to the Oriental Motor sales office from which you purchased the product.
• Driver ............................................................................... 1 unit
• CN1 connector (14 pins) ........................................... 1 pc.
• CN4 connector (5 pins) .............................................. 1 pc.
• CN7 connector (24 pins) ........................................... 1 pc.
•
•
Connector lever ............................................................ 1 pc. (for CN4 connector)
Instructions and Precautions for Safe Use .......... 1 copy
Included connector model
Type Part number
CN1 connector DFMC1,5/7-ST-3,5-LR
CN4 connector 05JFAT-SAXGDK-H5.0
CN7 connector DFMC1,5/12-ST-3,5
Manufacturer
PHOENIX CONTACT GmbH & Co. KG
J.S.T. Mfg. Co., Ltd.
PHOENIX CONTACT GmbH & Co. KG
2-2 How to identify the product model
the nameplate.
AZD - C ED
1 2 3
1 Series
2 Power supply input
3 Network type
AZD : AZ Series driver
A : Single-phase 100-120 VAC
C : Single-phase/Three-phase 200-240 VAC
ED : EtherCAT Drive Profile Compatible
2-3 Products possible to combine
Products with which the driver can be combined are listed below. Check the model name of the product with the nameplate.
Power supply type
Product type Applicable series
Model name representing series name *1
Example of model name
AC input
Stepping motor
Motorized actuator
AZ
Series *2
EZSH
DGII
L
Series
EAS
EAC
EZS
Series *2
Series *2
Series *2
Series
Series
AZM
EASM
EACM
EZSM
EZSHM
DGM
DGB
LM
AZM46AC
AZM66AC-TS10
EASM4NXD005AZAC
EACM4RWE15AZMC
EZSM6D005AZAC
EZSHM6H020AZAC
DGM85R-AZAC
DGB85R12-AZACR
LM4F500AZMC-10
*1 The driver described in this manual can be combined with products that begin with these model names.
*2 For these motorized actuators, the equipped motors have been evaluated to affix the CE Marking. Check the model name of the equipped motor with the nameplate.
19
Preparation
2-4 Information about nameplate
The figure shows an example.
Driver model
Input specification
Output specification
Serial number Manufacturing date
The position describing the information may vary depending on the product.
2-5 Names and functions of parts
The figure shows the AZD-CED .
Control power supply input terminals (CN1)
Electromagnetic brake terminals (CN1)
Regeneration resistor thermal input terminals (CN1)
Power removal signal input terminals (CN1)
Power removal monitor output terminals (CN1)
Encoder connector (CN2)
Motor connector (CN3)
CHARGE LED (Red)
PWR/ALM LED (Green/Red)
RUN LED (Green)
ERR LED (Red)
Node address setting switches (ECAT ID ×10, ×1)
HOME PRESET switch
USB communication connector
L/A LEDs (Green)
EtherCAT communication connector (CN5 ECAT IN)
EtherCAT communication connector (CN6 ECAT OUT)
I/O signal connector (CN7)
Regeneration resistor terminals (CN4)
Main power supply input terminals (CN4)
Protective Earth Terminals
20
Preparation
Type
LED
Switch
Connector
Terminal
Name
CHARGE LED (Red)
PWR/ALM LED (Green/Red)
RUN LED (Green)
ERR LED (Red)
L/A LEDs (Green)
Node address setting switches
HOME PRESET switch
Encoder connector (CN2)
Motor connector (CN3)
USB communication connector
EtherCAT communication connector (CN5)
EtherCATcommunication connector (CN6)
I/O signal connector (CN7)
Control power supply input terminals (CN1)
Electromagnetic brake terminals (CN1)
Regeneration resistor thermal input terminals (CN1)
Power removal signal input terminals (CN1)
Power removal monitor output terminals (CN1)
Regeneration resistor terminals
(CN4)
Main power supply input terminals (CN4)
Sign
CHARGE
PWR/ALM
RUN
ERR
L/A
ECAT ID ×10
ECAT ID ×1
HOME PRESET
ENCODER
MOTOR
ECAT IN
ECAT OUT
Description
This LED is lit while the main power supply is turned on. After the main power has been turned off, the LED will turn off once the residual voltage in the driver drops to a safe level.
• This LED is lit in green while the control power supply is turned on.
• If an alarm (protective function) is generated, the
LED will blink in red.
•
If the power removal function (p.38) is triggered,
the LED will blink in green.
• If information is generated, the LED will simultaneously blink in green and red twice. (Green and red colors may overlap and it may be visible to orange.)
This LED indicates the status of EtherCAT communication.
This LED blinks when an error occurred via EtherCAT communication.
These LEDs indicate the LINK/ACT status of EtherCAT communication.
Used to set the node address.
Factory setting: 00 (×10: 0, ×1: 0)
Used to set the starting position (home) when positioning operation is performed.
Connects the encoder.
Connects the motor.
Connects a PC in which the MEXE02 has been installed. (USB2.0 mini-B port)
Connects with the upper EtherCAT communication compatible product.
Connects with the EtherCAT communication compatible product of the following node address.
Connects when using direct I/O or sensors.
Connects the control power supply.
I/O
+24V, 0V
MB1, MB2
TH1, TH2
Connects the lead wires from the electromagnetic brake.
Connects our regeneration resistor RGB100 . If the regeneration resistor RGB100 is not connected, short the TH1 and TH2 terminals.
HWTO1+, HWTO1−
HWTO2+, HWTO2−
Connects the external device.
EDM+, EDM−
RG1, RG2
L, N, NC
L1, L2, NC
L1, L2, L3
Connects our regeneration resistor
Connects the main power supply.
RGB100 .
Protective Earth Terminals
Ground using a grounding wire of AWG16 to 14 (1.25 to 2.0 mm 2 ).
21
Preparation
2-6 Indication of LEDs
LED indication related to driver status
PWR/ALM LED status
Green Red
Unlit
Lit
Unlit
Blinking
Unlit
Unlit
Blinking
Unlit
Blinking twice at the same time *
Blinking at the same time *
Lit at the same time *
Description
The control power supply is not turned on.
The control power supply is turned on.
An alarm is being generated. Details about the generated alarm can be checked by counting the number of times the LED blinks. The LED is lit in green when the alarm is reset.
The power removal function has been activated. After the power removal function is released, the LED is lit in green when the ETO-CLR input is turned
ON.
• Information is being generated. The LED is lit in green when the information is cleared.
• Remote operation is being executed with the when remote operation is complete.
MEXE02 . The LED is lit in green
The interlock was released by holding down the HOME PRESET switch.
The LED is lit in green when the time set in the “Extended input (EXT-IN) interlock releasing time (4972h)” is elapsed.
The input signal assigned to the HOME PRESET switch is being executed. The
LED is lit in green when it is complete.
Repeating "Green → Red →
Simultaneously lit → Unlit"
This is the driver simulation mode.
* Green and red colors may overlap and it may be visible to orange.
LED indication related to EtherCAT communication status
LED indicator
RUN (Green)
ERR (Red)
L/A (Green)
LED status
Unlit
Blinking *
Single flash *
Lit
Unlit
Blinking *
Single flash *
Double flash *
Unlit
Lit
Flickering *
* The timing to blink the LED is as follows. (unit: ms)
200 200
Blinking
ON
OFF
200 1,000
Single flash
ON
OFF
200 200 200
Double flash
ON
OFF
50 50
Flickering
ON
OFF
Initialization state
Description
Pre-Operational state
Safe-Operational state
Operational state (normal condition)
No communication error
Communication setting error
Communication data error
Communication watchdog timeout
No link
Link establishment
Operation in progress after link establishment
1,000
200
22
Installation
3-1
3-2
This chapter explains the installation location and installation method of the driver.
Installation location
The driver is designed and manufactured to be incorporated in equipment. Install it in a well-ventilated location that provides easy access for inspection. The location must also satisfy the following conditions:
• Inside an enclosure that is installed indoors (provide vent holes)
• Operating ambient temperature: 0 to +55 °C (+32 to +131 °F) (non-freezing)
• Operating ambient humidity: 85 % or less (non-condensing)
• Area free of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid
• Area not exposed to direct sun
• Area free of excessive amount of dust, iron particles or the like
• Area not subject to splashing water (rain, water droplets), oil (oil droplets), or other liquids
• Area free of excessive salt
• Area not subject to continuous vibrations or excessive shocks
• Area free of excessive electromagnetic noise (from welders, power machinery, etc.)
• Area free of radioactive materials, magnetic fields or vacuum
• Up to 1,000 m (3,300 ft.) above sea level
Installation method
25 (0.98) or more The driver is designed so that heat is dissipated via air convection and conduction through the enclosure. Install the driver to a flat metal plate (*) offering high heat conductivity. When installing drivers, provide clearances of at least 25 mm (0.98 in.) in the horizontal and vertical directions between the driver and enclosure or other equipment within the enclosure.
When installing the driver, use two screws (M4, not included) to secure the driver through the mounting holes.
* Material: Aluminum, 200×200×2 mm (7.87×7.87×0.08 in.) or equivalent
• Install the driver inside an enclosure whose pollution degree is 2 or better environment, or whose degree of protection is
IP54 minimum.
• Do not install any equipment that generates a large amount of heat or noise near the driver.
• Do not install the driver underneath the EtherCAT master or other equipment vulnerable to heat.
• If the ambient temperature of the driver exceeds 55 °C
(131 °F), reconsider the ventilation condition such as providing forced cooling by using fans or creating spaces between the drivers.
• Be sure to install the driver vertically (in vertical position).
35 (1.38)
Unit: mm (in.)
23
Installation
Dimensions
• Unit: mm (in.)
• Mass: 0.68 kg (1.5 lb.)
Slits
45 (1.77)
[76 (2.99)]
[22.5 (0.89)]
125 (4.92)
5 (0.20)
Slits
ø4.5 (0.177) hole
0.5 (0.02)
[7.5 (0.30)]
Protective Earth Terminals 2×M4
[10 (0.39)]
R2.25 (0.089)
35
(1.38) 5 (0.20)
24
Connection
This chapter explains a connection example of a driver and a motor, connection methods of power supplies and the regeneration resistor RGB100 , the grounding method, and others.
The installation and wiring methods in compliance with the EMC Directive as well as protection against noise are also explained.
• For protection against electric shock, do not turn on the power supply until the wiring is completed.
• A high voltage is applied to the motor connector (CN3) and the main power supply input terminals (CN4). Do not touch them while the power is on. Doing so may result in fire or electric shock.
4-1 Connection example
The figure shows models for the electromagnetic brake type with single-phase 200 to 240 VAC input.
Required
Control power supply
Connect to +24V, 0V
Connect to MB1, MB2
Cable for electromagnetic brake *1
Required
Connect to CN2
Cable for encoder *1 *2
EtherCAT master
Connect to CN3
Cable for motor *1
Required
Connect to CN5
EtherCAT communication cable
Connect to L1, L2
Main power supply
Single-phase 200-240 V
Grounding
*1 Purchase it separately.
*2 Use the cable for encoder when the length of the encoder cable of motor is not enough.
• Connect the connectors securely. Insecure connections may cause malfunction or damage to the motor or the driver.
• Before connecting or disconnecting a connector, turn off the main power supply and the control power supply, and check the CHARGE LED has been turned off. Residual voltage may cause electric shock.
• The lead wires of the "cable for electromagnetic brake" have polarities, so connect them in the correct polarities. If the lead wires are connected with their polarities reversed, the electromagnetic brake will not operate properly.
• Do not wire the power supply cable of the driver in the same cable duct with other power lines or motor cable. Doing so may cause malfunction due to noise.
• Keep 20 m (65.6 ft.) or less for the wiring distance between the motor and the driver. To extend more than 20 m (65.6 ft.) may result in the driver heat generation or increase of the electrical noise emitted from the product.
• A control power supply is required with or without an electromagnetic brake. Be sure to connect it.
• When pulling off the motor cable, do so while pressing the latches on the connector with fingers.
• When installing the motor on a moving part, use a flexible cable offering excellent flexibility. Refer
25
Connection
Electrical wire size
Connector
CN1
CN4
CN7
Terminal symbol
+24V, 0V, MB1, MB2, TH1, TH2,
HWTO1+, HWTO1−, HWTO2+,
HWTO2−, EDM+, EDM−
RG1, RG2, L, N, L1, L2, L3
−
Recommended wire size
Stranded wire or solid wire AWG24 to 16 (0.2 to 1.25 mm 2 )
Stranded wire or solid wire AWG18 to 14 (0.75 to 2.0 mm 2 )
Stranded wire or solid wire AWG24 to 16 (0.2 to 1.25 mm 2 )
4-2 Connecting the control power supply
Wiring method of CN1 connector
• Applicable lead wire: AWG24 to 16 (0.2 to 1.25 mm 2
• Stripping length of wire insulation: 10 mm (0.39 in.)
)
1. Strip the insulation of the lead wire.
2. Insert the lead wire while pushing the button of the orange color with a slotted screwdriver.
3. After having inserted, release the button to secure the lead wire.
Button of the orange color
Lead wire
Power supply current capacity
Input power supply voltage
Power supply current capacity
Without electromagnetic brake With electromagnetic brake
0.25 A 0.5 A *2 24 VDC±5 % *1
*1 When an electromagnetic brake motor is used, if the wiring distance between the motor and the driver is extended to 20 m (65.6 ft.) using our cable, the input voltage is 24 VDC±4 %.
*2 The AZM46 type is 0.33 A.
Pin assignment
There are two terminals for 0 V: One for control power supply and the other is for internal connection. Check each position in the figure and the table shown.
+24V
MB1
TH1
+V
HWTO1-
HWTO2-
EDM+
0V *1
MB2
TH2
HWTO1+
HWTO2+
0V *2
EDM-
Jumper wires
Sign
+24V, 0V *1
MB1, MB2
TH1, TH2
HWTO1+, HWTO1−
HWTO2+, HWTO2−
EDM+, EDM−
+V, 0V *2
Description
Connects the control power supply.
Connects the lead wires from the electromagnetic brake.
MB1: Electromagnetic brake− (Black)
MB2: Electromagnetic brake+ (White)
Connects the signal lines of our regeneration resistor RGB100 . If the regeneration resistor is not used, connect a jumper wire between the terminals to short-circuit as shown in the figure.
Connects the external device. When using the power removal function, remove the jumper wires and connect the external device. If the power removal function is not used, connect jumper wires between the terminals to short-circuit as shown in the figure.
Connects the external device. If the power removal function is not used, do not connect anything.
These are for internal connection. Do not connect anything. If the power removal function is not used, connect a jumper wire between the terminals to short-circuit as shown in the figure.
26
4-3 Connecting the regeneration resistor
If vertical drive (gravitational operation) such as elevating applications is performed or if sudden start-stop operation of a large inertial is repeated frequently, connect our regeneration resistor RGB100 .
• The two thin lead wires (AWG22: 0.3 mm 2 ) of the regeneration resistor are the thermostat outputs.
Connect them to the TH1 and TH2 using the CN1 connector.
• Regenerative current flows through the two thick lead wires (AWG18: 0.75 mm 2 ) of the regeneration resistor.
Connect them to the RG1 and RG2 using the CN4 connector.
Regeneration resistor
RGB100
CN1
To TH1 and TH2
AWG22
CN4
To RG1 and RG2
AWG18
Connection
• When connecting the regeneration resistor, be sure to remove the jumper wire from the CN1 connector.
• If the allowable power consumption of the regeneration resistor exceeds the allowable level, the thermostat will be triggered to generate an alarm of regeneration resistor overheat. When an alarm of regeneration resistor overheat is generated, turn off the main power supply and check the error content.
z Regeneration resistor specifications
Model
Allowable power consumption
Resistance value
Thermostat operating temperature
Thermostat electrical rating
RGB100
Continuous regenerative power: 50 W *
Instantaneous regenerative power: 600 W
150 Ω
Operation: Opens at 150±7 °C (302±12.6 °F)
Reset: Closes at 145±12 °C (293±21.6 °F) [normally closed]
120 VAC 4 A or 30 VDC 4A (minimum current 5 mA)
* Install the regeneration resistor in a location where heat dissipation capacity equivalent to a level achieved with a aluminum plate [350×350×3 mm (13.78×13.78×0.12 in.)] is ensured.
4-4 Connecting the main power supply
The connecting method varies depending on the power supply specification.
Single-phase 100-120 V –15 % to +6 %
50/60 Hz
Single-phase 200-240 V –15 % to +6 %
50/60 Hz
Connect to
L and N
Connect to
L1 and L2
Three-phase 200-240 V –15 % to +6 %
50/60 Hz
Connect to
L1, L2, and L3
Wiring method of CN4 connector
• Applicable lead wire: AWG18 to 14 (0.75 to 2.0 mm 2
• Stripping length of wire insulation: 9 mm (0.35 in.)
)
1. Strip the insulation of the lead wire.
2. Insert the connector lever.
3. Insert the lead wire while pushing down the connector lever.
Connector lever
Lead wire
27
Connection
Power supply current capacity
The current capacity of the power supply varies depending on the product combined.
Check the current capacity in reference to the equipped motor model when using the EAS Series, EAC Series, EZS
Series, or EZSH Series.
z Single-phase 100-120 VAC z Single-phase 200-240 VAC z Three-phase 200-240 VAC
Model
AZM46
AZM48
AZM66
AZM69
AZM98
AZM911
DGB85
DGB130
DGM85
DGM130
DGM200
LM2
LM4
Power supply current capacity
2.7 A or more
2.7 A or more
3.8 A or more
5.4 A or more
5.5 A or more
6.4 A or more
2.7 A or more
3.8 A or more
2.7 A or more
3.8 A or more
6.4 A or more
3.8 A or more
3.8 A or more
Model
AZM46
AZM48
AZM66
AZM69
AZM98
AZM911
DGB85
DGB130
DGM85
DGM130
DGM200
LM2
LM4
Power supply current capacity
1.7 A or more
1.6 A or more
2.3 A or more
3.3 A or more
3.3 A or more
3.9 A or more
1.7 A or more
2.3 A or more
1.7 A or more
2.3 A or more
3.9 A or more
2.3 A or more
2.3 A or more
Model
AZM46
AZM48
AZM66
AZM69
AZM98
AZM911
DGB85
DGB130
DGM85
DGM130
DGM200
LM2
LM4
Power supply current capacity
1.0 A or more
1.0 A or more
1.4 A or more
2.0 A or more
2.0 A or more
2.3 A or more
1.0 A or more
1.4 A or more
1.0 A or more
1.4 A or more
2.3 A or more
1.4 A or more
1.4 A or more
4-5 Grounding the driver
Two Protective Earth Terminals (screw size: M4) are provided on the driver. Be sure to ground one of the Protective Earth
Terminals. Either of the two Protective Earth Terminals can be used for grounding the driver.
• Grounding wire: AWG16 to 14 (1.25 to 2.0 mm 2 )
• Tightening torque: 1.2 N·m (170 oz-in)
Connect the grounding wire of the "cable for motor" to the other terminal to ground the motor.
Do not share the grounding wire with a welder or any other power equipment.
When grounding the Protective Earth Terminal, use a round terminal and secure the grounding point near the driver.
Protective Earth Terminals
(Ground either of the terminals.) Grounding
28
4-6
Connection
Connecting the EtherCAT communication cable
Connect the EtherCAT master and the CN5 connector (ECAT IN) on the driver using the EtherCAT communication cable.
Be sure to connect from the CN6 connector (ECAT OUT) to the CN5 connector (ECAT IN) when linking drivers.
Driver Driver
EtherCAT master
EtherCAT communication cable
EtherCAT communication cable
Pin assignment
Signal name
TXP
TXN
RXP
N.C.
N.C.
RXN
N.C.
N.C.
Description
Transmitted data+
Transmitted data−
Received data+
−
−
Received data−
−
−
TXP
TXN
RXP
N.C.
N.C.
RXN
N.C.
N.C.
4-7 Connecting the USB cable
Using a USB cable of the following specification, connect a PC in which the MEXE02 has been installed to the USB communication connector.
Specification USB2.0 (full speed)
Cable
Length: 3 m (9.8 ft.) or less
Shape: A to mini B
• Connect the driver and PC directly using the USB cable.
• In large electrically noisy environments, use the USB cable with a ferrite core or install a ferrite core to the USB cable.
29
Connection
4-8 Connecting the I/O signals
Connect when using direct I/O or sensors.
Wiring method of CN7 connector
• Applicable lead wire: AWG24 to 16 (0.2 to 1.25 mm 2
• Stripping length of wire insulation: 10 mm (0.39 in.)
)
1. Strip the insulation of the lead wire.
2. Insert the lead wire while pushing the button of the orange color with a slotted screwdriver.
3. After having inserted, release the button to secure the lead wire.
Button of the orange color
Lead wire
Be certain the I/O signal cable is as short as possible. The maximum input frequency will decrease as the cable length increases.
Pin assignment
Pin
No.
1
2
3
4
5
6
7
Signal name *
CW+
[PLS+]
CCW+
[DIR+]
IN0
IN2
IN-COM
0-3
IN4
OUT0
Description *
CW pulse input+
[Pulse input+]
CCW pulse input+
[Rotation direction switching input+]
Control input 0
(HOMES)
Control input 2
(ETO-CLR)
IN0 to IN3 inputs common
Control input 4 (FW-LS)
Control output 0
(HOME-END)
8
9
OUT2
OUT4
Control output 2
(PLS-RDY)
Control output 4
(MOVE)
10 OUT-COM Output common
11 ASG+ Phase A pulse output+
12 BSG+ Phase B pulse output+
1
12
13
24
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
Values in parentheses ( ) are initial values.
17
18
19
15
16
20
21
22
23
24
Pin
No.
13
14
Signal name *
CW−
[PLS−]
CCW−
[DIR−]
IN1
Description *
CW pulse input−
[Pulse input−]
CCW pulse input−
[Rotation direction switching input−]
Control input 1 (FREE)
IN3 Control input 3 (EXT1)
IN-COM
4-5
IN5
OUT1
IN4, IN5 inputs common
Control input 5 (RV-LS)
Control output 1
(ETO-MON)
OUT3
OUT5
Control output 3
(CRNT)
Control output 5
(ALM-B)
GND GND
ASG− Phase A pulse output−
BSG− Phase B pulse output−
30
Connection
Connection example with a current sink output circuit z When the pulse input circuit of the driver is of line driver type
The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned.
EtherCAT master Driver
0 V
0 V
24 VDC
24 VDC
0 V
12 to 24 VDC
Twisted pair cable CW+ [PLS+]
CW− [PLS−]
1
13
470 Ω
CCW+ [DIR+]
CCW− [DIR−]
2
14
470 Ω
IN0 (HOMES)
3
IN1 (FREE)
15
270 Ω
270 Ω
270 Ω
270 Ω
4.7 kΩ
4.7 kΩ
IN2 (ETO-CLR)
4
IN3 (EXT1)
16
IN-COM0-3
IN4 (FW-LS)
5
6
IN5 (RV-LS)
18
IN-COM4-5
17
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
5.6 kΩ
5.6 kΩ
2.2 kΩ
2.2 kΩ
2.2 kΩ
2.2 kΩ
2.2 kΩ
2.2 kΩ
R0 10 mA or less OUT0 (HOME-END)
7
R0 OUT1 (ETO-MON)
19
R0 OUT2 (PLS-RDY)
8
R0 OUT3 (CRNT)
20
R0 OUT4 (MOVE)
9
0 V
R0
Twisted pair cable
OUT5 (ALM-B)
21
OUT-COM
10
ASG+
ASG−
BSG+
BSG−
GND
11
23
12
24
22
0 V
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
Values in parentheses ( ) are initial values.
Output saturated voltage 3 V max.
26C31 or equivalent
0 V
31
Connection
• Use input signals at 24 VDC.
• Use output signals at 12 to 24 VDC, 10 mA or less. If the current exceeds 10 mA, connect an external resistor R0 so that the current becomes 10 mA or less.
• The saturated voltage of the output signal is 3 V maximum.
z When the pulse input circuit of the driver is of open collector type
The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned.
Use the CW [PLS] input and CCW [DIR] input at 5 to 24 VDC. When using signals at 24 VDC, connect an external resistor R1 (1.2 kΩ to 2.2 kΩ, 0.5 W or more). When using signals at 5 VDC, apply the voltage directly.
When the voltage of pulse input signals is 5 VDC
EtherCAT master
5 VDC
Twisted pair cable CW+ [PLS+]
CW− [PLS−]
1
13
470 Ω
CCW+ [DIR+]
CCW− [DIR−]
2
14
470 Ω
270 Ω
270 Ω
Driver
5.6 kΩ
270 Ω
270 Ω
5.6 kΩ
0 V
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
When the voltage of pulse input signals is 24 VDC
EtherCAT master
24 VDC
Twisted pair cable
R1
1.2 kΩ to 2.2 kΩ
0.5 W or more
270 Ω
270 Ω
270 Ω
270 Ω
Driver
5.6 kΩ
5.6 kΩ
0 V
R1
1.2 kΩ to 2.2 kΩ
0.5 W or more
CW+ [PLS+]
CW− [PLS−]
1
13
470 Ω
CCW+ [DIR+]
CCW− [DIR−]
2
14
470 Ω
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
32
OUT1 (ETO-MON)
19
Connection
Connection example with a current source output circuit z When the pulse input circuit of the driver is of line driver type
The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned.
EtherCAT master Driver
Twisted pair cable 5.6 kΩ CW+ [PLS+]
CW− [PLS−]
1
13
470 Ω
CCW+ [DIR+]
CCW− [DIR−]
2
14
470 Ω
270 Ω
270 Ω
270 Ω
270 Ω
5.6 kΩ
0 V
24 VDC
IN0 (HOMES)
3
IN1 (FREE)
15
IN2 (ETO-CLR)
4
IN3 (EXT1)
IN-COM0-3
16
5
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
2.2 kΩ
2.2 kΩ
2.2 kΩ
2.2 kΩ
0 V
24 VDC
IN4 (FW-LS)
6
IN5 (RV-LS)
IN-COM4-5
18
17
4.7 kΩ
4.7 kΩ
2.2 kΩ
2.2 kΩ
0 V
12 to 24 VDC
R0 10 mA or less OUT0 (HOME-END)
7
R0
R0 OUT2 (PLS-RDY)
8
R0 OUT3 (CRNT)
20
R0 OUT4 (MOVE)
9
0 V
R0
Twisted pair cable
OUT5 (ALM-B)
21
OUT-COM
10
ASG+
ASG−
BSG+
BSG−
GND
24
22
11
23
12
0 V
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
Values in parentheses ( ) are initial values.
Output saturated voltage 3 V max.
26C31 or equivalent
0 V
33
Connection
• Use input signals at 24 VDC.
• Use output signals at 12 to 24 VDC, 10 mA or less. If the current exceeds 10 mA, connect an external resistor R0 so that the current becomes 10 mA or less.
• The saturated voltage of the output signal is 3 V maximum.
z When the pulse input circuit of the driver is of open collector type
The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned.
Use the CW [PLS] input and CCW [DIR] input at 5 to 24 VDC. When using signals at 24 VDC, connect an external resistor R1 (1.2 kΩ to 2.2 kΩ, 0.5 W or more). When using signals at 5 VDC, apply the voltage directly.
When the voltage of pulse input signals is 5 VDC
EtherCAT master
5 VDC
0 V
CW+ [PLS+]
CW− [PLS−]
1
13
470 Ω
CCW+ [DIR+]
CCW− [DIR−]
Twisted pair cable
2
14
470 Ω
270 Ω
270 Ω
270 Ω
270 Ω
Driver
5.6 kΩ
5.6 kΩ
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
When the voltage of pulse input signals is 24 VDC
EtherCAT master
24 VDC
Driver
0 V
1.2 kΩ to 2.2 kΩ
0.5 W or more
R1
CW+ [PLS+]
CW− [PLS−]
1
13
1.2 kΩ to 2.2 kΩ
0.5 W or more
R1
CCW+ [DIR+]
CCW− [DIR−]
Twisted pair cable
2
14
470 Ω
470 Ω
270 Ω
270 Ω
270 Ω
270 Ω
5.6 kΩ
5.6 kΩ
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
4-9 Noise elimination measures
There are two types of electrical noises: One is a noise to invade into the driver from the outside and cause the driver malfunction, and the other is a noise to emit from the driver and cause peripheral equipment malfunction.
For the noise that is invaded from the outside, take measures to prevent the driver malfunction. It is needed to take adequate measures because signal lines are very likely to be affected by the noise.
For the noise that is emitted from the driver, take measures to suppress it.
Measures against electrical noise
There are the following three methods mainly to take measures against the electrical noise.
z Noise suppression
• When relays or electromagnetic switches are used, use noise filters or CR circuits to suppress surge generated by them.
•
for the model name. This is effective in suppressing the electrical noise emitted from the motor.
• Cover the driver by a metal plate such as aluminum. This is effective in shielding the electrical noise emitted from the driver.
34
Connection z Prevention of noise propagation
• Connect a noise filter to the power supply cable of the driver.
• Place the power lines, such as the motor and the power supply cables, keeping a distance of 200 mm (7.87 in.) or more from the signal lines, and also do not bundle them or wire them in parallel. If a power cable and a signal cable have to cross, cross them at a right angle.
• Use shielded twisted pair cables for power lines and signal lines.
• Keep cables as short as possible without coiling and bundling extra lengths.
• Grounding multiple points will increase effect to block electrical noise because impedance on the grounding points is decreased. However, ground them so that a potential difference does not occur among the grounding
name.
• To ground a shielded cable, use a metal cable clamp that can maintain contact with the entire circumference of the shielded cable, and ground
Shielded cable
Cable clamp as near the product as possible.
z Suppression of effect by noise propagation
• Loop the noise propagated cable around a ferrite core. Doing so will prevent the propagated noise invades into the driver or emits from the driver. The frequency band in which an effect by the ferrite core can be seen is generally 1 MHz or more. Check the frequency characteristics of the ferrite core used. When increasing the effect of noise attenuation by the ferrite core, loop the cable a lot.
• Change the transmission method of the pulse signal to the line driver type in order to prevent noise effects. If the pulse signal of the EtherCAT master is of the open collector type, use our pulse signal converter for noise immunity.
Refer to p.52 for the model name.
Noise suppression product z Noise filter
• Connect the following noise filter (or equivalent) to the power line. Doing so will prevent the propagated noise through the power line. Install the noise filter as close to the driver as possible.
Manufacturer
SOSHIN ELECTRIC CO., LTD.
Schaffner EMC
Single-phase 100-120 VAC
Single-phase 200-240 VAC
HF2010A-UPF
FN2070-10-06
Three-phase 200-240 VAC
HF3010C-SZA
FN3025HP-10-71
• Use the AWG18 (0.75 mm 2 ) or thicker wire for the input and output cables of the noise filter, and secure firmly using a cable clamp or others so that the cable does not come off the enclosure.
• Place the input cable as far apart as possible from the output cable, and do not wire the cables in parallel. If the input and output cables are placed at a close distance or if they are wired in parallel, the noise in the enclosure affects the power cable through stray capacitance, and the noise suppressing effect will reduce.
• Connect the ground terminal of the noise filter to the grounding point, using as thick and short a wire as possible.
• When connecting a noise filter inside an enclosure, wire the input cable of the noise filter as short as possible.
Wiring in long distance may reduce the noise suppressing effect.
Our noise suppression products
Check the model names on p.51 and p.52.
z I/O signal cable
This is a shielded cable for good noise immunity to connect the driver and the EtherCAT master. The ground wire useful to grounding is extracted from both ends of the cable. The EMC testing is conducted using our I/O signal cable.
z Pulse signal converter for noise immunity
This product converts a pulse signal, which is output from the open collector output, to a pulse signal for good noise immunity by outputting the pulse signal again from the differential output.
z Surge suppressor
This product is effective to suppress the surge which occurs in a relay contact part. Connect it when using a relay or electromagnetic switch. CR circuit for surge suppression and CR circuit module are provided.
35
Connection
4-10 Conformity to the EMC Directive
AC
Effective measures must be taken against the EMI that the motor and the driver may give to adjacent control-system equipment, as well as the EMS of the motor and the driver itself, in order to prevent a serious functional impediment in the machinery. The use of the following installation and wiring methods will enable the motor and the driver to be
compliant with the EMC Directive. Refer to p.228 for the applicable standards.
The user is responsible for ensuring the machine’s compliance with the EMC Directive, based on the installation and wiring explained next.
z Connecting the noise filter
z Connecting the control power supply
Use a power supply compliant with the EMC Directive for the control power supply.
Wire and ground the power supply over the shortest possible distance using a shielded cable.
Refer to “Prevention of noise propagation” on p.35 for how to ground the shielded cable.
z Connecting the motor cable
the model name.
z Connecting the signal cable
Refer to “Prevention of noise propagation” on p.35.
z Grounding method
• The cable used to ground the motor, the driver, and the noise filter must be as thick and short as possible so that no potential difference is generated.
• Choose a large, thick and uniformly conductive surface for the grounding point.
•
grounding method.
z Example of installation and wiring
Noise filter
Control power supply (24 VDC)
Shielded cable
Cable clamp
Cable for electromagnetic brake *
Driver Cable clamp
Shielded cable
Safety module
Cable for encoder *
Cable for motor *
Cable clamp
EtherCAT communication cable
Cable clamp
EtherCAT master
Noise filter
I/O signal cable *
Motor
AC
Cable clamp
Grounded panel is a ferrite core.
symbol indicate the grounding.
is a shielded box.
* It is the cable in our products
The driver uses parts that are sensitive to electrostatic charge. Take measures against static electricity since static electricity may cause the driver to malfunction or suffer damage.
36
Setting of node address
5-1
This chapter explains how to set the node address.
Setting method
Set the node address using two node address setting switches (ECAT ID ×10, ×1).
The node address setting switches are hexadecimal number. Convert the node address from decimal to hexadecimal to set.
When connecting two or more EtherCAT communication compatible products, do not set duplicate node address.
Factory setting: 0 (×10: 0, ×1: 0)
Setting range
0 (00h)
1 to 255 (1h to FFh)
Description
The setting of the EtherCAT master is enabled.
The setting of the driver is enabled.
Be sure to turn off the control power supply of the driver before setting the switches. If the switches are set while the control power supply is in an on-state, the new setting will not be enabled.
37
Power removal function
The power removal function is a function that stops supplying the power to the motor by the hardware.
This function shuts off the drive signal of the inverter circuit that controls the motor current with two input channels
(HWTO1 input, HWTO 2 input). This brings a shutoff state of the power supplying to the motor (power removal status).
The power removal function is assumed to be used to prevent unexpected starting of the moving parts of equipment when an operator works inside the operating range of the moving parts.
Motor
HWTO1+
HWTO1–
Power supply for driving upper arm *
Shut-off
HWTO2+
HWTO2–
EDM+
EDM–
Power supply for driving lower arm *
Shut-off
Drive signal
Control circuit
* Turning the HWTO1 input OFF causes the upper arm drive signal of the inverter circuit to shut off.
Turning the HWTO2 input OFF causes the lower arm drive signal of the inverter circuit to shut off.
Be sure to check the motor is in a standstill state before executing the power removal function. If the power removal function is executed while the motor is operated, it may cause damage to the motor, driver, or equipment.
6-1 Safety parameters
Item Specifications
Safety integrity level SIL 3 *
Average frequency of a dangerous failure per hour PFH=2.96×10 −9 [1/h]
Hardware fault tolerance
Subsystem
Mission time
Response time
HFT=1
Type A
10 years
15 ms or less
Performance level
Mean time to dangerous failure
Average diagnostic coverage
Stop category
PL e (Category 3) *
MTTFd: High
DC avg
: Medium
0 (IEC 60204-1)
* It is necessary to monitor the EDM output using an external device.
38
Power removal function
6-2 Notes when using the power removal function
6-3 z When the power removal function is used, be sure to conduct a risk assessment of equipment in advance and check that the safety requirements of the safety-related parts of a control system are satisfied.
z The design of the safety-related parts of a control system using the power removal function should be performed by qualified personnel who are trained in the relevant safety standards and understand the contents of this chapter.
z If the power removal function operates, the motor output shaft may rotate due to external forces
(such as gravity on a vertical axis). To hold the motor output shaft in position, install an external brake mechanism or equivalent. The brake mechanism of the electromagnetic brake motor is used for the purpose to hold the position. Do not use the brake mechanism of the electromagnetic brake motor for braking the motor rotation. This may result in injury or damage to equipment.
z If the power removal function operates, the driver stops supplying the power to the motor. However, the power supplying to the driver is not shut off, and the driver is not performed electrical insulation either. Before performing maintenance or inspection, always turn off the driver power, and check the
CHARGE LED is turned off. Failure to do so may result in electric shock.
z If the inverter circuit is failed, the motor output shaft may rotate up to 180 degrees in an electrical angle (3.6 degrees in a mechanical angle) even when the power removal function operates. Make sure this movement does not cause hazardous situations. Failure to do so may result in injury or damage to equipment.
z Connect the I/O signals related to the power removal function to an external device which conforms to the safety standard.
z Be sure to perform the verification testing of the power removal function when starting up or maintaining the equipment, or when replacing the driver. This may result in injury or damage to equipment. If the power removal function is used in an incorrect state such as incorrect wiring of I/O signals, the power removal function may not operate properly, causing hazardous situations.
I/O signals
HWTO1 input, HWTO2 input
The HWTO1 input and HWTO2 input are signals to operate the power removal function.
Provide individual contacts for operating the HWTO1 input and the HWTO2 input.
External device
24 VDC
Driver
CN1
HWTO1+
HWTO1–
HWTO2+
HWTO2–
4.7 kΩ
2.2 kΩ
4.7 kΩ
2.2 kΩ
Specification
• Input voltage: 24 VDC±10 %
0 V
39
Power removal function
Safety input-off shot pulse for self-diagnosis of external device
If the safety output signal output from an external device includes the safety input-off shot pulse for self-diagnosis, use an external device which pulse width is 1 ms or less. If the OFF-time of the HWTO1 input or the HWTO2 input by the safety input-off shot pulse is 1 ms or less, the power removal function does not operate.
Safety input-off shot pulse for self-diagnosis
HWTO1 input, HWTO2 input
ON
OFF
1 ms or less
Driver status Power removal status
EDM output
The EDM output is a signal to monitor a failure in the power removal function.
The EDM output is not an output signal to ensure the safety. Do not use the EDM output for any other purpose except for monitoring a failure.
External device
24 VDC
CN1
EDM+
EDM–
Driver Specifications
• Voltage: 30 VDC or less
• Current: 50 mA or less
• Output saturated voltage: 1.1 V max.
0 V
6-4 Operation of power removal function
Transition to power removal status
If both the HWTO1 and HWTO2 inputs are turned OFF, the driver transitions to the power removal status, and the power supplying to the motor is shut off by the hardware, causing the motor to put into a non-excitation state.
In the power removal status, the status of the motor and driver will be as follows. [When the “HWTO mode selection
(4190h)” is set to “0: Alarm is not present (initial value)”]
• The ETO-MON output is ON.
• The DCMD-RDY output, the READY output, the PLS-RDY output, and the MBC output are OFF.
• The PWR/ALM LED blinks in green.
• When an electromagnetic brake motor is used, the electromagnetic brake is in a state of holding the motor shaft.
• Be sure to check the motor is in a standstill state before executing the power removal function. If the power removal function is executed while the motor is operated, it may cause damage to the motor, driver, or equipment.
• It takes 15 ms maximum from when the HWTO1 and HWTO2 inputs are turned OFF until when the driver is in the power removal status.
• To transition to the power removal status, be sure to turn the HWTO1 and HWTO2 inputs OFF for at least 15 ms.
• The ETO-MON output, the DCMD-RDY output, the READY output, the PLS-RDY output, the MBC output, the PWR/ALM LED, and the electromagnetic brake are not safety-related parts of a control system.
40
Power removal function z Timing chart
HWTO1 input, HWTO2 input
ON
OFF
Driver status
EDM output
ON
OFF
15 ms or less
Power removal status
15 ms or less
15 ms or less
ETO-MON output
ON
OFF
15 ms or less
DCMD-RDY output, READY output
ON
OFF
15 ms or less
PLS-RDY output *
ON
OFF
15 ms or less
MBC output
ON
OFF
15 ms or less
Motor excitation
Excitation
Non-excitation
Electromagnetic brake
Hold
Release
60 ms or less
* When executing the operation by inputting pulses.
Return from power removal status
If both the HWTO1 and the HWTO2 inputs are turned ON, the power removal status is released. At this time, the motor remains in a non-excitation state. To excite the motor, turn the ETO-CLR input ON in a state where the excitation command is input from the EtherCAT master. (initial value: Activate at ON edge). When the ETO-CLR input is turned
ON, the status of the motor and driver will be as follows.
• The ETO-MON output is OFF.
•
• The PWR/ALM LED is lit in green.
•
The DCMD-RDY output, the READY output, the PLS-RDY output, and the MBC output are ON.
When an electromagnetic brake motor is used, the electromagnetic brake is in a state of releasing the motor shaft.
• Check the equipment is in a safe state before returning the driver from the power removal status.
• Even if either the HWTO1 input or the HWTO2 input is turned ON, the power removal status cannot be released.
• If the ON-time of the HWTO1 and HWTO2 inputs is less than 15 ms, the power removal status may not be released.
• When the power removal status is released, a shut-off state of supplying the power to the motor by the hardware is also released.
• The ETO-CLR input is not safety-related part of a control system.
41
Power removal function z Timing chart
HWTO1 input, HWTO2 input
ON
OFF
15 ms or less
Driver status Power removal status
15 ms or less
EDM output
ON
OFF
2 ms or more
ETO-CLR input
ON
OFF
ETO-MON output
ON
OFF
DCMD-RDY output, READY output
ON
OFF
2 ms or less
250 ms or less
*2
250 ms or less
PLS-RDY output *1
ON
OFF
MBC output
ON
OFF
Motor excitation
Excitation
Non-excitation
Electromagnetic brake
Hold
Release
250 ms or less
*2
200 ms or less
*2
250 ms or less
*2
*1 When executing the operation by inputting pulses.
*2 It is the movement when the excitation command is input from the EtherCAT master while the ETO-CLR input is turned ON.
Detection for failure of the power removal function
Monitoring the input status of the HWTO1 and HWTO2 inputs and the output status of the EDM output relative to the inputs can detect the failure of the power removal function.
When the power removal function is properly operated, the combination of each signal is any of the following.
Combinations other than the table indicate the power removal function of the driver is in a failure state.
HWTO1 input
ON
OFF
ON
OFF
HWTO2 input
ON
OFF
OFF
ON
EDM output
OFF
ON
OFF
OFF
If only one of the HWTO1 input and the HWTO2 input is ON or OFF, the external device or wiring has failed. Check the cause and take a measure immediately. At this time, the EDM output is in an OFF state and the motor puts into a non-excitation state.
• Do not release the power removal function when the EDM output is in an OFF state.
• If the driver or external device is failed or an error in wirings occurs, check the cause and take a measure immediately.
• The power removal function of the driver is classified in Category 3 of ISO 13849-1. Not all dangerous failures can be detected with the EDM output.
42
6-5
Power removal function
Example of use
This section describes the connection method that the power removal function operates when the door (guard) is opened using a safety module.
Door (guard)
Open
Safety switch
Safety module Driver
24 VDC
Safety input 1
Safety input 2
Safety output 1
Safety output 2
Feedback input
Power supply input
CN1
HWTO1+
HWTO1–
HWTO2+
HWTO2–
EDM+
EDM–
0 V
Operation in normal state z When the door (guard) is opened
Open the door (guard).
The safety input 1 and the safety input 2 of the safety module are turned OFF.
The safety output 1 and the safety output 2 of the safety module are turned OFF.
The HWTO1 input and the HWTO2 input of the driver are turned OFF.
The power removal function operates and the
EDM output is turned ON.
z When the door (guard) is closed
Close the door (guard).
The safety input 1 and the safety input 2 of the safety module are turned ON.
The safety output 1 and the safety output 2 of the safety module are turned ON because the feedback input (the EDM output of the driver) is
ON.
The HWTO1 input and the HWTO2 input of the driver are turned ON, and the power removal function is released.
How to detect a failure
If a failure that the HWTO1 input or the HWTO2 input is not turned OFF occurs, the EDM output is not turned ON.
A failure can be detected because the safety module is not reset even if the door (guard) is closed and the motor cannot be started.
43
Power removal function
6-6
6-7
Verification testing of power removal function
• Be sure to perform the verification testing of the power removal function when starting up or maintaining the equipment, or when replacing the driver.
• According to use conditions of the safety related parts of a control system, perform a verification testing of the power removal function at least once three months.
• Keep the verification result on record.
Description of verification testing
1. Turn on the control power supply and main power supply of the driver while both the HWTO1 and HWTO2 inputs are an ON state.
Check that the motor can be excited from the EtherCAT master and the EDM output is in an OFF state.
2. Turn both the HWTO1 input and the HWTO2 input OFF.
Check that the motor puts into a non-excitation state and the EDM output is turned ON.
Related functions
The related functions are not safety-related parts of a control system.
z ETO-CLR input
If the ETO-CLR input is turned ON after both the HWTO1 and HWTO2 inputs are turned ON to release the power removal function, the motor puts into a state possible to excite.
Related object
Index Initial value
4199h
Name
ETO reset action
(ETO-CLR)
Description
Sets the judgment level of the signal when the motor is put into a state possible to excite by the ETO-CLR input.
[Setting range]
1: Activate at ON edge
2: Activate at ON level
1 z HWTOIN-MON output
If the HWTO1 input or the HWTO2 input is turned OFF, the HWTOIN-MON output is turned ON.
z ETO-MON output
If the HWTO1 input or the HWTO2 input is turned OFF when the “HWTO mode selection (4190h)” is set to “0: Alarm is not present,” the ETO-MON output is turned ON. If the motor is put into a state possible to excite by the ETO-CLR input after both the HWTO1 and HWTO2 inputs are turned ON, the ETO-MON output is turned OFF.
Related object
Index
4190h
Name
HWTO mode selection
Description
Generates an alarm when the HWTO1 input or the HWTO2 input is turned OFF.
[Setting range]
0: Alarm is not present
1: Alarm is present
Initial value
0 z EDM-MON output
If both the HWTO1 and HWTO2 inputs are turned OFF, the EDM-MON output is turned ON.
Be sure to use the EDM output of CN1 to detect the failure of the power removal function.
44
Power removal function z Alarm of HWTO input detection
If the "HWTO mode selection (4190h)" is set to "1: Alarm is present,” an alarm will be generated when either the
HWTO1 input or the HWTO2 input is turned OFF. (HWTO input detection, alarm code 68h)
At this time, the PWR/ALM LED blinks once in red repeatedly.
When the “HWTO mode selection (4190h)” is set to “1: Alarm is present,” the motor will put into a state possible to excite if the ALM-RST input is turned from OFF to ON after the power removal function is released. (It is enabled at the
ON edge.)
Related object
Index
4190h
Name
HWTO mode selection
Description
Generates an alarm when the HWTO1 input or the HWTO2 input is turned OFF.
[Setting range]
0: Alarm is not present
1: Alarm is present
Initial value
0 z Alarm of HWTO input circuit error
If a time after either the HWTO1 input or the HWTO2 input is turned OFF until the other input is turned OFF exceeds the value set in the “HWTO delay time of checking dual system (4191h),” an alarm will be generated. (HWTO input circuit error, alarm code 53h)
At this time, the PWR/ALM LED blinks twice in red repeatedly.
Related object
Index
4191h
Name
HWTO delay time of checking dual system
Description
If a time after either the HWTO1 input or the HWTO2 input is turned OFF until the other input is turned OFF exceeds the value set in this object, an alarm will be generated.
[Setting range]
0 to 10 (disable), 11 to 100 ms
Initial value
0
HWTO delay time of checking dual system
HWTO1 input
ON
OFF
HWTO2 input
ON
OFF
An alarm is not generated
HWTO1 input
HWTO2 input
ON
OFF
ON
OFF
An alarm is generated z ETO reset ineffective period
The motor will not put into a state possible to excite until the time set in the “ETO reset ineffective period (4198h)” is elapsed even if the ETO-CLR input is turned ON.
Related object
Index Initial value
4198h
Name
ETO reset ineffective period
Description
Sets a time when the ETO-CLR input is disabled if the motor is put into a state possible to excite by the ETO-CLR input after the
HWTO1 input and the HWTO2 input are turned ON. The motor will not put into a state possible to excite until the time set in this object is exceeded even if the ETO-CLR input is turned ON.
[Setting range]
0 to 100 ms
0
45
Power removal function
When the ETO-CLR input is turned ON before the time set in the “ETO reset ineffective period (4198h)” is elapsed (when the motor is put into a state possible to excite at the ON edge of the input)
HWTO1 input, HWTO2 input
ON
OFF
15 ms or less
Driver status Power removal status
ETO reset ineffective period
ETO-CLR input
ON
OFF
The motor will not put into a state possible to excite even if the ETO-CLR input is turned ON within the ETO reset ineffective period.
Motor excitation
Excitation
Non-excitation
DCMD-RDY output, READY output, PLS-RDY output
ON
OFF
When the ETO-CLR input is turned ON after the time set in the “ETO reset ineffective period (4198h)” is elapsed (when the motor is put into a state possible to excite at the ON edge of the input)
HWTO1 input, HWTO2 input
ON
OFF
15 ms or less
Driver status Power removal status
ETO reset ineffective period
The motor puts into a state possible to excite if the ETO-CLR input is turned ON after the ETO reset ineffective period is elapsed.
ETO-CLR input
ON
OFF
200 ms or less
Motor excitation
Excitation
Non-excitation
*
250 ms or less
DCMD-RDY output, READY output, PLS-RDY output
ON
OFF
*
* It is the movement when the excitation command is input from the EhterCAT master at the time the ETO-CLR input is turned ON.
z Signal judgment level of ETO-CLR input
If the “ETO reset action (ETO-CLR) (4199h)” is set to “2: Activate at ON level,” the motor will put into a state possible to excite at the ON level of the ETO-CLR input instead of the ON edge. (Initial value: Activate at ON edge)
Related object
Index Initial value
4199h
Name
ETO reset action
(ETO-CLR)
Description
Sets the judgment level of the signal when the motor is put into a state possible to excite by the ETO-CLR input.
[Setting range]
1: Activate at ON edge
2: Activate at ON level
1
46
Power removal function z Motor excitation by input signals other than ETO-CLR input
Changing the parameter can add a function to put the motor into a state possible to excite by the ALM-RST input and the STOP input. In the initial value, this function is set to the STOP input only.
Related objects
Index Initial value
419Ah
419Ch
Name
ETO reset action
(ALM-RST)
ETO reset action
(STOP)
Description
The motor is put into a state possible to excite by the ALM-RST input after the HWTO1 input and the HWTO2 input are turned ON.
[Setting range]
0: Disable
1: Activate at ON edge
The motor is put into a state possible to excite by the STOP input after the HWTO1 input and the HWTO2 input are turned ON.
[Setting range]
0: Disable
1: Activate at ON edge
0
1
47
Inspection and maintenance
7-1 Inspection
It is recommended that periodic inspections are conducted for the items listed below after each operation of the motor. If an abnormal condition is noted, discontinue any use and contact your nearest Oriental Motor sales office.
Inspection item
• Check if the openings in the driver are clogged.
• Check if any of the screws having installed the driver or connection parts of the driver is loose.
• Check if dust is deposited on the driver.
• Check if the driver has unusual smells or appearance defects.
The driver uses semiconductor components. Static electricity may damage the semiconductor components of the driver, so be extremely careful when handling the driver.
7-2
7-3
Warranty
Check on the Oriental Motor Website or General Catalog for the product warranty.
Disposal
Dispose the product correctly in accordance with laws and regulations, or instructions of local governments.
48
Cables
8-1 Connection cable
Connection cable set/Flexible connection cable set
These cables are used when connecting a motor and a driver. It is a set of two cables for the motor and the encoder.
For the cable set of electromagnetic brake motors, a set of three cables for the motor, the encoder, and the electromagnetic brake is provided.
Connection cable set/Flexible connection cable set
For electromagnetic brake *1
For encoder *2
For motor
*1 Only when the motor is the electromagnetic brake type.
*2 Use the cable for encoder when the length of the encoder cable of motor is not enough.
When installing the motor on a moving part, use a flexible cable offering excellent flexibility.
z Connection cable set
For motor/encoder
Model
CC005VZF
CC010VZF
CC015VZF
CC020VZF
CC025VZF
CC030VZF
CC040VZF
CC050VZF
CC070VZF
CC100VZF
CC150VZF
CC200VZF
Length [m (ft.)]
0.5 (1.6)
1 (3.3)
1.5 (4.9)
2 (6.6)
2.5 (8.2)
3 (9.8)
4 (13.1)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
20 (65.6)
For motor/encoder/electromagnetic brake
Model
CC005VZFB
CC010VZFB
CC015VZFB
CC020VZFB
CC025VZFB
CC030VZFB
CC040VZFB
CC050VZFB
CC070VZFB
CC100VZFB
CC150VZFB
CC200VZFB
Length [m (ft.)]
0.5 (1.6)
1 (3.3)
1.5 (4.9)
2 (6.6)
2.5 (8.2)
3 (9.8)
4 (13.1)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
20 (65.6)
49
Cables z Flexible connection cable set
For motor/encoder
Model
CC005VZR
CC010VZR
CC015VZR
CC020VZR
CC025VZR
CC030VZR
CC040VZR
CC050VZR
CC070VZR
CC100VZR
CC150VZR
CC200VZR
Length [m (ft.)]
0.5 (1.6)
1 (3.3)
1.5 (4.9)
2 (6.6)
2.5 (8.2)
3 (9.8)
4 (13.1)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
20 (65.6)
For motor/encoder/electromagnetic brake
Model
CC005VZRB
CC010VZRB
CC015VZRB
CC020VZRB
CC025VZRB
CC030VZRB
CC040VZRB
CC050VZRB
CC070VZRB
CC100VZRB
CC150VZRB
CC200VZRB
Length [m (ft.)]
0.5 (1.6)
1 (3.3)
1.5 (4.9)
2 (6.6)
2.5 (8.2)
3 (9.8)
4 (13.1)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
20 (65.6)
Extension cable set/Flexible extension cable set
These cables are used when extending the connection cable.
Use if the length of the connection cable used is not enough when extending the distance between a motor and a driver.
It is a set of two cables for the motor and the encoder. For the cable set of electromagnetic brake motors, a set of three cables for the motor, the encoder, and the electromagnetic brake is provided.
Extension cable set/
Flexible extension cable set
Connection cable set *1/
Flexible connection cable set *1
For electromagnetic brake *2 For electromagnetic brake *2
For encoder For encoder
For motor For motor
50
*1 Use the connection cable used.
*2 Only when the motor is of electromagnetic brake type.
• When installing the motor on a moving part, use a flexible cable offering excellent flexibility.
• When extending the wiring length by connecting an extension cable to the connection cable, keep the total cable length to 20 m (65.6 ft.) or less.
Cables z Extension cable set
For motor/encoder
Model
CC010VZFT
CC020VZFT
CC030VZFT
CC050VZFT
CC070VZFT
CC100VZFT
CC150VZFT
Length [m (ft.)]
1 (3.3)
2 (6.6)
3 (9.8)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2) z Flexible extension cable set
For motor/encoder
Model
CC010VZRT
CC020VZRT
CC030VZRT
CC050VZRT
CC070VZRT
CC100VZRT
CC150VZRT
Length [m (ft.)]
1 (3.3)
2 (6.6)
3 (9.8)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
For motor/encoder/electromagnetic brake
Model
CC010VZFBT
CC020VZFBT
CC030VZFBT
CC050VZFBT
CC070VZFBT
CC100VZFBT
CC150VZFBT
Length [m (ft.)]
1 (3.3)
2 (6.6)
3 (9.8)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
For motor/encoder/electromagnetic brake
Model
CC010VZRBT
CC020VZRBT
CC030VZRBT
CC050VZRBT
CC070VZRBT
CC100VZRBT
CC150VZRBT
Length [m (ft.)]
1 (3.3)
2 (6.6)
3 (9.8)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
8-2 I/O signal cable
This is a shielded cable for good noise immunity to connect the I/O signals of the EtherCAT master to the driver. The ground wire useful to grounding is extracted from both ends of the cable. A connector is assembled at the driver side.
Model
CC24D005C-1
CC24D010C-1
CC24D020C-1
Cable length
[m (ft.)]
0.5 (1.6)
1 (3.3)
2 (6.6)
Number of
lead wire cores
24 pcs.
51
Accessories
9-1
9-2
Pulse signal converter for noise immunity
This product converts a pulse signal, which is output from the open collector output, to a pulse signal for good noise immunity by outputting the pulse signal again from the differential output.
Model: VCS06
Relay contact protection parts/circuits
9-3 z CR circuit for surge suppression
This product is effective to suppress the surge which occurs in a relay contact part. Use it to protect the contacts of the relay or switch.
Model: EPCR1201-2 z CR circuit module
This product is effective to suppress the surge which occurs in a relay contact part. Use it to protect the contacts of the relay or switch.
Four pieces of CR circuit for surge suppression are mounted on the compact circuit, and this product can be installed to the DIN rail. This product can make the wiring easily and securely since it also supports terminal block connection.
Model: VCS02
Regeneration resistor
If vertical drive (gravitational operation) such as elevator applications is performed or if sudden start-stop operation of a large inertial load is repeated frequently, connect the regeneration resistor.
Be sure to connect if an alarm or warning of “Overvoltage” was generated.
Model: RGB100
52
This part explains contents specific to the DC power input type driver.
Table of contents
1 System configuration ............................ 54
2 Preparation ............................................. 55
2-1 Checking the product ................................... 55
2-2 How to identify the product model ......... 55
2-3 Products possible to combine ................... 55
2-4 Information about nameplate ................... 56
2-5 Names and functions of parts .................... 56
2-6 Indication of LEDs ........................................... 58
3 Installation .............................................. 59
3-1 Installation location ....................................... 59
3-2 Installation method ....................................... 59
4 Connection ............................................. 61
4-1 Connection example ..................................... 61
4-2 Connecting the control power supply .... 62
4-4 Connecting the EtherCAT communication cable ................................... 64
4-5 Connecting the USB cable ........................... 65
4-6 Connecting the I/O signals .......................... 65
4-7 Noise elimination measures ....................... 69
4-8 Conformity to the EMC Directive .............. 71
5 Setting of node address ....................... 72
5-1 Setting method ............................................... 72
6 Power removal function ....................... 73
6-2 I/O signals .......................................................... 74
6-3 Operation of power removal function .... 74
6-4 Related functions ............................................ 77
7 Inspection and maintenance .............. 80
7-1 Inspection .......................................................... 80
7-2 Warranty ............................................................. 80
7-3 Disposal .............................................................. 80
8 Cables ...................................................... 81
8-1 Connection cable ............................................ 81
8-2 I/O signal cable ................................................ 85
9 Accessories.............................................. 86
9-2 Relay contact protection parts/circuits .. 86
System configuration
Control power supply
+24 V
GND
EtherCAT communication compatible products
Driver
EtherCAT communication
*
EtherCAT master
Motor
Grounding
Grounding
Main power supply
+24 V (+48 V)
GND
Noise filter AC power supply
* Connect when using direct I/O or sensors.
54
Preparation
2-1
This chapter explains the items you should check, as well as names and functions of each part.
Checking the product
Verify that the items listed below are included. Report any missing or damaged items to the Oriental Motor sales office from which you purchased the product.
• Driver ............................................................................... 1 unit
• CN1 connector (10 pins) ........................................... 1 pc.
• CN4 connector (6 pins) .............................................. 1 pc.
• CN7 connector (24 pins) ........................................... 1 pc.
• Instructions and Precautions for Safe Use .......... 1 copy
Included connector model
Type Part number
CN1 connector DFMC0,5/5-ST-2,54
CN4 connector DFMC1,5/3-ST-3,5-LR
CN7 connector DFMC0,5/12-ST-2,54
Manufacturer
PHOENIX CONTACT GmbH & Co. KG
PHOENIX CONTACT GmbH & Co. KG
PHOENIX CONTACT GmbH & Co. KG
2-2 How to identify the product model
the nameplate.
AZD - K ED
1 2 3
1
2
3
Series AZD : AZ Series driver
Power supply input K : 24/48 VDC
Network type ED : EtherCAT Drive Profile Compatible
2-3 Products possible to combine
Products with which the driver can be combined are listed below. Check the model name of the product with the nameplate.
Power supply type
Product type Applicable series
Model name representing series name *1
Example of model name
DC input
Stepping motor
Motorized actuator
AZ
DR
Series *2
DRS2
DGII
EH
L
Series
EAS
EAC
EZS
Series *2
Series *2
Series
Series
Series
Series
Series
AZM
EASM
EACM
EZSM
DR
DRSM
DGM
DGB
EH
LM
AZM46AK
AZM66AK-TS10
EASM4NXD005AZAK
EACM2E05AZAK
EZSM6D005AZAK
DR28G2.5B03-AZAKU
DR28T1B03-AZAKD-F
DRSM60-05A4AZAK
DGM85R-AZAK
DGB85R12-AZAKR
EH4-AZAKH
LM4F150AZAK-1
*1 The driver described in this manual can be combined with products that begin with these model names.
*2 For these motorized actuators, the equipped motors have been evaluated to affix the CE Marking. Check the model name of the equipped motor with the nameplate.
55
Preparation
2-4 Information about nameplate
The figure shows an example.
Driver model
Input specification
Output specification
2-5
Serial number Manufacturing date
The position describing the information may vary depending on the product.
Names and functions of parts
Node address setting switches (ECAT ID ×10, ×1)
PWR/ALM LED (Green/Red)
HOME PRESET switch
Control power supply input terminals (CN1)
Power removal signal input terminals (CN1)
Power removal monitor output terminals (CN1)
USB communication connector
RUN LED (Green)
ERR LED (Red)
L/A LEDs (Green)
EtherCAT communication connector (CN5 ECAT IN)
EtherCAT communication connector (CN6 ECAT OUT)
Encoder connector (CN2)
MAIN POWER LED (Green)
Motor connector (CN3)
Main power supply input terminals (CN4)
Protective Earth Terminal (CN4)
I/O signal connector (CN7)
Electromagnetic brake terminals (CN4)
DIN lever
56
Preparation
Type
LED
Switch
Connector
Terminal
Other
Name
PWR/ALM LED (Green/Red)
MAIN POWER LED (Green)
RUN LED (Green)
ERR LED (Red)
L/A LEDs (Green)
Node address setting switches
HOME PRESET switch
Encoder connector (CN2)
Motor connector (CN3)
USB communication connector
EtherCAT communication connector (CN5)
EtherCATcommunication connector (CN6)
I/O signal connector (CN7)
Control power supply input terminals (CN1)
Power removal signal input terminals (CN1)
Power removal monitor output terminals (CN1)
Main power supply input terminals (CN4)
Electromagnetic brake terminals (CN4)
Protective Earth Terminal (CN4)
DIN lever
Sign
PWR/ALM
MAIN POWER
RUN
ERR
L/A
ECAT ID ×10
ECAT ID ×1
HOME PRESET
ENCODER
MOTOR
ECAT IN
ECAT OUT
I/O
+24V, 0V
Description
• This LED is lit in green while the control power supply is turned on.
• If an alarm (protective function) is generated, the
LED will blink in red.
•
If the power removal function (p.73) is triggered,
the LED will blink in green.
• If information is generated, the LED will simultaneously blink in green and red twice. (Green and red colors may overlap and it may be visible to orange.)
This LED is lit in green while the main power supply is turned on.
This LED indicates the status of EtherCAT communication.
This LED blinks when an error occurred via EtherCAT communication.
These LEDs indicate the LINK/ACT status of EtherCAT communication.
Used to set the node address.
Factory setting: 00 (×10: 0, ×1: 0)
Used to set the starting position (home) when positioning operation is performed.
Connects the encoder.
Connects the motor.
Connects a PC in which the MEXE02 has been installed. (USB2.0 mini-B port)
Connects with the upper EtherCAT communication compatible product.
Connects with the EtherCAT communication compatible product of the following node address.
Connects when using direct I/O or sensors.
Connects the control power supply.
HWTO1+, HWTO1−
HWTO2+, HWTO2−
Connects the external device.
EDM+, EDM−
+, −
MB1, MB2
−
Connects the main power supply.
Connects the lead wires from the electromagnetic brake.
Ground using a grounding wire of AWG18 to 16 (0.75 to 1.25 mm 2 ).
This is used to install the driver to a DIN rail.
57
Preparation
2-6 Indication of LEDs
LED indication related to driver status
PWR/ALM LED status
Green Red
Unlit
Lit
Unlit
Blinking
Unlit
Unlit
Blinking
Unlit
Blinking twice at the same time *
Blinking at the same time *
Lit at the same time *
Description
The control power supply is not turned on.
The control power supply is turned on.
An alarm is being generated. Details about the generated alarm can be checked by counting the number of times the LED blinks. The LED is lit in green when the alarm is reset.
The power removal function has been activated. After the power removal function is released, the LED is lit in green when the ETO-CLR input is turned
ON.
• Information is being generated. The LED is lit in green when the information is cleared.
• Remote operation is being executed with the when remote operation is complete.
MEXE02 . The LED is lit in green
The interlock was released by holding down the HOME PRESET switch.
The LED is lit in green when the time set in the “Extended input (EXT-IN) interlock releasing time (4972h)” is elapsed.
The input signal assigned to the HOME PRESET switch is being executed. The
LED is lit in green when it is complete.
Repeating "Green → Red →
Simultaneously lit → Unlit"
This is the driver simulation mode.
* Green and red colors may overlap and it may be visible to orange.
LED indication related to EtherCAT communication status
LED indicator
RUN (Green)
ERR (Red)
L/A (Green)
LED status
Unlit
Blinking *
Single flash *
Lit
Unlit
Blinking *
Single flash *
Double flash *
Unlit
Lit
Flickering *
Initialization state
Description
Pre-Operational state
Safe-Operational state
Operational state (normal condition)
No communication error
Communication setting error
Communication data error
Communication watchdog timeout
No link
Link establishment
Operation in progress after link establishment
* The timing to blink the LED is as follows. (unit: ms)
200 200
Blinking
ON
OFF
200 1,000
Single flash
ON
OFF
200 200 200
Double flash
ON
OFF
50 50
Flickering
ON
OFF
1,000
200
58
Installation
3-1
3-2
This chapter explains the installation location and installation method of the driver.
Installation location
The driver is designed and manufactured to be incorporated in equipment. Install it in a well-ventilated location that provides easy access for inspection. The location must also satisfy the following conditions:
• Inside an enclosure that is installed indoors (provide vent holes)
• Operating ambient temperature: 0 to +50 °C (+32 to +122 °F) (non-freezing)
• Operating ambient humidity: 85 % or less (non-condensing)
• Area free of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid
• Area not exposed to direct sun
• Area free of excessive amount of dust, iron particles or the like
• Area not subject to splashing water (rain, water droplets), oil (oil droplets), or other liquids
• Area free of excessive salt
• Area not subject to continuous vibrations or excessive shocks
• Area free of excessive electromagnetic noise (from welders, power machinery, etc.)
• Area free of radioactive materials, magnetic fields or vacuum
• Up to 1,000 m (3,300 ft.) above sea level
Installation method
Mount the driver to a 35 mm (1.38 in.) width DIN rail.
When installing two or more drivers in parallel, it is possible to install them closely in the horizontal direction. Provide a minimum clearance of 50 mm (1.97 in.) in the vertical direction.
When installing three or more drivers closely, the heat generation of the inside drivers become high. Install the less frequently used drivers toward the inside. Also, use the drivers in conditions that an ambient temperature is 0 to +40 °C (+32 to +104 °F) and the stop current is 50 % or less.
• Install the driver inside an enclosure whose pollution degree is 2 or better environment, or whose degree of protection is IP54 minimum.
• Do not install any equipment that generates a large amount of heat or noise near the driver.
• Do not install the driver underneath the EtherCAT master or other equipment vulnerable to heat.
• If the ambient temperature of the driver exceeds 50 °C (122 °F), reconsider the ventilation condition such as providing forced cooling by using fans or creating spaces between the drivers.
• Be sure to install the driver vertically (in vertical position).
45 (1.77)
Unit: mm (in.)
Mounting to DIN rail
1. Pull down the DIN lever of the driver and lock it. Hang the hook at the rear to the DIN rail.
2. Hold the driver to the DIN rail, and push up the DIN lever to secure.
3. Secure both sides using end plates.
Hook
DIN rail
DIN lever
DIN rail
DIN lever
End plates
59
Installation
Removing from DIN rail
Pull the DIN lever down until it locks using a slotted screwdriver, and lift the bottom of the driver to remove it from the rail. Use force of about 10 to 20 N (2.2 to 4.5 lb.) to pull the DIN lever to lock it. Excessive force may damage the DIN lever.
Dimensions
• Unit: mm (in.)
• Mass: 0.18 kg (0.4 lb.)
Slits
45 (1.77) [74 (2.91)] 70 (2.76)
4.1 (0.16)
[22 (0.87)]
60
Connection
This chapter explains a connection example of a driver and a motor, connection methods of power supplies, the grounding method, and others.
The installation and wiring methods in compliance with the EMC Directive as well as protection against noise are also explained.
For protection against electric shock, do not turn on the power supply until the wiring is completed.
4-1 Connection example
The figure shows models for the electromagnetic brake type.
EtherCAT master
Required
Control power supply
Connect to +24V and 0V
Connect to CN5
EtherCAT communication cable
Main power supply
Connect to CN2
Cable for encoder *1 *2
Connect to CN3
Required
Cable for motor *1
Connect to + and −
Grounding
Connect to MB1 and MB2
Cable for electromagnetic brake *1
Required
*1 Purchase it separately.
*2 Use the cable for encoder when the length of
the encoder cable of motor is not enough.
• Connect the connectors securely. Insecure connections may cause malfunction or damage to the motor or the driver.
• The lead wires of the "cable for electromagnetic brake" have polarities, so connect them in the correct polarities. If the lead wires are connected with their polarities reversed, the electromagnetic brake will not operate properly.
• Do not wire the power supply cable of the driver in the same cable duct with other power lines or motor cable. Doing so may cause malfunction due to noise.
• Keep 20 m (65.6 ft.) or less for the wiring distance between the motor and the driver. To extend more than 20 m (65.6 ft.) may result in the driver heat generation or increase of the electrical noise emitted from the product.
• Before connecting or disconnecting a connector, turn off the main power supply and the control power supply, and check the PWR/ALM LED and the MAIN POWER LED have been turned off.
• When pulling off the motor cable, do so while pressing the latches on the connector with fingers.
• When installing the motor on a moving part, use a flexible cable offering excellent flexibility. Refer
61
Connection
Electrical wire size
Connector
CN1
CN4
Terminal symbol
+24V, 0V, HWTO1+, HWTO1−,
HWTO2+, HWTO2−, EDM+, EDM−
+, −, MB1, MB2
CN7 −
Recommended wire size
Stranded wire or solid wire AWG26 to 20 (0.14 to 0.5 mm 2 )
Stranded wire or solid wire AWG24 to 16 (0.2 to 1.25 mm 2 )
Stranded wire or solid wire AWG18 to 16 (0.75 to 1.25 mm 2 )
Stranded wire or solid wire AWG26 to 20 (0.14 to 0.5 mm 2 )
4-2 Connecting the control power supply
Wiring method of CN1 connector
• Applicable lead wire: AWG26 to 20 (0.14 to 0.5 mm 2
• Stripping length of wire insulation: 7 mm (0.28 in.)
)
1. Strip the insulation of the lead wire.
2. Insert the lead wire while pushing the button of the orange color with a slotted screwdriver.
3. After having inserted, release the button to secure the lead wire.
Button of the orange color
Lead wire
Power supply current capacity
Input power supply voltage
24 VDC±5 % *1
Power supply current capacity
Without electromagnetic brake With electromagnetic brake
0.15 A 0.4 A *2
*1 When an electromagnetic brake motor is used, if the wiring distance between the motor and the driver is extended to 20 m (65.6 ft.) using our cable, the input voltage is 24 VDC±4 %.
*2 The AZM46 type is 0.23 A.
Pin assignment
There are two terminals for 0 V: One for control power supply and the other is for internal connection. Check each position in the figure and the table shown.
+24V
+V
HWTO1-
HWTO2-
EDM+
0V *1
HWTO1+
HWTO2+
0V *2
EDM-
Jumper wires
Sign
+24V, 0V *1
HWTO1+, HWTO1−
HWTO2+, HWTO2−
EDM+, EDM−
+V, 0V *2
Description
Connects the control power supply.
Connects the external device. When using the power removal function, remove the jumper wires and connect the external device. If the power removal function is not used, connect jumper wires between the terminals to short-circuit as shown in the figure.
Connects the external device. If the power removal function is not used, do not connect anything.
These are for internal connection. Do not connect anything. If the power removal function is not used, connect a jumper wire between the terminals to short-circuit as shown in the figure.
62
Connection
4-3 Connecting the main power supply and grounding
The CN4 connector has the power supply terminal and the Protective Earth Terminal. The applicable wire size varies between lead wires for a power supply and the Protective Earth. Be sure to use proper lead wires.
Wiring method of CN4 connector
• Applicable lead wire For power supply: AWG24 to 16 (0.2 to 1.25 mm 2
•
For grounding: AWG18 to 16 (0.75 to 1.25 mm
Stripping length of wire insulation: 10 mm (0.39 in.)
2 )
)
1. Strip the insulation of the lead wire.
2. Insert the lead wire while pushing the button of the orange color with a slotted screwdriver.
3. After having inserted, release the button to secure the lead wire.
Button of the orange color
Lead wire
Power supply current capacity
The current capacity of the power supply varies depending on the product combined.
Check the current capacity in reference to the equipped motor model when using the EAC Series, EAS Series, or EZS
Series.
Series
AZ Series
EAC Series
EAS Series
EZS Series
DGII Series
DR Series
DRS2 Series
EH Series
L Series
Model
AZM14
AZM15
AZM24
AZM26
AZM46
AZM48
AZM66
AZM69
DGM60
DGB85
DGM85
DGB130
DGM130
DR20
DR28
DRSM42
DRSM60
EH4
LM2
LM4
Input power supply voltage Power supply current capacity
0.4 A or more
24 VDC±5 %
0.5 A or more
1.6 A or more
24 VDC±5 %
48 VDC±5 %
24 VDC±5 %
1.5 A or more
1.5 A or more
2.1 A or more
3.3 A or more
3.1 A or more
1.6 A or more
24 VDC±5 %
48 VDC±5 %
24 VDC±5 %
24 VDC±5 %
48 VDC±5 %
24 VDC±5 %
24 VDC±5 %
48 VDC±5 %
1.5 A or more
3.3 A or more
0.4 A or more
1.3 A or more
1.5 A or more
2.2 A or more
1.6 A or more
3.3 A or more
Pin assignment
Sign
+
−
MB1
MB2
NC
Description
Main power supply input
(24 VDC/48 VDC)
Main power supply GND
Protective Earth
Electromagnetic brake− (black)
Electromagnetic brake+ (white)
Not connected
+
-
MB1
MB2
NC
63
Connection
Grounding the driver
Be sure to ground the driver.
Do not share the grounding wire with a welder or any other power equipment.
Note that the applicable wire size varies between lead wires for a power supply and the Protective Earth.
+24 VDC
+48 VDC
GND
Grounding
Connect to CN4
4-4 Connecting the EtherCAT communication cable
Connect the EtherCAT master and the CN5 connector (ECAT IN) on the driver using the EtherCAT communication cable.
Be sure to connect from the CN6 connector (ECAT OUT) to the CN5 connector (ECAT IN) when linking drivers.
Driver Driver
EtherCAT master
EtherCAT communication cable
EtherCAT communication cable
Pin assignment
Signal name
TXP
TXN
RXP
N.C.
N.C.
RXN
N.C.
N.C.
Description
Transmitted data+
Transmitted data−
Received data+
−
−
Received data−
−
−
TXP
TXN
RXP
N.C.
N.C.
RXN
N.C.
N.C.
64
4-5
Connection
Connecting the USB cable
Using a USB cable of the following specification, connect a PC in which the MEXE02 has been installed to the USB communication connector.
Specification USB2.0 (full speed)
Cable
Length: 3 m (9.8 ft.) or less
Shape: A to mini B
• Connect the driver and PC directly using the USB cable.
• In large electrically noisy environments, use the USB cable with a ferrite core or install a ferrite core to the USB cable.
4-6 Connecting the I/O signals
Connect when using direct I/O or sensors.
Wiring method of CN7 connector
• Applicable lead wire: AWG26 to 20 (0.14 to 0.5 mm 2
• Stripping length of wire insulation: 7 mm (0.28 in.)
)
1. Strip the insulation of the lead wire.
2. Insert the lead wire while pushing the button of the orange color with a slotted screwdriver.
3. After having inserted, release the button to secure the lead wire.
Button of the orange color
Lead wire
Be certain the I/O signal cable is as short as possible. The maximum input frequency will decrease as the cable length increases.
Pin assignment
Pin
No.
1
2
Signal name *
CW+
[PLS+]
CCW+
[DIR+]
Description *
CW pulse input+
[Pulse input+]
CCW pulse input+
[Rotation direction switching input+]
3
4
5
IN0
IN2
IN-COM
0-3
IN4
Control input 0 (HOMES)
Control input 2
(ETO-CLR)
IN0 to IN3 inputs common
6
7 OUT0
Control input 4 (FW-LS)
Control output 0
(HOME-END)
8 OUT2
Control output 2
(PLS-RDY)
9 OUT4 Control output 4 (MOVE)
10 OUT-COM Output common
11
12
ASG+
BSG+
Phase A pulse output+
Phase B pulse output+
1
12
13
24
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
Values in parentheses ( ) are initial values.
20
21
22
23
24
17
18
19
Pin
No.
13
14
15
16
Signal name *
CW−
[PLS−]
CCW−
[DIR−]
IN1
IN3
Description *
CW pulse input−
[Pulse input−]
CCW pulse input−
[Rotation direction switching input−]
Control input 1 (FREE)
Control input 3
(EXT1)
IN-COM
4-5
IN5
IN4, IN5 inputs common
OUT1
Control input 5 (RV-LS)
Control output 1
(ETO-MON)
OUT3
Control output 3
(CRNT)
OUT5 Control output 5 (ALM-B)
GND GND
ASG− Phase A pulse output−
BSG− Phase B pulse output−
65
Connection
Connection example with a current sink output circuit z When the pulse input circuit of the driver is of line driver type
The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned.
EtherCAT master Driver
0 V
0 V
24 VDC
24 VDC
0 V
12 to 24 VDC
Twisted pair cable CW+ [PLS+]
CW− [PLS−]
1
13
470 Ω
CCW+ [DIR+]
CCW− [DIR−]
2
14
470 Ω
IN0 (HOMES)
3
4.7 kΩ
IN1 (FREE)
15
270 Ω
270 Ω
270 Ω
270 Ω
4.7 kΩ
IN2 (ETO-CLR)
4
4.7 kΩ
IN3 (EXT1)
16
IN-COM0-3
5
IN4 (FW-LS)
6
4.7 kΩ
4.7 kΩ
IN5 (RV-LS)
18
IN-COM4-5
17
4.7 kΩ
5.6 kΩ
5.6 kΩ
2.2 kΩ
2.2 kΩ
2.2 kΩ
2.2 kΩ
2.2 kΩ
2.2 kΩ
R0 10 mA or less OUT0 (HOME-END)
7
R0 OUT1 (ETO-MON)
19
R0 OUT2 (PLS-RDY)
8
R0 OUT3 (CRNT)
20
R0 OUT4 (MOVE)
9
0 V
R0
Twisted pair cable
OUT5 (ALM-B)
21
OUT-COM
BSG+
BSG−
10
ASG+
ASG−
11
23
12
GND
24
22
0 V
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
Values in parentheses ( ) are initial values.
Output saturated voltage 3 V max.
26C31 or equivalent
0 V
66
Connection
• Use input signals at 24 VDC.
• Use output signals at 12 to 24 VDC, 10 mA or less. If the current exceeds 10 mA, connect an external resistor R0 so that the current becomes 10 mA or less.
• The saturated voltage of the output signal is 3 V maximum.
z When the pulse input circuit of the driver is of open collector type
The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned.
Use the CW [PLS] input and CCW [DIR] input at 5 to 24 VDC. When using signals at 24 VDC, connect an external resistor R1 (1.2 kΩ to 2.2 kΩ, 0.5 W or more). When using signals at 5 VDC, apply the voltage directly.
When the voltage of pulse input signals is 5 VDC
EtherCAT master
5 VDC
Twisted pair cable CW+ [PLS+]
CW− [PLS−]
1
13
470 Ω
CCW+ [DIR+]
CCW− [DIR−]
2
14
470 Ω
270 Ω
270 Ω
Driver
5.6 kΩ
270 Ω
270 Ω
5.6 kΩ
0 V
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
When the voltage of pulse input signals is 24 VDC
EtherCAT master
24 VDC
Twisted pair cable
R1
1.2 kΩ to 2.2 kΩ
0.5 W or more
CW+ [PLS+]
CW− [PLS−]
1
13
470 Ω 270 Ω
270 Ω
Driver
5.6 kΩ
270 Ω
270 Ω
5.6 kΩ
0 V
R1
1.2 kΩ to 2.2 kΩ
0.5 W or more
CCW+ [DIR+]
CCW− [DIR−]
2
14
470 Ω
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
67
Connection
Connection example with a current source output circuit z When the pulse input circuit of the driver is of line driver type
The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned.
EtherCAT master Driver
Twisted pair cable 5.6 kΩ CW+ [PLS+]
CW− [PLS−]
1
13
470 Ω
CCW+ [DIR+]
CCW− [DIR−]
2
14
470 Ω
270 Ω
270 Ω
270 Ω
270 Ω
5.6 kΩ
0 V
24 VDC
IN0 (HOMES)
3
IN1 (FREE)
15
IN2 (ETO-CLR)
4
IN3 (EXT1)
IN-COM0-3
16
5
4.7 kΩ
4.7 kΩ
4.7 kΩ
4.7 kΩ
2.2 kΩ
2.2 kΩ
2.2 kΩ
2.2 kΩ
0 V
24 VDC
IN4 (FW-LS)
6
IN5 (RV-LS)
IN-COM4-5
18
17
4.7 kΩ
4.7 kΩ
2.2 kΩ
2.2 kΩ
0 V
12 to 24 VDC
R0 10 mA or less OUT0 (HOME-END)
7
R0 OUT1 (ETO-MON)
19
R0 OUT2 (PLS-RDY)
8
R0 OUT3 (CRNT)
20
R0 OUT4 (MOVE)
9
0 V
R0
Twisted pair cable
OUT5 (ALM-B)
21
OUT-COM
10
ASG+
ASG−
BSG+
BSG−
GND
24
22
11
23
12
0 V
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
Values in parentheses ( ) are initial values.
Output saturated voltage 3 V max.
26C31 or equivalent
0 V
68
Connection
• Use input signals at 24 VDC.
• Use output signals at 12 to 24 VDC, 10 mA or less. If the current exceeds 10 mA, connect an external resistor R0 so that the current becomes 10 mA or less.
• The saturated voltage of the output signal is 3 V maximum.
z When the pulse input circuit of the driver is of open collector type
The pin No.1, No.2, No.13, and No.14 are only available to the pulse input. Other functions cannot be assigned.
Use the CW [PLS] input and CCW [DIR] input at 5 to 24 VDC. When using signals at 24 VDC, connect an external resistor R1 (1.2 kΩ to 2.2 kΩ, 0.5 W or more). When using signals at 5 VDC, apply the voltage directly.
When the voltage of pulse input signals is 5 VDC
EtherCAT master
5 VDC
0 V
CW+ [PLS+]
CW− [PLS−]
1
13
470 Ω
CCW+ [DIR+]
CCW− [DIR−]
Twisted pair cable
2
14
470 Ω
270 Ω
270 Ω
270 Ω
270 Ω
Driver
5.6 kΩ
5.6 kΩ
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
When the voltage of pulse input signals is 24 VDC
EtherCAT master
24 VDC
Driver
0 V
1.2 kΩ to 2.2 kΩ
0.5 W or more
R1
CW+ [PLS+]
CW− [PLS−]
1
13
1.2 kΩ to 2.2 kΩ
0.5 W or more
R1
CCW+ [DIR+]
CCW− [DIR−]
Twisted pair cable
2
14
470 Ω
470 Ω
270 Ω
270 Ω
270 Ω
270 Ω
5.6 kΩ
5.6 kΩ
4-7 Noise elimination measures
* Values in brackets [ ] are signals when the 1-pulse input mode is set.
There are two types of electrical noises: One is a noise to invade into the driver from the outside and cause the driver malfunction, and the other is a noise to emit from the driver and cause peripheral equipment malfunction.
For the noise that is invaded from the outside, take measures to prevent the driver malfunction. It is needed to take adequate measures because signal lines are very likely to be affected by the noise.
For the noise that is emitted from the driver, take measures to suppress it.
Measures against electrical noise
There are the following three methods mainly to take measures against the electrical noise.
z Noise suppression
• When relays or electromagnetic switches are used, use noise filters or CR circuits to suppress surge generated by them.
•
for the model name. This is effective in suppressing the electrical noise emitted from the motor.
• Cover the driver by a metal plate such as aluminum. This is effective in shielding the electrical noise emitted from the driver.
69
Connection z Prevention of noise propagation
• Connect a noise filter on the AC input side of the DC power supply.
• Place the power lines, such as the motor and the power supply cables, keeping a distance of 200 mm (7.87 in.) or more from the signal lines, and also do not bundle them or wire them in parallel. If a power cable and a signal cable have to cross, cross them at a right angle.
• Use shielded twisted pair cables for power lines and signal lines.
• Keep cables as short as possible without coiling and bundling extra lengths.
• Grounding multiple points will increase effect to block electrical noise because impedance on the grounding points is decreased. However, ground them so that a potential difference does not occur among the grounding
name.
• To ground a shielded cable, use a metal cable clamp that can maintain contact with the entire circumference of the shielded cable, and ground
Shielded cable
Cable clamp as near the product as possible.
z Suppression of effect by noise propagation
• Loop the noise propagated cable around a ferrite core. Doing so will prevent the propagated noise invades into the driver or emits from the driver. The frequency band in which an effect by the ferrite core can be seen is generally 1 MHz or more. Check the frequency characteristics of the ferrite core used. When increasing the effect of noise attenuation by the ferrite core, loop the cable a lot.
• Change the transmission method of the pulse signal to the line driver type in order to prevent noise effects. If the pulse signal of the EtherCAT master is of the open collector type, use our pulse signal converter for noise immunity.
Refer to p.86 for the model name.
Noise suppression product z Noise filter
• Connect a noise filter (or equivalent) in the table on the AC input side of the DC power supply. When a power supply transformer is used, be sure to connect a noise filter on the AC input side of the power supply transformer.
Doing so will prevent the propagated noise through the power line. Install the noise filter as close to the input terminals of DC power supply as possible.
Manufacturer
SOSHIN ELECTRIC CO., LTD.
Schaffner EMC
Part number
HF2010A-UPF
FN2070-10-06
• Use the AWG18 (0.75 mm 2 ) or thicker wire for the input and output cables of the noise filter, and secure firmly using a cable clamp or others so that the cable does not come off the enclosure.
• Place the input cable as far apart as possible from the output cable, and do not wire the cables in parallel. If the input and output cables are placed at a close distance or if they are wired in parallel, the noise in the enclosure affects the power cable through stray capacitance, and the noise suppressing effect will reduce.
• Connect the ground terminal of the noise filter to the grounding point, using as thick and short a wire as possible.
• When connecting a noise filter inside an enclosure, wire the input cable of the noise filter as short as possible.
Wiring in long distance may reduce the noise suppressing effect.
Our noise suppression products
Check the model names on p.85 and p.86.
z I/O signal cable
This is a shielded cable for good noise immunity to connect the driver and the EtherCAT master. The ground wire useful to grounding is extracted from both ends of the cable. The EMC testing is conducted using our I/O signal cable.
z Pulse signal converter for noise immunity
This product converts a pulse signal, which is output from the open collector output, to a pulse signal for good noise immunity by outputting the pulse signal again from the differential output.
z Surge suppressor
This product is effective to suppress the surge which occurs in a relay contact part. Connect it when using a relay or electromagnetic switch. CR circuit for surge suppression and CR circuit module are provided.
70
Connection
4-8 Conformity to the EMC Directive
AC
Effective measures must be taken against the EMI that the motor and the driver may give to adjacent control-system equipment, as well as the EMS of the motor and the driver itself, in order to prevent a serious functional impediment in the machinery. The use of the following installation and wiring methods will enable the motor and the driver to be
compliant with the EMC Directive. Refer to p.229 for the applicable standards.
The user is responsible for ensuring the machine’s compliance with the EMC Directive, based on the installation and wiring explained next.
z Connecting the noise filter
z Connecting the power supply
Use a DC power supply compliant with the EMC Directive.
Wire and ground the power supply over the shortest possible distance using a shielded cable.
Refer to "Prevention of noise propagation" on p.70 for how to ground the shielded cable.
z Connecting the motor cable
the model name.
z Connecting the signal cable
Refer to "Prevention of noise propagation" on p.70.
z Grounding method
• The cable used to ground the motor, the driver, and the noise filter must be as thick and short as possible so that no potential difference is generated.
• Choose a large, thick and uniformly conductive surface for the grounding point.
•
ground the driver.
z Example of installation and wiring
Driver
Noise fi lter
Control power supply (24 VDC)
Cable clamp
Shielded cable
Cable for encoder *
Cable clamp
Shielded cable
EtherCAT communication cable
Cable clamp
EtherCAT master
AC
Noise fi lter
Cable for motor *
Cable clamp
DC power supply
Shielded cable
I/O signal cable *
Shielded cable
Cable for electromagnetic brake *
Motor Grounded panel is a ferrite core.
symbol indicate the grounding.
is a shielded box.
* It is the cable in our products.
The driver uses parts that are sensitive to electrostatic charge. Take measures against static electricity since static electricity may cause the driver to malfunction or suffer damage.
71
Setting of node address
5-1
This chapter explains how to set the node address.
Setting method
Set the node address using two node address setting switches (ECAT ID ×10, ×1).
The node address setting switches are hexadecimal number. Convert the node address from decimal to hexadecimal to set.
When connecting two or more EtherCAT communication compatible products, do not set duplicate node address.
Factory setting: 0 (×10: 0, ×1: 0)
Setting range
0 (00h)
1 to 255 (1h to FFh)
Description
The setting of the EtherCAT master is enabled.
The setting of the driver is enabled.
Be sure to turn off the control power supply of the driver before setting the switches. If the switches are set while the control power supply is in an on-state, the new setting will not be enabled.
72
Power removal function
The power removal function is a function that stops supplying the power to the motor by the hardware.
This function shuts off the drive signal of the inverter circuit that controls the motor current with two input channels
(HWTO1 input, HWTO 2 input). This brings a shutoff state of the power supplying to the motor (power removal status).
The power removal function is assumed to be used to prevent unexpected starting of the moving parts of equipment when an operator works inside the operating range of the moving parts.
Main power supply Motor
HWTO1+
HWTO1–
HWTO2+
HWTO2–
EDM+
EDM–
Load switch
Load switch
Gate driver
Drive signal
Control circuit
• The power removal function of the DC power input type is not a safety function.
• Be sure to check the motor is in a standstill state before executing the power removal function. If the power removal function is executed while the motor is operated, it may cause damage to the motor, driver, or equipment.
6-1 Notes when using the power removal function z If the power removal function operates, the motor output shaft may rotate due to external forces
(such as gravity on a vertical axis). To hold the motor output shaft in position, install an external brake mechanism or equivalent. The brake mechanism of the electromagnetic brake motor is used for the purpose to hold the position. Do not use the brake mechanism of the electromagnetic brake motor for braking the motor rotation. This may result in injury or damage to equipment.
z If the inverter circuit is failed, the motor output shaft may rotate up to 180 degrees in an electrical angle (3.6 degrees in a mechanical angle) even when the power removal function operates. Make sure this movement does not cause hazardous situations. Failure to do so may result in injury or damage to equipment.
73
Power removal function
6-2 I/O signals
HWTO1 input, HWTO2 input
The HWTO1 input and HWTO2 input are signals to operate the power removal function.
Provide individual contacts for operating the HWTO1 input and the HWTO2 input.
External device
24 VDC
Driver
CN1
HWTO1+
HWTO1–
HWTO2+
HWTO2–
4.7 kΩ
2.2 kΩ
4.7 kΩ
2.2 kΩ
Specification
• Input voltage: 24 VDC±10 %
0 V
EDM output
The EDM output is a signal to monitor a failure in the power removal function.
Do not use the EDM output for any other purpose except for monitoring a failure.
External device
24 VDC
CN1
EDM+
EDM–
Driver Specifications
• Voltage: 30 VDC or less
• Current: 50 mA or less
• Output saturated voltage: 1.1 V max.
0 V
6-3 Operation of power removal function
Transition to power removal status
If both the HWTO1 and HWTO2 inputs are turned OFF, the driver transitions to the power removal status, and the power supplying to the motor is shut off by the hardware, causing the motor to put into a non-excitation state.
In the power removal status, the status of the motor and driver will be as follows. [When the "HWTO mode selection
(4190h)" is set to "0: Alarm is not present (initial value)"]
• The ETO-MON output is ON.
• The DCMD-RDY output, the READY output, the PLS-RDY output, and the MBC output are OFF.
• The PWR/ALM LED blinks in green.
• When an electromagnetic brake motor is used, the electromagnetic brake is in a state of holding the motor shaft.
• Be sure to check the motor is in a standstill state before executing the power removal function. If the power removal function is executed while the motor is operated, it may cause damage to the motor, driver, or equipment.
• It takes 15 ms maximum from when the HWTO1 and HWTO2 inputs are turned OFF until when the driver is in the power removal status.
• To transition to the power removal status, be sure to turn the HWTO1 and HWTO2 inputs OFF for at least 15 ms.
74
Power removal function z Timing chart
HWTO1 input, HWTO2 input
ON
OFF
Driver status
EDM output
ON
OFF
15 ms or less
Power removal status
15 ms or less
15 ms or less
ETO-MON output
ON
OFF
15 ms or less
DCMD-RDY output, READY output
ON
OFF
15 ms or less
PLS-RDY output *
ON
OFF
15 ms or less
MBC output
ON
OFF
15 ms or less
Motor excitation
Excitation
Non-excitation
Electromagnetic brake
Hold
Release
60 ms or less
* When executing the operation by inputting pulses.
Return from power removal status
If both the HWTO1 and the HWTO2 inputs are turned ON, the power removal status is released. At this time, the motor remains in a non-excitation state. To excite the motor, turn the ETO-CLR input ON in a state where the excitation command is input from the EtherCAT master. (initial value: Activate at ON edge). When the ETO-CLR input is turned
ON, the status of the motor and driver will be as follows.
• The ETO-MON output is OFF.
•
• The PWR/ALM LED is lit in green.
•
The DCMD-RDY output, the READY output, the PLS-RDY output, and the MBC output are ON.
When an electromagnetic brake motor is used, the electromagnetic brake is in a state of releasing the motor shaft.
• Even if either the HWTO1 input or the HWTO2 input is turned ON, the power removal status cannot be released.
• If the ON-time of the HWTO1 and HWTO2 inputs is less than 15 ms, the power removal status may not be released.
• When the power removal status is released, a shut-off state of supplying the power to the motor by the hardware is also released.
75
Power removal function z Timing chart
HWTO1 input, HWTO2 input
ON
OFF
15 ms or less
Driver status Power removal status
15 ms or less
EDM output
ON
OFF
2 ms or more
ETO-CLR input
ON
OFF
ETO-MON output
ON
OFF
DCMD-RDY output, READY output
ON
OFF
2 ms or less
250 ms or less
*2
250 ms or less
PLS-RDY output *1
ON
OFF
MBC output
ON
OFF
Motor excitation
Excitation
Non-excitation
Electromagnetic brake
Hold
Release
250 ms or less
*2
200 ms or less
*2
250 ms or less
*2
*1 When executing the operation by inputting pulses.
*2 It is the movement when the excitation command is input from the EtherCAT master while the ETO-CLR input is turned ON.
Detection for failure of the power removal function
Monitoring the input status of the HWTO1 and HWTO2 inputs and the output status of the EDM output relative to the inputs can detect the failure of the power removal function.
When the power removal function is properly operated, the combination of each signal is any of the following.
Combinations other than the table indicate the power removal function of the driver is in a failure state.
HWTO1 input
ON
OFF
ON
OFF
HWTO2 input
ON
OFF
OFF
ON
EDM output
OFF
ON
OFF
OFF
If only one of the HWTO1 input and the HWTO2 input is ON or OFF, the external device or wiring has failed. Check the cause and take a measure immediately. At this time, the EDM output is in an OFF state and the motor puts into a non-excitation state.
• Do not release the power removal function when the EDM output is in an OFF state.
• If the driver or external device is failed or an error in wirings occurs, check the cause and take a measure immediately.
76
Power removal function
6-4 Related functions z ETO-CLR input
If the ETO-CLR input is turned ON after both the HWTO1 and HWTO2 inputs are turned ON to release the power removal function, the motor puts into a state possible to excite.
Related object
Index Initial value
4199h
Name
ETO reset action
(ETO-CLR)
Description
Sets the judgment level of the signal when the motor is put into a state possible to excite by the ETO-CLR input.
[Setting range]
1: Activate at ON edge
2: Activate at ON level
1 z HWTOIN-MON output
If the HWTO1 input or the HWTO2 input is turned OFF, the HWTOIN-MON output is turned ON.
z ETO-MON output
If the HWTO1 input or the HWTO2 input is turned OFF when the "HWTO mode selection (4190h)" is set to "0: Alarm is not present,” the ETO-MON output is turned ON. If the motor is put into a state possible to excite by the ETO-CLR input after both the HWTO1 and HWTO2 inputs are turned ON, the ETO-MON output is turned OFF.
Related object
Index
4190h
Name
HWTO mode selection
Description
Generates an alarm when the HWTO1 input or the HWTO2 input is turned OFF.
[Setting range]
0: Alarm is not present
1: Alarm is present
Initial value
0 z EDM-MON output
If both the HWTO1 and HWTO2 inputs are turned OFF, the EDM-MON output is turned ON.
z Alarm of HWTO input detection
If the "HWTO mode selection (4190h)" is set to "1: Alarm is present,” an alarm will be generated when either the
HWTO1 input or the HWTO2 input is turned OFF. (HWTO input detection, alarm code 68h)
At this time, the PWR/ALM LED blinks once in red repeatedly.
When the HWTO mode selection (4190h) is set to "1: Alarm is present," the motor will put into a state possible to excite if the ALM-RST input is turned from OFF to ON after the power removal function is released. (It is enabled at the ON edge.)
Related object
Index
4190h
Name
HWTO mode selection
Description
Generates an alarm when the HWTO1 input or the HWTO2 input is turned OFF.
[Setting range]
0: Alarm is not present
1: Alarm is present
Initial value
0
77
Power removal function z Alarm of HWTO input circuit error
If a time after either the HWTO1 input or the HWTO2 input is turned OFF until the other input is turned OFF exceeds the value set in the "HWTO delay time of checking dual system (4191h),” an alarm will be generated. (HWTO input circuit error, alarm code 53h)
At this time, the PWR/ALM LED blinks twice in red repeatedly.
Related object
Index
4191h
Name
HWTO delay time of checking dual system
Description
If a time after either the HWTO1 input or the HWTO2 input is turned OFF until the other input is turned OFF exceeds the value set in this object, an alarm will be generated.
[Setting range]
0 to 10 (disable), 11 to 100 ms
Initial value
0
HWTO delay time of checking dual system
HWTO1 input
HWTO2 input
ON
OFF
ON
OFF
An alarm is not generated
HWTO1 input
HWTO2 input
ON
OFF
ON
OFF
An alarm is generated z ETO reset ineffective period
The motor will not put into a state possible to excite until the time set in the "ETO reset ineffective period (4198h)" is elapsed even if the ETO-CLR input is turned ON.
Related object
Index
4198h
Name
ETO reset ineffective period
Description
Sets a time when the ETO-CLR input is disabled if the motor is put into a state possible to excite by the ETO-CLR input after the
HWTO1 input and the HWTO2 input are turned ON. The motor will not put into a state possible to excite until the time set in this object is exceeded even if the ETO-CLR input is turned ON.
[Setting range]
0 to 100 ms
Initial value
0
When the ETO-CLR input is turned ON before the time set in the “ETO reset ineffective period (4198h)” is elapsed (when the motor is put into a state possible to excite at the ON edge of the input)
HWTO1 input, HWTO2 input
ON
OFF
15 ms or less
Driver status Power removal status
ETO reset ineffective period
ETO-CLR input
ON
OFF
The motor will not put into a state possible to excite even if the ETO-CLR input is turned ON within the ETO reset ineffective period.
Motor excitation
Excitation
Non-excitation
DCMD-RDY output, READY output, PLS-RDY output
ON
OFF
78
Power removal function
When the ETO-CLR input is turned ON after the time set in the “ETO reset ineffective period (4198h)” is elapsed (when the motor is put into a state possible to excite at the ON edge of the input)
HWTO1 input, HWTO2 input
ON
OFF
15 ms or less
Driver status Power removal status
ETO reset ineffective period
The motor puts into a state possible to excite if the ETO-CLR input is turned ON after the ETO reset ineffective period is elapsed.
ETO-CLR input
ON
OFF
200 ms or less
Motor excitation
Excitation
Non-excitation
*
250 ms or less
DCMD-RDY output, READY output, PLS-RDY output
ON
OFF
*
* It is the movement when the excitation command is input from the EhterCAT master at the time the ETO-CLR input is turned ON.
z Signal judgment level of ETO-CLR input
If the "ETO reset action (ETO-CLR) (4199h)" is set to “2: Activate at ON level,” the motor will put into a state possible to excite at the ON level of the ETO-CLR input instead of the ON edge. (Initial value: Activate at ON edge)
Related object
Index Initial value
4199h
Name
ETO reset action
(ETO-CLR)
Description
Sets the judgment level of the signal when the motor is put into a state possible to excite by the ETO-CLR input.
[Setting range]
1: Activate at ON edge
2: Activate at ON level
1 z Motor excitation by input signals other than ETO-CLR input
Changing the parameter can add a function to put the motor into a state possible to excite by the ALM-RST input and the STOP input. In the initial value, this function is set to the STOP input only.
Related object
Index Initial value
419Ah
419Ch
Name
ETO reset action
(ALM-RST)
ETO reset action
(STOP)
Description
The motor is put into a state possible to excite by the ALM-RST input after the HWTO1 input and the HWTO2 input are turned ON.
[Setting range]
0: Disable
1: Activate at ON edge
The motor is put into a state possible to excite by the STOP input after the HWTO1 input and the HWTO2 input are turned ON.
[Setting range]
0: Disable
1: Activate at ON edge
0
1
79
Inspection and maintenance
7-1 Inspection
It is recommended that periodic inspections are conducted for the items listed below after each operation of the motor. If an abnormal condition is noted, discontinue any use and contact your nearest Oriental Motor sales office.
Inspection item
• Check if the openings in the driver are clogged.
• Check if the mounting place of the driver is loose.
•
• Check if dust is deposited on the driver.
•
Check if any of the connection parts of the driver is loose.
Check if the driver has unusual smells or appearance defects.
The driver uses semiconductor components. Static electricity may damage the semiconductor components of the driver, so be extremely careful when handling the driver.
7-2
7-3
Warranty
Check on the Oriental Motor Website or General Catalog for the product warranty.
Disposal
Dispose the product correctly in accordance with laws and regulations, or instructions of local governments.
80
8-1 Connection cable
Connection cable set/Flexible connection cable set
(For AZM14 , AZM15 , AZM24 , AZM26 )
These cables are used when connecting a motor and a driver.
Connection cable set/Flexible connection cable set
When installing the motor on a moving part, use a flexible cable offering excellent flexibility.
z Connection cable set
For motor/encoder
Model
CC005VZ2F2
CC010VZ2F2
CC015VZ2F2
CC020VZ2F2
CC025VZ2F2
CC030VZ2F2
CC040VZ2F2
CC050VZ2F2
CC070VZ2F2
CC100VZ2F2
CC150VZ2F2
CC200VZ2F2
Length [m (ft.)]
0.5 (1.6)
1 (3.3)
1.5 (4.9)
2 (6.6)
2.5 (8.2)
3 (9.8)
4 (13.1)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
20 (65.6) z Flexible connection cable set
For motor/encoder
Model
CC005VZ2R2
CC010VZ2R2
CC015VZ2R2
CC020VZ2R2
CC025VZ2R2
CC030VZ2R2
CC040VZ2R2
CC050VZ2R2
CC070VZ2R2
CC100VZ2R2
CC150VZ2R2
CC200VZ2R2
Length [m (ft.)]
0.5 (1.6)
1 (3.3)
1.5 (4.9)
2 (6.6)
2.5 (8.2)
3 (9.8)
4 (13.1)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
20 (65.6)
Cables
81
Cables
Connection cable set/Flexible connection cable set
(For AZM46 , AZM48 , AZM66 , AZM69 )
These cables are used when connecting a motor and a driver. It is a set of two cables for the motor and the encoder.
For the cable set of electromagnetic brake motors, a set of three cables for the motor, the encoder, and the electromagnetic brake is provided.
Connection cable set/Flexible connection cable set
For encoder *1
For motor
For electromagnetic brake *2
*1 Use the cable for encoder when the length of the encoder cable of motor is not enough.
*2 Only when the motor is the electromagnetic brake type.
When installing the motor on a moving part, use a flexible cable offering excellent flexibility.
z Connection cable set
For motor/encoder
Model
CC005VZF2
CC010VZF2
CC015VZF2
CC020VZF2
CC025VZF2
CC030VZF2
CC040VZF2
CC050VZF2
CC070VZF2
CC100VZF2
CC150VZF2
CC200VZF2
Length [m (ft.)]
0.5 (1.6)
1 (3.3)
1.5 (4.9)
2 (6.6)
2.5 (8.2)
3 (9.8)
4 (13.1)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
20 (65.6)
For motor/encoder/electromagnetic brake
Model
CC005VZFB2
CC010VZFB2
CC015VZFB2
CC020VZFB2
CC025VZFB2
CC030VZFB2
CC040VZFB2
CC050VZFB2
CC070VZFB2
CC100VZFB2
CC150VZFB2
CC200VZFB2
Length [m (ft.)]
0.5 (1.6)
1 (3.3)
1.5 (4.9)
2 (6.6)
2.5 (8.2)
3 (9.8)
4 (13.1)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
20 (65.6)
82
Cables z Flexible connection cable set
For motor/encoder
Model
CC005VZR2
CC010VZR2
CC015VZR2
CC020VZR2
CC025VZR2
CC030VZR2
CC040VZR2
CC050VZR2
CC070VZR2
CC100VZR2
CC150VZR2
CC200VZR2
Length [m (ft.)]
0.5 (1.6)
1 (3.3)
1.5 (4.9)
2 (6.6)
2.5 (8.2)
3 (9.8)
4 (13.1)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
20 (65.6)
For motor/encoder/electromagnetic brake
Model
CC005VZRB2
CC010VZRB2
CC015VZRB2
CC020VZRB2
CC025VZRB2
CC030VZRB2
CC040VZRB2
CC050VZRB2
CC070VZRB2
CC100VZRB2
CC150VZRB2
CC200VZRB2
Length [m (ft.)]
0.5 (1.6)
1 (3.3)
1.5 (4.9)
2 (6.6)
2.5 (8.2)
3 (9.8)
4 (13.1)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
20 (65.6)
Extension cable set/Flexible extension cable set
(For AZM14 , AZM15 , AZM24 , AZM26 )
These cables are used when extending the connection cable.
Use if the length of the connection cable used is not enough when extending the distance between a motor and a driver.
Extension cable set/
Flexible extension cable set
Connection cable set */
Flexible connection cable set *
* Use the connection cable used.
• When installing the motor on a moving part, use a flexible cable offering excellent flexibility.
• When extending the wiring length by connecting an extension cable to the connection cable, keep the total cable length to 20 m (65.6 ft.) or less.
z Connection cable set
For motor/encoder
Model
CC010VZ2FT
CC020VZ2FT
CC030VZ2FT
CC050VZ2FT
CC070VZ2FT
CC100VZ2FT
CC150VZ2FT
Length [m (ft.)]
1 (3.3)
2 (6.6)
3 (9.8)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2) z Flexible connection cable set
For motor/encoder
Model
CC010VZ2RT
CC020VZ2RT
CC030VZ2RT
CC050VZ2RT
CC070VZ2RT
CC100VZ2RT
CC150VZ2RT
Length [m (ft.)]
1 (3.3)
2 (6.6)
3 (9.8)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
83
Cables
Extension cable set/Flexible extension cable set
(For AZM46 , AZM48 , AZM66 , AZM69 )
These cables are used when extending the connection cable.
Use if the length of the connection cable used is not enough when extending the distance between a motor and a driver.
It is a set of two cables for the motor and the encoder. For the cable set of electromagnetic brake motors, a set of three cables for the motor, the encoder, and the electromagnetic brake is provided.
Extension cable set/
Flexible extension cable set
Connection cable set *1/
Flexible connection cable set *1
For encoder For encoder
For motor For motor
For electromagnetic brake *2 For electromagnetic brake *2
*1 Use the connection cable used.
*2 Only when the motor is the electromagnetic brake type.
• When installing the motor on a moving part, use a flexible cable offering excellent flexibility.
• When extending the wiring length by connecting an extension cable to the connection cable, keep the total cable length to 20 m (65.6 ft.) or less.
z Extension cable set
For motor/encoder
Model
CC010VZFT
CC020VZFT
CC030VZFT
CC050VZFT
CC070VZFT
CC100VZFT
CC150VZFT
Length [m (ft.)]
1 (3.3)
2 (6.6)
3 (9.8)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
For motor/encoder/electromagnetic brake
Model
CC010VZFBT
CC020VZFBT
CC030VZFBT
CC050VZFBT
CC070VZFBT
CC100VZFBT
CC150VZFBT
Length [m (ft.)]
1 (3.3)
2 (6.6)
3 (9.8)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
84
z Flexible extension cable set
For motor/encoder
Model
CC010VZRT
CC020VZRT
CC030VZRT
CC050VZRT
CC070VZRT
CC100VZRT
CC150VZRT
Length [m (ft.)]
1 (3.3)
2 (6.6)
3 (9.8)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
For motor/encoder/electromagnetic brake
Model
CC010VZRBT
CC020VZRBT
CC030VZRBT
CC050VZRBT
CC070VZRBT
CC100VZRBT
CC150VZRBT
Length [m (ft.)]
1 (3.3)
2 (6.6)
3 (9.8)
5 (16.4)
7 (23.0)
10 (32.8)
15 (49.2)
8-2 I/O signal cable
This cable is a shielded cable for the driver control I/O that has good noise immunity. The ground wire useful to grounding is extracted from both ends of the cable.
Select the cable suitable for the number of I/O signals connected.
Model list
Cable length
[m (ft.)]
0.5 (1.6)
1 (3.3)
1.5 (4.9)
2 (6.6)
6 pcs.
CC06D005B-1
CC06D010B-1
CC06D015B-1
CC06D020B-1
Number of lead wires
10 pcs.
12 pcs.
CC10D005B-1
CC10D010B-1
CC12D005B-1
CC12D010B-1
CC10D015B-1
CC10D020B-1
CC12D015B-1
CC12D020B-1
16 pcs.
CC16D005B-1
CC16D010B-1
CC16D015B-1
CC16D020B-1
Cables
85
Accessories
9-1
9-2
Pulse signal converter for noise immunity
This product converts a pulse signal, which is output from the open collector output, to a pulse signal for good noise immunity by outputting the pulse signal again from the differential output.
Model: VCS06
Relay contact protection parts/circuits z CR circuit for surge suppression
This product is effective to suppress the surge which occurs in a relay contact part. Use it to protect the contacts of the relay or switch.
Model: EPCR1201-2 z CR circuit module
This product is effective to suppress the surge which occurs in a relay contact part. Use it to protect the contacts of the relay or switch.
Four pieces of CR circuit for surge suppression are mounted on the compact circuit, and this product can be installed to the DIN rail. This product can make the wiring easily and securely since it also supports terminal block connection.
Model: VCS02
86
This part explains how to control via EtherCAT communication.
Table of contents
1 Guidance ................................................. 89
2 Communications specifications .......... 92
2-1 EtherCAT communication interface ......... 92
2-2 CiA402 drive profile ....................................... 92
2-3 EtherCAT state machine (ESM) ................... 93
2-4 Process data object (PDO) ........................... 93
2-5 Service data object (SDO) ............................ 96
2-6 Synchronous mode of EtherCAT communication ............................................... 97
2-7 Distributed clocks ........................................... 97
2-8 Emergency message ..................................... 97
3 Drive profile ............................................ 98
3-1 Drive state machine ....................................... 98
3-2 Operation mode ............................................101
3-3 Cyclic synchronous position mode
(CSP) ..................................................................101
3-4 Profile position mode (PP) .........................103
3-5 Cyclic synchronous velocity mode
(CSV) ..................................................................114
3-6 Profile velocity mode (PV) .........................117
3-7 Homing mode (HM) .....................................120
4 Function ................................................134
4-1 Touch probe ....................................................134
4-2 Resolution .......................................................137
4-3 Wrap function ................................................138
4-4 Operating current and stop current ......138
4-5 Maintenance commands ...........................139
4-6 Assignment of I/O function .......................140
5 Position coordinate management ...151
5-1 Overview of position coordinate management ..................................................151
5-2 Position coordinate origin .........................155
5-3 Parameters related to ABZO sensor .......156
5-4 Mechanism settings parameter ...............157
5-5 Initial coordinate generation & wrap coordinate parameter .................................158
6 Save of parameters .............................164
7 Object dictionary .................................165
7-1 Composition of the object dictionary ...165
7-3 Objects of the profile area .........................171
Setting of data and parameters
Data and parameters described in this "4 EtherCAT communication" can be set using the
MEXE02 in addition to
EtherCAT communication.
Notation rules z Timing to update
In this part, each update timing is represented in an alphabet.
Notation Update timing
A
B
C
D
Update immediately
Update after operation stop
Update after executing Configuration
Update after turning on the control power supply again
Description
Recalculation and setup are immediately executed when the parameter is written.
Recalculation and setup are executed when the operation is stopped.
Recalculation and setup are executed after Configuration is executed or executing write batch non-volatile memory and turning on the control power supply again.
Recalculation and setup are executed after executing write batch non-volatile memory and turning on the control power supply again.
88
Guidance
If you are new to this product, read this chapter to understand the operating methods along with the operation flow.
This is an example how to operate the motor via EtherCAT communication.
STEP1
STEP2
STEP3
STEP4
Installation and connection
Before starting operation
Setting of node address
Operation of motor z Operating conditions
This operation is performed under the following conditions.
• Number of drivers connected: one unit
• Node address: 1
• Before operating the motor, check the condition of the surrounding area to ensure safety.
• Before starting based on the guidance, import the ESI file to the setting tool of the EtherCAT master and register the system configuration in advance. For details, contact your nearest Oriental
Motor sales office.
89
Guidance
STEP 1 Check the installation and connection.
AC power input driver
The figure shows models for single-phase 200 to 240 VAC input.
Connect to +24V and 0V
Required
Control power supply
Connect to CN2
Cable for encoder *1 *2
Connect to CN3
Required
Cable for motor *1
EtherCAT master
Connect to CN5
EtherCAT communication cable
Connect to L1 and L2
Main power supply
Single-phase 200-240 V
Grounding
Grounding
*1 Purchase it separately.
*2 Use the cable for encoder when the length of the encoder cable of motor is not enough.
DC power input driver
Required
Control power supply
Connect to +24V and 0V
Connect to CN2
Cable for encoder *1 *2
Connect to CN3
Main power supply
Required Cable for motor *1
Connect to CN4
Grounding
EtherCAT master
Connect to CN5
EtherCAT communication cable
90
Grounding
*1 Purchase it separately.
*2 Use the cable for encoder when the length of the encoder cable of motor is not enough.
Guidance
STEP 2 Make preparations for operation.
Refer to “Before starting operation” in the AZ Series OPERATING MANUAL Function Edition.
STEP 3 Set an node address.
Set an node address using the node address setting switches (ECAT ID ×10, ×1) of the driver.
1. Set the node address setting switches as shown next.
Settings: 1 (×10: 0, ×1: 1)
AC power input driver DC power input driver
ECAT ID ×10
ECAT ID ×10
ECAT ID ×1
ECAT ID ×1
2. Turn on the control power supply again.
Be sure to turn off the control power supply of the driver before setting the switches. If the switches are set while the control power supply is in an on-state, the new setting will not be enabled.
STEP 4 Operate the motor.
Put the motor into an excitation state via EtherCAT communication to input the operation command.
STEP 5 Were you able to operate the motor properly?
How did it go? Were you able to operate the motor properly? If the motor does not operate, check the following points.
• Is the PWR/ALM LED blinking in red?
An alarm is being generated. Refer to p.204 for details.
• Are the power supply, the motor and the EtherCAT communication cable connected securely?
• Is the node address set correctly?
• Is the ERR LED blinking in red?
driver) for details.
91
Communications specifications
2-1 EtherCAT communication interface
Item
Communications standards
Physical layer/Protocol
Transmission rate
Communication cycle
Communication port/Connector
Topology
Process data
Sync manager
Mailbox (CoE)
Synchronization mode
Device profile
Description
IEC 61158 Type12
100 BASE-TX (IEEE 802.3)
100 Mbps
• Free run mode: 1 ms or more
• Sync manager 2 event synchronization mode: 1 ms or more
• DC mode: 0.25 ms, 0.5 ms, 1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 6 ms, 7 ms, 8 ms
RJ45×2 (shielded)
ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output
Daisy chain (Up to 65,535 nodes)
Variable PDO mapping
• SM0: Mailbox output
• SM1: Mailbox input
• SM2: Process data output
• SM3: Process data input
• Emergency message
• SDO request
• SDO response
• SDO information
• Free run mode (asynchronous)
• Sync manager 2 event synchronization mode
• DC mode (SYNC0 event synchronization)
IEC 61800-7 CiA402 drive profile
2-2 CiA402 drive profile
Item
Operation mode
Description
The following modes are supported.
• Profile position mode (PP)
• Profile velocity mode (PV)
• Homing mode (HM)
• Cyclic synchronous position mode (CSP)
• Cyclic synchronous velocity mode (CSV)
92
Communications specifications
2-3 EtherCAT state machine (ESM)
The EtherCAT state machine (ESM) is controlled by the EtherCAT master.
Init
Pre-operational
Safe-operational
Init
ESM state
Pre-operational
Operational
Operational
Safe-operational
SDO communication
Not possible
Possible
Possible
Possible
Transmit PDO
(TxPDO)
Receive PDO
(RxPDO)
Not possible Not possible
Not possible Not possible
Possible
Possible
Not possible
Possible
Status
During initialization. Communication is not possible.
The mailbox communication (SDO) is possible. The process data communication
(PDO) is not possible.
The mailbox communication and transmit
PDO are possible. The status of the driver can be sent to the EtherCAT master by the transmit PDO.
The mailbox communication, transmit
PDO, and receive PDO are possible.
Commands can be sent from the EtherCAT master to the driver by the PDO communication.
2-4 Process data object (PDO)
The process data object (PDO) is used in real-time data communication of EtherCAT communication.
There are two types of PDO; transmit PDO (TxPDO) and receive PDO (RxPDO).
The transmit PDO (TxPDO) is to send data to the EtherCAT master from the driver. The receive PDO (RxPDO) is to receive data from the EtherCAT master to the driver.
Contents, which are sent and received using the PDO, are set by the PDO mapping object and the sync manager 2 and sync manager 3 PDO assignment objects.
The PDO mapping is to set the PDO mapping object.
Sync manager 2 PDO assignment and sync manager 3 PDO assignment are to set the PDO mapping object that performs communication actually.
The PDO mapping object is consisted of 4 bytes that are indexes of assigned object (Index), sub-index (Sub-index), and data length (Length). Only data of 08h (1 byte), 10h (2 bytes), and 20h (4 bytes) can be set in the data length.
Index
(2 bytes)
Sub-index
(1 byte)
Data length
(1 byte)
93
Communications specifications
PDO mapping object
Up to 16 objects can be mapped in a single PDO.
Receive PDO mapping object
Receive PDO Index
RxPDO1
RxPDO2
1600h
1601h
Transmit PDO mapping object
Transmit PDO Index
TxPDO1
TxPDO2
1A00h
1A01h
Objects to be mapped in the PDO are as follows.
Objects of profile area
6000h to 67FFh
Objects of manufacturer-specific area
4000h to 4FFFh
The configuration of objects is as follows.
Index (Hex)
1000h to 1FFFh
2000h to 3FFFh
4000h to 4FFFh
5000h to 5FFFh
6000h to 67FFh
Object
CoE communication area
Manufacturer specific area
Profile area
Overview
CoE communication area
Not used
Driver object
Not used
Profile area
Sync manager 2 and sync manager 3 PDO assignment objects
The SM (sync manager channel) PDO assignment objects set the relationship between the PDO and sync manager.
The "Sync manager 2 PDO assignment (1C12h)" is the assignment object dedicated to the receive PDO.
The "Sync manager 3 PDO assignment (1C13h)" is the assignment object dedicated to the transmit PDO.
Objects of up to 64 bytes can be assigned.
Setting of PDO mapping object
The PDO mapping can be changed when the ESM is pre-operational. Change the PDO mapping in the following steps.
1. Set the number of entries of the sync manager 2 and sync manager 3 PDO assignment objects to 0.
2. Set the number of entries of the PDO mapping object to 0.
3. Change the PDO mapping object.
4. Change the number of entries of the PDO mapping object to the number of objects mapped in the step 3.
5. Change the sync manager 2 and sync manager 3 PDO assignment objects.
6. Change the number of entries of the sync manager 2 and sync manager 3 PDO assignment objects to the number assigned in the step 5.
94
Communications specifications
Example of PDO mapping
This section introduces an example of PDO mapping. Data of 2 bytes and 4 bytes are little-endian.
With the sync manager 2 and sync manager 3 PDO assignment objects, set the mapping of PDO communication by selecting the PDO mapping object that performs communication actually.
EtherCAT communication frame
EtherCAT datagram
RxPDO data
TxPDO data
Object
RxPDO frame of driver
A B C
Object
TxPDO frame of driver
L M N O
D
P
E F G H I
Saync manager 2
PDO assignment object
Index
1C12h
Sub
00h
01h
Setting value
1
1600h
Sync manager 3
PDO assignment object
Index
1C13h
Sub
00h
01h
Setting value
1
1A00h
RxPDO mapping object
PDO
RxPDO1
Index
1600h
RxPDO2 1601h
03h
04h
05h
06h
07h
08h
09h
Sub
00h
01h
02h
0Ah to 10h
00h
01h to 10h
Mapping
9
Object A
Object B
Object C
Object D
Object E
Object F
Object G
Object H
Object I
0
0
0
Data length
-
4 bytes
2 bytes
4 bytes
1 byte
4 bytes
1 byte
2 bytes
1 byte
1 byte
-
-
-
TxPDO mapping object
PDO Index
TxPDO1 1A00h
TxPDO2 1A01h
Sub
00h
01h
02h
03h
04h
05h
06h to 10h
00h
01h to 10h
Mapping
5
Object L
Object M
Object N
Object O
Object P
0
0
0
Data length
-
2 bytes
2 bytes
4 bytes
1 byte
4 bytes
-
-
-
95
Communications specifications
2-5 Service data object (SDO)
When read and write of the parameter object is performed, or monitor is executed via EtherCAT communication, the
"Service data object (SDO)" is used. The SDO is not synchronized to EtherCAT communication cycles, but it is sent and received in an arbitrary timing. The setting of PDO mapping is also performed using the SDO.
SDO abort code
If an error occurs while the SDO is sent and received, an abort code is sent back. Abort code lists are shown in the table.
0607 0013h
0609 0011h
0609 0030h
0609 0031h
0609 0032h
0609 0036h
0800 0000h
0800 0020h
0800 0021h
0800 0022h
0800 0023h
Abort code
0503 0000h
0504 0000h
0504 0001h
0504 0005h
0601 0000h
0601 0001h
0601 0002h
0602 0000h
0604 0041h
0604 0042h
0604 0043h
0604 0047h
0606 0000h
0607 0010h
0607 0012h
Description
Toggle bit did not inverted.
SDO protocol timeout
Client/server command specifier is not enabled or unknown.
Out of range of memory
Unsupported access to an object
Read access was performed to a write only object.
Write access was performed to a read only object.
The object does not exist.
The object can not be mapped in the PDO.
The number of the PDO mappings or the data length exceeded the limitation.
General parameter incompatibility
General internal incompatibility in the device
Access failed due to a hardware error
Data type does not match, length of service parameter does not match.
Data type does not match, length of service parameter is too long.
Data type does not match, length of service parameter is too short.
Sub-index does not exist.
The setting range of the parameter was exceeded. (For write access)
The value of the write parameter is too large.
The value of the write parameter is too small.
The maximum value is less than the minimum value.
General error
Data cannot be transferred or stored to the application.
Data cannot be transferred or stored to the application because of local control.
Data cannot be transferred or stored to the application in the present device status.
Object dictionary cannot be generated or object dictionary does not exist.
96
Communications specifications
2-6 Synchronous mode of EtherCAT communication
This product is compatible with three modes of EtherCAT communication.
z Free run mode
The driver operates in asynchronous to EtherCAT communication.
The communication cycle of the Free run mode is 1 ms or more.
z Sync manager 2 event synchronization mode
The driver operates in synchronization with EtherCAT communication. An application is synchronized with the sync manager 2 event. Whenever the driver receives the process data output (RxPDO), the sync manager 2 event is generated.
The communication cycle of the sync manager 2 event synchronization mode is 1 ms or more.
z DC mode (SYNC0 event synchronization)
The driver operates in synchronization with EtherCAT communication. An application is synchronized with the SYNC0 event.
The communication cycle of the DC mode is 0.25 ms, 0.5 ms, or 1 to 8 ms (in 1 ms unit).
2-7
2-8
Distributed clocks
The "Distributed clocks (DC)" is a method to synchronize an operation by sharing the same clock between the
EtherCAT master and driver.
The interruption signal (SYNC0) is output at a precise interval based on the DC. In the DC mode, an application is executed in synchronization with SYNC0.
Emergency message
If an error occurs in the driver, an emergency message is sent to the EtherCAT master using the mailbox communication.
The emergency message is sent only once per error.
The emergency message consists of the following 8 bytes.
Byte0 Byte1 Byte3 Byte4 Byte5 Byte6
Emergency error code
Byte2
Error register object (1001h)
Manufacturer-specific error definition field
Byte7
Emergency message for when an alarm is generated
If an alarm is generated in the driver, an emergency message is sent to the EtherCAT master using the mailbox communication. The emergency message for when the alarm is generated consists of the following 8 bytes.
Byte7 Byte0 Byte1
Emergency error code
(FF00h)
Byte2
Error register object (1001h)
Byte3 Byte4 Byte5 Byte6
Manufacturer-specific error definition field
Alarm code 0 0
The emergency error code is FF00h regardless of the alarm contents.
The byte2 is the same value as the error register object.
The byte4 is the alarm code. Refer to p.205 for alarm code.
Emergency code for when the ESM transition error is generated
If the transition from pre-operational to safe-operational was failed in the ESM, the following emergency code is sent.
Byte0 Byte1
Emergency error code
(A000h)
Byte2
Channel (02h)
Byte3
0Ah
Byte4 Byte5
Diagnosis data
0
Byte6 Byte7
If the transition from pre-operational to safe-operational was requested during the following status, this emergency code is generated. Check the contents, and reconsider the setting and other conditions.
• The unsupported communication cycle in the DC mode is set.
• The object that mapping is not possible is mapped in the PDO mapping.
• The object for TxPDO is mapped in RxPDO. Or the object for RxPDO is mapped in TxPDO.
97
Drive profile
3-1
(A)
(B)
(C)
Drive state machine
The drive state machine is controlled by the "Controlword object (6040h)." The status of each state can be checked by the "Statusword object (6041h)."
12
Quick stop active
10
16
11
Start
0
Not ready to switch on
1
Switch on disabled
2 7
Ready to switch on
3 6
Switched on
4
Operation enabled
5
8
15
9
(
(
(
A
B
C
)
)
): Lower-level power
: High-level power
: Current on
Fault reaction
13
Fault
Error occures
14 active
Control power
ON
ON
ON
Main power
ON
or
OFF
ON
ON
ESM
-
Operational
Motor
Nonexcitation
Nonexcitation
Operational Excitation
State
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Quick stop active
Fault reaction active
Fault
Status
The control power supply was turned on, and the initialization processing is executing.
The initialization was complete.
A state that the main power supply is possible to turn on.
A state that the main power supply was turned on.
The motor is in an excitation state, and the operation function is enabled.
The Quick stop command was received, and the operation stop is processing.
An alarm was generated in the driver, and the operation stop is processing.
An alarm is present in the driver.
Motor status
Non-excitation
Excitation
Excitation
Excitation
Non-excitation
Parameter setting
Non-excitation Not possible to set
Non-excitation Possible to set
Non-excitation Possible to set
Possible to set
Possible to set
Possible to set
Possible to set
Possible to set
After moving to "Operation enabled," 250 ms is required until the motor is excited and the preparation for operation is completed. The motor does not start running even if the operation command is input before the preparation for operation is completed. Input the operation command after 250 ms have elapsed from having moved to “Operation enabled” or after the DCMD-RDY output is turned ON.
98
Drive profile
State transition of the drive state machine
The drive state machine is controlled by the "Controlword object (6040h)." z Controlword object (6040h)
Bit15
Bit7
Fault reset
Bit14 Bit13 Bit12
Manufacturer specific (ms)
Bit6 Bit5 Bit4
Operation mode specific (oms)
Bit11
Bit3
Enable operation
Bit10
Reserved
Bit2
Quick stop
Bit9 oms
Bit1
Enable voltage
Bit8
Halt
Bit0
Switch on z State transition commands by the controlword
State control command
Shutdown
Switch on
Switch on + enable operation
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset
Bit7
−
−
−
0 to 1
−
−
−
−
Bit3
1
−
−
0
1
−
−
0
Bit2
1
−
0
1
1
−
1
1
Bit1
1
−
1
1
1
0
1
1
Bit0
1
−
−
1
1
−
0
1
Transition number in the figure
2, 6, 8
3 *
3+4 *
7, 9, 10, 12
7, 10, 11
5
4, 16
15
* When the following conditions are not satisfied, the state will not move from "Ready to switch on" to "Switched on" even if the command is received.
· The status of the ESM is operational.
· The main power is turned ON.
· The FREE input is OFF.
· The CON input is OFF.
· The ETO-MON output is OFF.
· Test operation (remote operation) is not being executed using the MEXE02 .
z State transition other than the above
Transition number in the figure
0
1
2
13, 14
Transition event
Moves automatically when the control power supply is turned on.
Moves automatically when the initialization of the driver is complete.
Moves after stopping if the Quick stop action is "Moves to switch on disabled."
Moves if an alarm is generated.
If the drive state machine is in a state of any of "Switched on," "Operation enabled," or "Quick stop active," the state changes when an event in the table next is generated.
State Action
Switched on
Operation enabled
Motor operation
During stop
During stop
Event
• The ESM moves to other than OP.
• The main power was cut off.
• The driver is in the power removal status.
• The FREE input is ON.
• The ESM moves to other than OP.
• The main power was cut off.
• The driver is in the power removal status.
• The FREE input is ON.
Moves to "Ready to switch on." (Transition number 6)
Moves to "Ready to switch on." (Transition number 8) The motor becomes in a nonexcitation state.
During operation
The ESM moves to other than OP.
The alarm of network bus error is generated
(alarm code 81h). After moving from "Fault reaction active" to "Fault," the motor becomes in a non-excitation state. (Transition number
13, 14)
99
Drive profile
State
Operation enabled
Quick stop active
Motor operation
During operation
During stop
During operation
Event
The main power was cut off.
Action
The alarm of main power supply off is generated (alarm code 23h). After moving from
"Fault reaction active" to "Fault," the motor becomes in a non-excitation state. (Transition number 13, 14)
Moves to "Ready to switch on." (Transition number 8) The motor becomes in a nonexcitation state.
• The driver is in the power removal status.
• The FREE input is ON.
• The ESM moves to other than OP.
• The main power was cut off.
• The driver is in the power removal status.
• The FREE input is ON.
Moves to "Switch on disabled." (Transition number 12) The motor becomes in a nonexcitation state.
The ESM moves to other than OP.
The main power was cut off.
• The driver is in the power removal status.
• The FREE input is ON.
The alarm of network bus error is generated
(alarm code 81h). After moving from "Fault reaction active" to "Fault," the motor becomes in a non-excitation state. (Transition number
13, 14)
The alarm of main power supply off is generated (alarm code 23h). After moving from
"Fault reaction active" to "Fault," the motor becomes in a non-excitation state. (Transition number 13, 14)
Moves to "Switch on disabled." (Transition number 12) The motor becomes in a nonexcitation state.
Status output of the drive state machine
The status of the drive state machine is output by the "Statusword object (6041h)." z Statusword object (6041h)
Bit15 Bit14
Manufacturer specific (ms)
Bit7
Warning
Bit6
Switch on disabled
Bit13 Bit12
Operation mode specific
(oms)
Bit5 Bit4
Quick stop
Voltage enabled
Bit11
Internal limit active
Bit3
Fault
Bit10
Target reached
Bit2
Operation enabled z Status output of the Statusword
State
Start
Not ready to switch on
Fault
Fault reaction active
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Quick stop active
0
0
0
1
Bit6
0
0
0
0
0
1
1
1
1
Bit5
0
0
1
1
0
* Voltage enabled is 1 while the main power is input.
− *
− *
− *
− *
Bit4
0
0
− *
− *
− *
0
0
1
0
Bit3
0
0
1
0
0
0
0
1
0
Bit2
0
0
0
1
1
0
1
1
0
Bit1
0
0
0
1
1
Bit9
Remote
Bit1
Switched on
1
1
1
0
Bit0
0
0
0
1
1
Bit8 ms
Bit0
Ready to switch on
100
Drive profile
3-2 Operation mode
The driver supports the operation modes listed below.
• Cyclic synchronous position mode (CSP)
• Profile position mode (PP)
• Cyclic synchronous velocity mode (CSV)
• Profile velocity mode (PV)
• Homing mode (HM)
Switching of operation modes
The operation mode can be switched by the "Modes of operation (6060h)."
Setting value of the operation mode
0 (Initial value)
1
3
6
8
9
Operation mode
Operation function disable
Profile position mode (PP)
Profile velocity mode (PV)
Homing mode (HM)
Cyclic synchronous position mode (CSP)
Cyclic synchronous velocity mode (CSV)
Switch the operation mode while an operation is stopped. When it was switched during operation, the new operation mode will be enabled after the operation is stopped.
The operation mode which is enabled can be checked in the "Modes of operation display (6061h)."
3-3 Cyclic synchronous position mode (CSP)
In the cyclic synchronous position mode, a path generation (profile generation) is performed by the EtherCAT master.
By cyclic synchronous communication, when the "Target position (607Ah)" is sent from the EtherCAT master to the driver, the driver performs position controls.
Use the cyclic synchronous position mode when EtherCAT communication is performed in the DC mode. If the cyclic synchronous position mode is used in the free run mode or sync manager2 event synchronization mode, the speed fluctuation or vibration may increase.
• Since the position is controlled by the EtherCAT master in the cyclic synchronous position mode, if the operation is stopped without the EtherCAT master, the position deviation may cause. When inputting the stop signal such as the STOP input or the FREE input or when executing the power removal function, be sure to perform the following operations to clear the position deviation. If the stop signal is turned OFF while the position deviation is remained or if the ETO-CLR input is turned
ON after the power removal status is released, the motor may start running suddenly.
· Execute the operation stop from the EtherCAT master.
· Clear the position deviation between the EtherCAT master and driver.
• Since the position is controlled by the EtherCAT master in the cyclic synchronous position mode, executing the position preset (P-PRESET) in the driver during the motor excitation state will cause the motor to start suddenly or an alarm of command pulse error to generate. Stop the motor execution before executing the position preset (P-PRESET) in the driver.
Related object
Index Sub Name
6040h 00h Controlword
6041h 00h Statusword
6060h 00h Modes of operation
Type Access PDO Save
U16 RW RxPDO −
U16 RO TxPDO −
INT8
6061h 00h Modes of operation display INT8
6062h 00h
Position demand value
[step]
INT32
RW RxPDO
RO
RO
TxPDO
TxPDO
−
−
Range
0000h to FFFFh
(Initial value: 0000h)
−
(
0 (Initial value), 1, 3, 6, 8, 9
_
"Switching of operation modes")
−
−
Update
A
−
B
−
−
101
Drive profile
Index Sub Name Type Access PDO Save
6064h 00h Position actual value [step] INT32 RO TxPDO −
607Ah 00h Target position [step] INT32 RW RxPDO −
607Dh
01h
02h
Min. position limit [step]
Max. position limit [step]
INT32
INT32
RW
RW
No
No
Range
−
−2,147,483,648 to 2,147,483,647
(Initial value: 0)
−2,147,483,648 to 2,147,483,647
(Initial value: −2,147,483,648)
−2,147,483,648 to 2,147,483,647
(Initial value: 2,147,483,647)
Update
−
A
A
A
Controlword of the cyclic synchronous position mode
Bit15 Bit11
−
Bit7
Fault reset
Bit14 Bit13 Bit12
Manufacturer specific (ms)
−
Bit6
−
Bit5
−
Bit4
Operation mode specific (oms)
− − −
−
Bit3
Enable operation
Bit10
Reserved
Bit2
Quick stop
Bit9 oms
−
Bit1
Enable voltage
Details of controlword
Bit
8
Name
Halt
Value
0
1
Description
Operation allowed
Stop operation. The stopping method is "Immediate stop."
For the bit7 and bit3 to bit0, refer to "State transition of the drive state machine" on p.99.
Statusword of the cyclic synchronous position mode
Bit15 Bit14
Manufacturer specific
TLC −
Bit7
Warning
Bit6
Switch on disabled
Bit13 Bit12
Operation mode specific
Following error
Bit5
Target position ignored
Bit4
Quick stop Voltage enabled
Bit11
Internal limit active
Bit3
Fault
Bit10
−
Bit2
Operation enabled
Bit9
Remote
Bit1
Switched on
Details of statusword
Bit Name
15 TLC
13
12
Following error
Target position ignored
Value
0
1
0
1
0
1
Bit8
Halt
Bit0
Switch on
Bit8 ms
−
Bit0
Ready to switch on
Description
A load does not reach the upper limit of the motor output torque.
A load reached the upper limit of the motor output torque.
Position deviation error not present
Position deviation error present
The position deviation exceeded the value set in the "Following error window (6065h)." The value changes to 0 when the alarm of excessive position deviation (alarm code 10h) or the alarm of overload (alarm code 30h) is cleared.
Target position command disable
When the state is any of the followings, the value is 0, and the target position is disabled.
• The drive state machine is other than "Operation enabled."
• The motor is in a non-excitation state.
• "Halt (6040h: bit8)" has been 1.
• The STOP input is ON.
• The internal limit is in an active state.
Target position command enable
102
Drive profile
Bit
11
9
7
Internal limit active
Remote
Name
Warning
Value
0
1
1
0
1
Description
The function limitation by the internal limit is not in an active state.
The function limitation by the internal limit became an active state.
The value is 1 when any of the following internal limit function is activated.
• Limit sensor (FW-LS/RV-LS)
• Operation prohibition input (FW-BLK/RV-BLK)
• Software limit
• Mechanical limit
The value becomes 1 when the initialization is complete.
Information not present
When the causes of information are cleared, the "Warning" is automatically cleared to 0.
Information present
For the bit6 to bit0, refer to "Status output of the drive state machine" on p.100.
3-4 Profile position mode (PP)
The profile position mode operates in the internal profile of the driver. A path generation (profile generation) is performed in the driver. The target position, velocity, acceleration and others are set in the EtherCAT master.
Related object
Index Sub Name Type Access PDO Save Update
6040h 00h Controlword
6041h 00h Statusword
6060h 00h Modes of operation
U16
U16
INT8
RW RxPDO
RO TxPDO
−
−
RW RxPDO
RO TxPDO −
Range
0000h to FFFFh
(Initial value: 0000h)
−
(
0 (Initial value), 1, 3, 6, 8, 9
_
−
A
−
B
− 6061h 00h Modes of operation display INT8
6062h 00h
Position demand value
[step]
INT32
6064h 00h Position actual value [step] INT32
RO
RO
TxPDO
TxPDO
−
−
− −
−
607Ah 00h Target position [step]
607Dh
01h Min. position limit [step]
02h Max. position limit [step]
6081h 00h Profile velocity [Hz]
6083h 00h Profile acceleration [step/s 2 ] U32
6084h 00h Profile deceleration [step/s 2 ] U32
4142h 00h Starting speed [Hz]
414Fh 00h Wrap positioning mode
INT32
INT32
INT32
U32
INT32
U8
RW RxPDO
RW
RW
RW RxPDO
RW RxPDO
RW RxPDO
RW
No
No
No
−
RW RxPDO
−
−2,147,483,648 to 2,147,483,647
(Initial value: 0)
−2,147,483,648 to 2,147,483,647
(Initial value: −2,147,483,648)
−2,147,483,648 to 2,147,483,647
(Initial value: 2,147,483,647)
0 to 4,000,000
(Initial value: 10,000)
1 to 1,000,000,000
(Initial value: 300,000)
1 to 1,000,000,000
(Initial value: 300,000)
0 to 4,000,000
(Initial value: 5,000)
0: Wrap absolute positioning
1: Wrap proximity
2: Wrap forward direction
3: Wrap reverse direction
(Initial value: 0)
A
A
A
B
B
B
B
B
103
Drive profile
Controlword of the profile position mode
Bit15
−
Bit7
Fault reset
Bit14 Bit13 Bit12
Wrap
Manufacturer specific (ms)
Push
Base position of
Rel
Bit6 Bit5 Bit4
Operation mode specific (oms)
Abs/Rel
Change set immediately
New set point
Bit11
−
Bit3
Enable operation
Details of controlword
Bit Name Value
14 Wrap
13 Push
12 Base position of Rel
10 Reserved
9 Change on set point
8 Halt
6 Abs/Rel
5
Change set immediately
1
1
0
1
−
−
0
1
0
1
0
1
Bit10
Reserved
Bit2
Quick stop
Bit9 oms
Change on set point
Bit1
Enable voltage
Bit8
Halt
Bit0
Switch on
Description
Wrap absolute positioning operation
After the "Wrap" is set to 1, when an operation is started by setting the
"New set point (6040h: bit4)" to 1, wrap absolute positioning operation is performed. The operating method is in accordance with the setting of the
"Wrap positioning mode (414Fh)."
Push-motion positioning operation
After the "Push" is set to 1, when an operation is started by setting the
"New set point (6040h: bit4)" to 1, push-motion positioning operation is performed. The "Push current (4121h)" is applied to the motor current.
When the "Halt (6040h: bit8)" is set to 1, or when the STOP input is turned
ON, the operation is stopped. The "Stop current (4128h)" is applied to the motor current at standstill.
Incremental positioning operation (based on command position)
Positioning operation of the set travel amount is performed from the present command position. The travel amount is set with the "Target position (607Ah)."
Incremental positioning operation (based on actual position)
Positioning operation of the set travel amount is performed from the present actual position. The travel amount is set with the "Target position
(607Ah)."
Reserved
Not supported.
Operation allowed
Stops operation. The stopping method is in accordance with the setting of the "Halt option code (605Dh)."
Absolute positioning operation
The "Target position (607Ah)" is the target position of absolute positioning operation.
Incremental positioning operation
The "Target position (607Ah)" is the target position of incremental positioning operation.
When the "New set point (6040h: bit4)" is changed from 0 to 1 during operation, the new operation command is stored. When the present operation is complete, the stored new operation command is started.
When the "New set point (6040h: bit4)" is changed from 0 to 1 during operation, the new operation command is immediately applied.
104
Drive profile
Bit
4
Name
New set point
Value
0 → 1
Description
Starting of positioning operation
Before starting the operation, select the "Wrap (6040h: bit14)", "Push
(6040h: bit13)", "Base position of Rel (6040h: bit12)" and "Abs/Rel (6040h: bit6)."
If positioning operation is executed in a state where the operation is stopped by changing the "Halt (6040h: bit8)" to 1, change the "Halt
(6040h: bit8)" from 1 to 0 first, and then leave an interval at more than double of the communication cycle before changing the "New set point
(6040h: bit4)" from 0 to 1. The operation may not be started unless the interval at more than double of the communication cycle is left.
The command cannot be received in the following status, and the operation is not started.
• "Halt (6040h: bit8)" has been 1.
• The STOP input is ON.
• The drive state machine is other than "Operation enabled."
• The motor is in a non-excitation state.
For the bit7 and bit3 to bit0, refer to "State transition of the drive state machine" on p.99.
Statusword of the profile position mode
Bit15 Bit14
Manufacturer specific
TLC
Bit7
−
Warning
Bit6
Switch on disabled
Bit13 Bit12
Operation mode specific
Following error
Bit5
Set point acknowledge
Bit4
Quick stop
Voltage enabled
Bit11
Internal limit active
Bit3
Fault
Bit10
Target reached
Bit2
Operation enabled
Bit9
Remote
Bit1
Switched on
Bit8 ms
−
Bit0
Ready to switch on
Details of statusword
Bit Name Value
0
15 TLC
13 Following error
12
Set point acknowledge
11 Internal limit active
1
0
1
0
1
0
1
Description
A load does not reach the upper limit of the motor output torque.
A load reached the upper limit of the motor output torque.
When push-motion operation is performed, use this signal as the completion signal of push-motion operation.
Position deviation error not present
Position deviation error present
The position deviation exceeded the value set in the "Following error window (6065h)." The value changes to 0 when the alarm of excessive position deviation (alarm code 10h) or the alarm of overload (alarm code
30h) is cleared.
The operation start by the "New set point (6040h: bit4)" has not been received.
The operation start by the "New set point (6040h: bit4)" was received.
When the "New set point (6040h: bit4)" is set to 1 and the operation start is received, the "Set point acknowledge" changes to 1.
When the "New set point (6040h: bit4)" is set to 0, the "Set point acknowledge" also changes to 0.
The function limitation by the internal limit is not in an active state.
The function limitation by the internal limit became an active state. The value is 1 when any of the following internal limit function is activated.
• Limit sensor (FW-LS/RV-LS)
• Operation prohibition input (FW-BLK/RV-BLK)
• Software limit
• Mechanical limit
105
Drive profile
Bit
10
9
7
Remote
Name
Target reached
Warning
Value
0
1
1
0
1
Description
• When the "Halt (6040h: bit8)" is 0: The positioning operation is not complete.
• When the "Halt (6040h: bit8)" is 1: During deceleration stop.
• When the "Halt (6040h: bit8)" is 0:
After positioning operation is properly completed, the value changes to
1 when the feedback position has converged in a range of the Position window (6067h) with respect to the command position.
It does not change to 1 when the positioning operation was interrupted on the way.
It changes to 0 if the operation is started from a state where the positioning was complete.
• When the "Halt (6040h: bit8)" is 1:
The value changes to 1 when the operation velocity demand value becomes 0.
The value becomes 1 when the initialization is complete.
Information not present
When the causes of information are cleared, the "Warning" is automatically cleared to 0.
Information present.
For the bit6 to bit0, refer to "Status output of the drive state machine" on p.100.
Operation in the profile position mode z Positioning operation
Positioning operation is started when the "Target position (607Ah)" is set and the "New set point (6040h: bit4)" is set to 1.
Velocity demand value
Profile velocity
(6081h)
Profile acceleration
(6083h)
Profile deceleration
(6084h)
Target position
(607Ah)
Starting speed
(4142h)
Target position
(607Ah)
New set point
(6040h: bit4)
Set point acknowledge
(6041h: bit12)
Target reached
(6041h: bit10)
106
Drive profile
Single set-point [When the "Change set immidiately (6040h: bit5)" is 1]
If the "New set point (6040h: bit4)" is set during operation, the new operation command is applied immediately.
Velocity
Velocity demand value
Target position
(607Ah)
New set point
(6040h: bit4)
Set point acknowledge
(6041h: bit12)
Effective target position
Target reached
(6041h: bit10)
Set of set-points [When the "Change set immidiately (6040h: bit5)" is 0]
If the "New set point (6040h: bit4)" is set during operation, the new operation command is stored. When the present operation is complete, the stored new operation command is started.
Velocity
Velocity demand value
Target position
(607Ah)
New set point
(6040h: bit4)
Set point acknowledge
(6041h: bit12)
Effective target position
Target reached
(6041h: bit10)
107
Drive profile z Push-motion positioning operation
After the "Push (6040h: bit13)" is set to 1, when the "New set point (6040h: bit4)" is set to 1, push-motion positioning operation is started. If push-motion positioning operation is started, self-start operation (rectangular operation) is performed at the operating speed set in the "Profile velocity (6081h)."
• When a mechanism installed to the motor pressed against a load, push-motion operation is performed while a position deviation of 2.7° generates. An alarm of overload may be generated if the operation is stopped in this state, so perform operation to return the actual position by 3.6° beofore push-motion operation is stopped.
• Do not perform push-motion operation with geared motors and DGII Series. Doing so may cause damage to the motor or gear part.
• When push-motion operation is stopped in a state where a load is pressed, set the "Operating current (4120h)" of the next operation to be executed, to a value in the "Push current (4121h)" or less. If a higher current value than the "Push current (4121h)" is set, the push current may increase when an operation is transited, causing an unexpected push force to apply.
When a mechanism installed to the motor had presses against a load
When a load is pressed, the "TLC (6041h: bit15)" of the statusword changes to 1.
If the "Halt (6040h: bit8)" of the controlword is set to 1 or the STOP input is turned ON, the operation is stopped and the push-motion status is canceled.
Velocity Push-motion status
Profile velocity
(6081h)
Target position
(607Ah)
New set point
(6040h: bit4)
Set point acknowledge
(6041h: bit12)
Target reached
(6041h: bit10)
TLC
(6041h: bit15)
When a mechanism installed to the motor had not presses against a load
If the motor reaches the target position without pressing a load, the operation is complete. The "TLC (6041h: bit15)" does not change to 1.
Velocity
Profile velocity
(6081h)
Target position
(607Ah)
New set point
(6040h: bit4)
Set point acknowledge
(6041h: bit12)
Target reached
(6041h: bit10)
TLC
(6041h: bit15)
108
Drive profile z Wrap absolute positioning operation
If the "New set point (6040h: bit4)" is changed to 1 after the "Target position (607Ah)" was set and the "Wrap (6040h: bit14)" was changed to 1, wrap absolute positioning operation is started. With wrap absolute positioning operation, absolute positioning operation is performed regardless of the value of the "Abs/Rel (6040h: bit6)."
When wrap absolute positioning operation is performed, set the "Wrap setting (41C7h)" to
"1: Enable."
Velocity
Velocity demand value
Target position
(607Ah)
Wrap
(6040h: bit14)
Wrap positioning mode
(414Fh)
New set point
(6040h: bit4)
Set point acknowledge
(6041h: bit12)
Target reached
(6041h: bit10)
Operation mode of the profile position mode
The operation mode of the profile position mode is set with the "Controlword (6040h)" and the "Wrap positioning mode (414Fh)." The operation modes are listed in the table.
Operation mode
Wrap positioning mode (414Fh)
−
Wrap
(Bit14)
0
Push
(Bit13)
0
Controlword (6040h)
Base position of Rel
(Bit12)
−
Abs/Rel
(Bit6)
0 Absolute positioning
Incremental positioning
(based on command position)
Incremental positioning
(based on actual position)
Absolute positioning push-motion
Incremental positioning push-motion
(based on command position)
Incremental positioning push-motion
(based on actual position)
Wrap absolute positioning
Wrap proximity positioning
Wrap forward direction absolute positioning
Wrap reverse direction absolute positioning
Wrap absolute push-motion
Wrap proximity push-motion
Wrap forward direction push-motion
Wrap reverse direction push-motion
−
−
−
−
−
0
1
2
3
2
3
0
1
0
0
0
0
0
1
1
1
1
1
1
1
1
0
0
1
1
1
0
0
0
0
1
1
1
1
0
1
−
0
1
−
−
−
−
−
−
−
−
1
1
0
1
1
−
−
−
−
−
−
−
−
109
Drive profile z Absolute positioning
Positioning operation is performed from the present position to the set target position. In the "Target position
(607Ah)," set the target position on the coordinates with the home as a reference.
Example: When moving from the command position "1,000" to the target position "4,000"
Set 4,000 steps in the "Target position (607Ah)" to start absolute positioning operation.
Home
0
Present position
1,000 2,000 3,000
Target position
4,000 5,000
Target position (607Ah) setting = 4,000
Actual travel amount = 3,000 z Incremental positioning (based on command position)
Positioning operation of the set travel amount is performed from the present command position. In the "Target position (607Ah)," set the travel amount from the present command position to the target position.
Example: When moving from the command position "1,000" to the target position "4,000"
Set 3,000 steps in the "Target position (607Ah)" to start incremental positioning (based on command position) operation.
Home
0
Present position
(command position)
1,000 2,000 3,000
Target position
4,000 5,000
Target position (607Ah) setting = 3,000
Actual travel amount = 3,000 z Incremental positioning (based on actual position)
Positioning operation of the set travel amount is performed from the present actual position. In the "Target position
(607Ah)," set the travel amount from the actual position.
Example: When moving 3,000 steps from the command position "1,000" and the actual position "900"
Set 3,000 steps in the "Target position (607Ah)" to start incremental positioning (based on actual position) operation.
The command position and the actual position after completing the operation will be "3,900."
900 (actual position)
1,000 (command position)
3,900 (command position, actual position)
Home
0 2,000 3,000 4,000 5,000
Target position (607Ah) setting = 3,000
Actual travel amount = 3,000
• The reference position of the operation based on the actual position varies depending on the load.
• If the command position and the actual position are different such as push-motion operation, the next operation can be started based on the actual position of the push position or others.
110
Drive profile z Wrap absolute positioning
Positioning operation is performed to the target position within the wrap range. In the "Target position (607Ah)," set
the target position within the wrap range. Refer to p.138 for the wrap function.
Example: When moving from the command position "1,000" to the target position "4,000"
(Wrap setting range 1.0 rev, wrap offset ratio 50.00 %)
Set the items in the table to start wrap absolute positioning operation.
Index
41C7h
41C9h
41CBh
414Fh
607Ah
Name
Wrap setting
Initial coordinate generation & wrap setting range [1=0.1 rev]
Initial coordinate generation & wrap range offset ratio [1=0.01 %]
Wrap positioning mode
Target position [step]
Setting value
1: Enable
10
5,000
0: Wrap absolute positioning
4,000
Home
0
−2,500
Present position
1,000
Target position (607Ah) setting = 4,000
Actual travel amount = 3,000
2,500
−5,000
4,000
Target position z Wrap proximity positioning
Positioning operation in the shortest distance is performed to the target position within the wrap range. In the "Target
Example: When moving from the command position "−4,000" to the target position "4,000"
(Wrap setting range 1.0 rev, wrap offset ratio 50.00 %)
Set the items in the table to start wrap proximity positioning operation.
Index
41C7h
41C9h
41CBh
414Fh
607Ah
Name
Wrap setting
Initial coordinate generation & wrap setting range [1=0.1 rev]
Initial coordinate generation & wrap range offset ratio [1=0.01 %]
Wrap positioning mode
Target position [step]
Setting value
1: Enable
10
5,000
1: Wrap proximity
4,000
Home
0
−2,500
Target position (607Ah) setting = 4,000
Actual travel amount = −2,000
2,500
−4,000
Present position −5,000
4,000
Target position
111
Drive profile z Wrap forward direction absolute positioning
Positioning operation in the forward direction is performed to the target position within the wrap range. In the
Example: When moving from the command position "1,000" to the target position "−4,000"
(Wrap setting range 1.0 rev, wrap offset ratio 50.00 %)
Set the items in the table to start wrap forward direction absolute positioning operation.
Index
41C7h
41C9h
41CBh
414Fh
607Ah
Name
Wrap setting
Initial coordinate generation & wrap setting range [1=0.1 rev]
Initial coordinate generation & wrap range offset ratio [1=0.01 %]
Wrap positioning mode
Target position [step]
Setting value
1: Enable
10
5,000
2: Wrap forward direction
−4,000
Home
0
−2,500
Present position
1,000
Target position (607Ah) = −4,000
Actual travel amount = 5,000
2,500
−4,000
Target position −5,000 z Wrap reverse direction absolute positioning
Positioning operation in the reverse direction is performed to the target position within the wrap range. In the "Target
Example: When moving from the command position "1,000" to the target position "4,000"
(Wrap setting range 1.0 rev, wrap offset ratio 50.00 %)
Set the items in the table to start wrap reverse direction absolute positioning operation.
Index
41C7h
41C9h
41CBh
414Fh
607Ah
Name
Wrap setting
Initial coordinate generation & wrap setting range [1=0.1 rev]
Initial coordinate generation & wrap range offset ratio [1=0.01 %]
Wrap positioning mode
Target position [step]
Setting value
1: Enable
10
5,000
3: Wrap reverse direction
4,000
Home
0
−2,500
Present position
1,000
Target position (607Ah) setting = 4,000
Actual travel amount = −7,000
2,500
−5,000
4,000
Target position
112
Drive profile
Orbit comparison of positioning operation
These are examples for when the wrap setting range is set to 1 rev and the wrap range offset ratio is set to 50 %.
Operation mode
Initial value The value set in the "Target position (607Ah)"
2,500 9,000 2,500 14,000
-1,000 0 0
• Absolute positioning
Sets the coordinate of the target position from the home
-2,500 2,500 -2,500 2,500
• Incremental positioning
(based on command position)
• Incremental positioning
(based on actual position)
Sets the travel amount from the command position or the actual position to the target position.
-2,500
-5,000
0
-1,000
-5,000
0
1,500
2,500
-4,000 -5,000
0
-1,500
-2,500
-5,000
0
2,500
• Wrap absolute positioning
Sets the target position on coordinates with the home as a reference.
Operation is performed within the wrap range.
-2,500 2,500 -2,500 2,500
-1,000
-5,000
0
-4,000
-5,000
0
• Wrap proximity positioning
Sets the target position on coordinates with the home as a reference.
Operation in the shortest distance is performed to the target position within the wrap range.
-2,500 2,500 -2,500 2,500
-1,000
-5,000
0
-4,000
-5,000
0
• Wrap forward direction absolute
positioning
Sets the target position on coordinates with the home as a reference.
Operation in the forward direction is performed to the target position within the wrap range.
-2,500 2,500 -2,500 2,500
-1,000
-5,000
0
-4,000
-5,000
0
• Wrap reverse direction absolute
positioning
Sets the target position on coordinates with the home as a reference.
Operation in the reverse direction is performed to the target position within the wrap range.
-2,500 2,500 -2,500 2,500
-5,000
-4,000
-5,000
* The value represents the coordinate of the position where the motor stopped.
113
Drive profile
3-5 Cyclic synchronous velocity mode (CSV)
In the cyclic synchronous velocity mode, a path generation (profile generation) is performed by the EtherCAT master.
By cyclic synchronous communication, when the "Target velocity (60FFh)" is sent from the EtherCAT master to the driver, the driver performs speed controls.
Related object
Index Sub Name Type Access PDO Save Update
6040h
6041h
6060h
60FFh
00h Controlword
00h Statusword
00h Modes of operation
6061h 00h Modes of operation display
606Bh 00h Velocity demand value [Hz]
606Ch 00h Velocity actual value [Hz]
00h Target velocity [Hz]
U16
U16
INT8
INT8
INT32
INT32
INT32
RW
RO
RW
RO
RO
RO
RW
RxPDO
TxPDO
RxPDO
TxPDO
TxPDO
TxPDO
RxPDO
−
−
−
−
−
−
Range
0000h to FFFFh
(Initial value: 0000h)
−
0(Initial value), 1, 3, 6, 8,
9 ( _
−
−
−
−4,000,000 to 4,000,000
(Initial value: 0)
A
−
B
−
−
−
A
Controlword of the cyclic synchronous velocity mode
Bit15 Bit11
−
Bit7
Fault reset
Bit14 Bit13 Bit12
Manufacturer specific (ms)
−
Bit6 Bit5
Type
Bit4
Operation mode specific (oms)
− − −
−
Bit3
Enable operation
Bit10
Reserved
Bit2
Quick stop
Bit9 oms
−
Bit1
Enable voltage
Bit8
Halt
Bit0
Switch on
Details of controlword
Bit
13
12
8
Name
Type
Halt
Value
−
−
0
1
Description
The operation mode of the cyclic synchronous velocity mode is selected. The
Operation allowed
Stops operation. The stopping method is "Immediate stop."
For the bit7 and bit3 to bit0, refer to "State transition of the drive state machine" on p.99.
114
Drive profile
Operation mode of the cyclic synchronous velocity mode
The operation mode of the cyclic synchronous velocity mode is set with the "Type (6040h: bit13, bit12)." The operation modes are as shown in the table.
Bit13 Bit12 Operation mode
0
0
1
1
0
1
0
1
Continuous operation
(Position control)
Continuous operation
(Speed control)
Continuous operation
(Push-motion) *
Continuous operation
(Torque control) *
Explanation
Continuous operation is executed at the "Target velocity (60FFh)."
Operation is executed while the position deviation is monitored, so when a load exceeding the torque of the motor is applied, an alarm of overload or excessive position deviation is generated.
If sudden position deviation occurs, for example, when a large load is removed, the motor accelerates suddenly or has overspeed to remove deviation.
Continuous operation is executed at the "Target velocity (60FFh)."
When a load exceeding the torque of the motor is applied, an alarm of overload is generated.
Continuous operation is executed at the "Target velocity (60FFh)."
When a mechanism installed to the motor presses against a load, pressure is continuously applied to the load.
In the cyclic synchronous velocity mode, it is the same movement as continuous operation (push-motion) and continuous operation
(torque control).
* When continuous operation (push-motion) or continuous operation (torque control) is performed, note the following.
• When a mechanism installed to the motor pressed against a load, push-motion operation is performed while a position deviation of 2.7° generates. An alarm of overload may be generated if the operation is stopped in this state, so perform operation to return the actual position by 3.6° beofore push-motion operation is stopped.
• Do not perform push-motion operation with geared motors and DGII Series. Doing so may cause damage to the motor or gear part.
• When push-motion operation is stopped in a state where a load is pressed, set the "Operating current (4120h)" of the next operation to be executed, to a value in the "Push current (4121h)" or less. If a higher current value than the "Push current (4121h)" is set, the push current may increase when an operation is transited, causing an unexpected push force to apply.
115
Drive profile
Statusword of the cyclic synchronous velocity mode
Bit11 Bit15 Bit14
Manufacturer specific
TLC
Bit7
Warning
−
Bit6
Switch on disabled
Bit13 Bit12
Operation mode specific
Reserved
Bit5
Target velocity ignored
Bit4
Quick stop Voltage enabled
Internal limit active
Bit3
Fault
Bit10
Reserved
Bit2
Operation enabled
Bit9
Remote
Bit1
Switched on
Bit8 ms
−
Bit0
Ready to switch on
Details of statusword
Bit
15
13
12
11
10
9
7
TLC
Reserved
Name
Target velocity ignored
Internal limit active
Reserved
Remote
Warning
Value
0
1
0
0
1
0
1
0
1
0
1
Description
A load does not reach the upper limit of the motor output torque.
A load reached the upper limit of the motor output torque.
Reserved
Target speed command disable
When the state is any of the followings, the value is 0, and the target speed is disabled.
• The drive state machine is other than "Operation enabled."
• The motor is in a non-excitation state.
• "Halt (6040h: bit8)" has been 1.
• The STOP input is ON.
• The internal limit is in an active state.
Target speed command enable
The function limitation by the internal limit is not in an active state.
The function limitation by the internal limit became an active state.
The value is 1 when any of the following internal limit function is activated.
• Limit sensor (FW-LS/RV-LS)
• Operation prohibition input (FW-BLK/RV-BLK)
• Software limit
• Mechanical limit
Reserved
The value becomes 1 when the initialization is complete.
Information not present
When the causes of information are cleared, the "Warning" is automatically cleared to 0.
Information present
For the bit6 to bit0, refer to "Status output of the drive state machine" on p.100.
Operation in the cyclic synchronous velocity mode
Velocity demand value
V2
V1
Target velocity
(60FFh)
Halt
(6040h: bit8)
Target velocity ignored
(6041h: bit12)
0 V1 V2 0 V1
116
Drive profile
3-6 Profile velocity mode (PV)
The profile velocity mode operates in the internal profile of the driver. A path generation (profile generation) is performed in the driver. The speed, acceleration and others are set in the EtherCAT master.
Related object
Index Sub Name Type Access PDO Save Update
6040h
6041h
6060h
6083h
6084h
60FFh
4142h
00h Controlword
00h Statusword
00h Modes of operation
6061h 00h Modes of operation display
606Bh 00h Velocity demand value [Hz]
606Ch 00h Velocity actual value [Hz]
00h Profile acceleration [step/s 2 ]
00h Profile deceleration [step/s 2 ]
00h Target velocity [Hz]
00h Starting speed [Hz]
U16
U16
INT8
INT8
INT32
INT32
U32
U32
INT32
INT32
RW
RO
RW
RO
RO
RO
RW
RW
RW
RW
RxPDO
TxPDO
RxPDO
TxPDO
TxPDO
TxPDO
RxPDO
RxPDO
RxPDO
No
−
−
−
−
−
−
Range
0000h to FFFFh
(Initial value: 0000h)
−
0 (Initial value), 1, 3, 6, 8,
9 ( _
−
−
−
1 to 1,000,000,000
(Initial value: 300,000)
1 to 1,000,000,000
(Initial value: 300,000)
−4,000,000 to 4,000,000
(Initial value: 0)
0 to 4,000,000
(Initial value: 5,000)
A
−
B
−
−
−
B
B
B
B
Controlword of the profile velocity mode
Bit15
−
Bit7
Fault reset
Bit14 Bit13 Bit12
Manufacturer specific (ms)
−
Bit6 Bit5
Type
Bit4
Operation mode specific (oms)
− − −
Bit11
−
Bit3
Enable operation
Bit10
Reserved
Bit2
Quick stop
Bit9 oms
−
Bit1
Enable voltage
Bit8
Halt
Bit0
Switch on
Details of controlword
Bit
13
12
8
Name
Type
Halt
Value
−
−
0
1
Description
The operation mode of the profile velocity mode is selected. The operation mode
Operation allowed
Stops operation. The stopping method is in accordance with the setting of the
"Halt option code (605Dh)."
For the bit7 and bit3 to bit0, refer to "State transition of the drive state machine" on p.99.
117
Drive profile
Operation mode of the profile velocity mode
The operation mode of the profile velocity mode is set with the "Type (6040h: bit13, bit12)." The operation modes are as shown in the table.
Bit13
0
0
1
1
Bit12
0
1
0
1
Operation mode
Continuous operation
(Position control)
Continuous operation
(Speed control)
Continuous operation
(Push-motion) *
Continuous operation
(Torque control) *
Explanation
The motor is started running at the "Starting speed (4142h)" and accelerates until the "Target velocity (60FFh)" is reached. When the "Target velocity (60FFh)" is reached, operation is continued with the speed maintained. Operation is executed while the position deviation is monitored, so when a load exceeding the torque of the motor is applied, an alarm of overload or excessive position deviation is generated.
If sudden position deviation occurs, for example, when a large load is removed, the motor accelerates suddenly or has overspeed to remove deviation.
The motor is started running at the "Starting speed (4142h)" and accelerates until the "Target velocity (60FFh)" is reached. When the "Target velocity (60FFh)" is reached, operation is continued with the speed maintained. When a load exceeding the torque of the motor is applied, an alarm of overload is generated.
The motor is started running at the "Starting speed (4142h)" and accelerates until the "Target velocity (60FFh)" is reached. When the "Target velocity (60FFh)" is reached, operation is continued with the speed maintained. When a mechanism installed to the motor presses against a load, pressure is continuously applied to the load.
Rectangular operation (drive without acceleration/deceleration time) of the motor is executed at the "Target velocity (60FFh)," and operation is continued with the speed maintained. When a mechanism installed to the motor presses against a load, pressure is continuously applied to the load.
* When continuous operation (push-motion) or continuous operation (torque control) is performed, note the following.
• When a mechanism installed to the motor pressed against a load, push-motion operation is performed while a position deviation of 2.7° generates. An alarm of overload may be generated if the operation is stopped in this state, so perform operation to return the actual position by 3.6° beofore push-motion operation is stopped.
• Do not perform push-motion operation with geared motors and DGII Series. Doing so may cause damage to the motor or gear part.
• When push-motion operation is stopped in a state where a load is pressed, set the "Operating current (4120h)" of the next operation to be executed, to a value in the "Push current (4121h)" or less. If a higher current value than the "Push current (4121h)" is set, the push current may increase when an operation is transited, causing an unexpected push force to apply.
Statusword of the profile velocity mode
Bit15 Bit14
Manufacturer specific
TLC
Bit7
−
Bit6
Warning
Switch on disabled
Bit13 Bit12
Operation mode specific
−
Bit5
Speed
Bit4
Quick stop
Voltage enabled
Bit11
Internal limit active
Bit3
Fault
Bit10
Target reached
Bit2
Operation enabled
Bit9
Remote
Bit1
Switched on
Bit8 ms
−
Bit0
Ready to switch on
118
Drive profile
Details of statusword
Bit
15
12
11
10
9
7
TLC
Name
Speed
Internal limit active
Target reached
Remote
Warning
Value
0
1
0
1
0
1
0
1
1
0
1
Description
A load does not reach the upper limit of the motor output torque.
A load reached the upper limit of the motor output torque.
Internal speed command is other than 0.
Internal speed command is 0.
The function limitation by the internal limit is not in an active state.
The function limitation by the internal limit became an active state. The value is 1 when any of the following internal limit function is activated.
• Limit sensor (FW-LS/RV-LS)
• Operation prohibition input (FW-BLK/RV-BLK)
• Software limit
• Mechanical limit
• When the "Halt (6040h: bit8)" is 0: The internal feedback speed does not reach the "Target velocity (60FFh)."
• When the "Halt (6040h: bit8)" is 1: During deceleration stop. (Internal speed command is other than 0.)
• When the "Halt (6040h: bit8)" is 0: The internal feedback speed reached the "Target velocity (60FFh)." When the Halt is 0, the status of the VA output signal is output. The judgment level of the target speed reached can be set in the "VA mode selection (4718h)" and "VA detection speed range (4719h)."
• When the "Halt (6040h: bit8)" is 1: Internal speed command is 0.
The value becomes 1 when the initialization is complete.
Information not present
When the causes of information are cleared, the "Warning" is automatically cleared to 0.
Information present.
For the bit6 to bit0, refer to "Status output of the drive state machine" on p.100.
Operation in the profile velocity mode
Velocity demand value
V2
V1
Profile acceleration
(6083h)
Profile deceleration
(6084h)
Starting speed
(4142h)
Target velocity
(60FFh)
Halt
(6040h: bit8)
Speed
(6041h: bit12)
Target reached
(6041h: bit10)
0 V1 V2 0 V1
V1, V2: velocity
When the "Type (6040h: bit12, bit13)" is set to continuous operation (torque control), self-start operation (rectangular operation) at the "Target velocity (60FFh)" is performed.
119
Drive profile
3-7 Homing mode (HM)
The home is set in the homing mode. A path generation (profile generation) is performed in the driver.
If return-to-home operation is performed, the position preset (P-PRESET) is executed when the operation is complete, and the home will be the value set in the "Home offset (607Ch)." z Related object
Refer to "Selection of return-to-home method" on p.122.
Before starting operation; When the motorized actuator is used
For parameters of the AZ Series, the different values are stored in the ABZO sensor and driver. The values based on the product specifications are stored in the ABZO sensor. The values stored in the ABZO sensor cannot be changed because of the fixed value. Meantime, the values for the standard type (motor only) are stored in the driver parameters. In a state of the factory shipment, parameters (fixed value) stored in the ABZO sensor are used preferentially.
Since parameters stored in the driver are prioritized in the homing mode, change the setting according to the following steps.
1. Copy the ABZO information (fixed value) of the ABZO sensor to the driver.
Refer to the AZ Series OPERATING MANUAL Function Edition.
2. Change the "JOG/HOME/ZHOME operation setting (47F5h)" to "1: Manual setting."
3. Change the "Homing method (6098h)" to "−1: Return-to-home of our specifications."
4. Execute the "Write batch NV memory (40C9h)."
5. Turn on the control power supply of the driver again.
With these steps, the driver parameters will be prioritized.
Controlword of the homing mode
Bit15
−
Bit7
Fault reset
Bit14 Bit13 Bit12
Manufacturer specific (ms)
−
Bit6
−
Bit5
−
Bit4
−
Operation mode specific (oms)
−
Homing operation start
Bit11
−
Bit3
Enable operation
Bit10
Reserved
Bit2
Quick stop
Bit9 oms
−
Bit1
Enable voltage
Bit8
Halt
Bit0
Switch on
Details of controlword
Bit
8
4
Halt
Name
Homing operation start
Value
0
0
1
→ 1
Description
Operation allowed
Stops operation. The stopping method is in accordance with the setting of the "Halt option code (605Dh)."
Start of return-to-home operation
If the "Homing operation start" is set to 0 during return-to-home operation, the motor decelerates to a stop. When the state is any of the followings, the command is not received, and an operation does not start.
• During operation
• "Halt (6040h: bit8)" has been 1.
• The STOP input is ON.
• The drive state machine is other than "Operation enabled."
• The motor is in a non-excitation state.
For the bit7 and bit3 to bit0, refer to "State transition of the drive state machine" on p.99.
120
Drive profile
Statusword of the homing mode
Bit15 Bit14
Manufacturer specific
TLC
Bit7
Warning
−
Bit6
Switch on disabled
Bit13 Bit12
Operation mode specific
Homing error
Bit5
Homing attained
Bit4
Quick stop
Voltage enabled
Bit11
Internal limit active
Bit3
Fault
Bit10
Target reached
Bit2
Operation enabled
Bit9
Remote
Bit1
Switched on
Bit8 ms
−
Bit0
Ready to switch on z Details of statusword
Bit
15
13
12
11
10
9
7
TLC
Name
Homing error
Homing attained
Internal limit active
Target reached
Remote
Warning
Value
0
1
0/1
0/1
0
1
0/1
1
0
1
Description
A load does not reach the upper limit of the motor output torque.
A load reached the upper limit of the motor output torque.
The status of the motor is output by combining the values in the "Homing error (6041h: bit13)," "Homing attained (6041h: bit12)" and "Target reached (6041h: bit 10)." For details, refer to table next.
The status of the motor is output by combining the values in the "Homing error (6041h: bit13)," "Homing attained (6041h: bit12)" and "Target reached (6041h: bit10)." For details, refer to table next.
The function limitation by the internal limit is not in an active state.
The function limitation by the internal limit became an active state. The value is 1 when any of the following internal limit function is activated.
• Limit sensor (FW-LS/RV-LS)
• Operation prohibition input (FW-BLK/RV-BLK)
• Software limit
• Mechanical limit
The status of the motor is output by combining the values in the "Homing error (6041h: bit13)," "Homing attained (6041h: bit12)" and "Target reached (6041h: bit10)." For details, refer to table next.
The value becomes 1 when the initialization is complete.
Information not present
When the causes of information are cleared, the "Warning" is automatically cleared to 0.
Information present.
For the bit6 to bit0, refer to "Status output of the drive state machine" on p.100.
z Status output of motor
The status of the motor is output by combining the values in the "Homing error (bit13)," "Homing attained (bit12)" and "Target reached (bit10)."
Homing error
(Bit13)
0
Homing attained
(Bit12)
0
Target reached
(Bit10)
0
Status
0
0
0
1
1
1
1
0
1
1
0
0
1
1
1
0
1
0
1
0
1
During operation of return-to-home operation
Return-to-home operation is interrupted, or it is not started.
− (Not generated)
Return-to-home operation was properly complete.
− (Not generated)
Interrupted since an alarm was generated during return-to-home operation.
Reserved
Reserved
121
Drive profile
Selection of return-to-home method
The return-to-home method is selected in the "Homing method (6098h)." The driver supports the following return-tohome methods.
Homing method
17
18
24
28
35, 37 *
−1
Description
Return-to-home by the limit sensor (FW-LS/RV-LS), Starts in the negative direction
Return-to-home by the limit sensor (FW-LS/RV-LS), Starts in the positive direction
Return-to-home by the home sensor (HOMES), Starts in the positive direction
Return-to-home by the home sensor (HOMES), Starts in the negative direction
Home preset
Return-to-home of our specifications
* 35 and 37 perform the same action.
z Related object
Index Sub Name Type Access PDO Save
607Ch 00h Home offset [step]
6098h
6099h
Speed during search for switch
[Hz]
Speed during search for zero
[Hz]
609Ah 00h Homing acceleration [step/sec 2 ] U32
4163h
4169h
00h Homing method
01h
02h
415Fh 00h
00h
JOG/HOME/ZHOME operating current [1=0.1 %]
00h (HOME) Starting speed [Hz]
(HOME) Backward steps in
2 sensor home-seeking [step]
41C6h 00h Preset position [step]
INT32
INT8
U32
U32
INT16
INT32
INT32
INT32
RW
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
No
Range
−2,147,483,648 to
2,147,483,647
(Initial value: 0)
17, 18, 24 (Initial value),
28, 35, 37, −1 ( _
"Selection of return-tohome method")
1 to 4,000,000
(Initial value: 10,000)
1 to 10,000
(Initial value: 5,000)
1 to 1,000,000,000
(Initial value: 300,000)
0 to 1,000
(Initial value: 1,000)
1 to 4,000,000
(Initial value: 5,000)
0 to 8,388,607
(Initial value: 5,000)
−2,147,483,648 to
2,147,483,647
(Initial value: 0)
Update
A
B
B
B
B
B
B
B
A
122
Drive profile z Return-to-home operation of our specifications
Return-to-home mode of our specifications is applied when setting the "Homing method (6098h)" to −1.
Related object (our specifications)
Index Sub Name
607Ch 00h Home offset [step]
Type
INT32
6099h
01h
02h
Speed during search for switch
[Hz]
Speed during search for zero
[Hz]
U32
U32
609Ah 00h Homing acceleration [step/sec 2 ] U32
415Fh 00h
4160h
4161h
4163h
4166h
4167h
4168h
4169h
00h (HOME) Home-seeking mode
00h (HOME) Starting direction
00h (HOME) Starting speed [Hz]
00h (HOME) SLIT detection
00h (HOME) Position offset [Hz]
416Ah 00h
416Bh 00h
416Ch 00h
416Dh 00h
416Eh
00h
00h
00h
JOG/HOME/ZHOME operating current [1=0.1 %]
(HOME) TIM/ZSG signal detection
(HOME) Backward steps in
2 sensor home-seeking [step]
(HOME) Operating amount in uni-directional home-seeking
[step]
(HOME) Operating current for push-home-seeking [1=0.1 %]
(HOME) Backward steps after first entry in push-homeseeking [step]
(HOME) Pushing time in pushhome-seeking [ms]
HOME) Backward steps in push-home-seeking [step]
41C6h 00h Preset position [step]
INT16
U8
U8
INT32
U8
U8
INT32
INT32
INT32
INT16
INT32
U16
INT32
INT32
Access
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
PDO Save
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
Range
−2,147,483,648 to
2,147,483,647
(Initial value: 0)
1 to 4,000,000
(Initial value: 10,000)
1 to 10,000
(Initial value: 5,000)
1 to 1,000,000,000
(Initial value: 300,000)
0 to 1,000
(Initial value: 1,000)
0: 2-sensor
1: 3-sensor
(Initial value)
2: One-way rotation
3: Push-motion
0: Negative side
1: Positive side
(Initial value)
1 to 4,000,000
(Initial value: 5,000)
0: Disable (Initial value)
1: Enable
0: Disable (Initial value)
1: TIM
2: ZSG
−2,147,483,647 to
2,147,483,647
(Initial value: 0)
0 to 8,388,607
(Initial value: 5,000)
0 to 8,388,607
(Initial value: 5,000)
0 to 1,000
(Initial value: 1,000)
0 to 8,388,607
(Initial value: 0)
0 to 65,535
(Initial value: 200)
0 to 8,388,607
(Initial value: 5,000)
−2,147,483,648 to
2,147,483,647
(Initial value: 0)
Update
A
B
B
B
B
B
B
B
B
B
B
B
B
B
B
B
B
A
123
Drive profile
Operation of return-to-home mode of CiA402 drive profile
How to read the figure
Starting position of operation
Moving direction
HOMES
(limit signal)
28
Reverses when the motor passed through the limit signal
Selection number of the "Homing method (6098h)" and stop position z Homing method: 24 [Return-to-home by the home sensor (HOMES), starts in the positive direction]
When the HOME sensor is detected, the motor rotates in the reverse direction and pulls out of the HOME sensor at the
"(HOME) Starting speed (4163h)." After pulling out of the HOME sensor, the motor reverses once again, and continue to operate at the "Speed during search for zero (6099h-02h)." The motor stops when the ON edge of the HOME sensor is detected, and the position at which the motor stopped becomes the home.
24
24
24
HOME switch
(HOMES)
Positive limit switch
(FW-LS)
In the case of return-to-home operation of our specifications, the same operation is performed if the following data is set.
• (HOME) Home-seeking mode (4160h): 1 [3-sensor]
•
•
•
(HOME) Starting direction (4161h): 1 [positive side]
(HOME) SLIT detection (4166h): 0 [disable]
(HOME) TIM/ZSG signal detection (4167h): 0 [disable] z Homing method: 28 [Return-to-home by the home sensor (HOMES), starts in the negative direction]
When the HOME sensor is detected, the motor rotates in the reverse direction and pulls out of the HOME sensor at the
"(HOME) Starting speed (4163h)." After pulling out of the HOME sensor, the motor reverses once again, and continue to operate at the "Speed during search for zero (6099h-02h)." The motor stops when the ON edge of the HOME sensor is detected, and the position at which the motor stopped becomes the home.
28
28
28
HOME switch
(HOMES)
Negative limit switch
(RV-LS)
124
Drive profile
In the case of return-to-home operation of our specifications, the same operation is performed if the following data is set.
• (HOME) Home-seeking mode (4160h): 1 [3-sensor]
• (HOME) Starting direction (4161h): 0 [negative side]
• (HOME) SLIT detection (4166h): 0 [disable]
• (HOME) TIM/ZSG signal detection (4167h): 0 [disable] z Homing method: 17 [Return-to-home by the limit sensor (FW-LS/RV-LS), starts in the negative direction]
After pulling out of the limit sensor, the motor rotates to stop according to the value set in the "(HOME) Backward steps in 2 sensor home-seeking (4169h)." The stop position will be the home.
17
Negative limit switch
(RV-LS)
In the case of return-to-home operation of our specifications, the same operation is performed if the following data is set.
• (HOME) Home-seeking mode (4160h): 0 [2-sensor]
• (HOME) Starting direction (4161h): 0 [negative side]
• (HOME) SLIT detection (4166h): 0 [disable]
• (HOME) TIM/ZSG signal detection (4167h): 0 [disable] z Homing method: 18 [Return-to-home by the limit sensor (FW-LS/RV-LS), starts in the positive direction]
After pulling out of the limit sensor, the motor rotates to stop according to the value set in the "(HOME) Backward steps in 2 sensor home-seeking (4169h)." The stop position will be the home.
18
Positive limit switch
(FW-LS)
In the case of return-to-home operation of our specifications, the same operation is performed if the following data is set.
• (HOME) Home-seeking mode (4160h): 0 [2-sensor]
•
•
•
(HOME) Starting direction (4161h): 1 [positive side]
(HOME) SLIT detection (4166h): 0 [disable]
(HOME) TIM/ZSG signal detection (4167h): 0 [disable] z Homing method: 35, Homing method: 37 (home preset)
The present position will be the home. The home preset can be executed except when the drive state machine is in a state of "Operation enabled." It can also be executed even when the motor is in a non-excitation state.
125
Drive profile
Operation of the return-to-home mode of our specifications z Return-to-home operation sequence of the 3-sensor mode
The motor operates at the "Speed during search for switch (6099h-01h)." When the limit sensor is detected during operation, the motor rotates in the reverse direction and pulls out of the limit sensor. When the ON edge of the HOME sensor is detected, operation is stopped. The position at which the motor stopped becomes the home.
Explanation of labels
• VR: Speed during search for switch (6099h-01h)
• VS: (HOME) Starting speed (4163h)
• VL: Speed during search for zero (6099h-02h)
• - - -: Orbit when a home offset is set
Starting position of return-to-home operation
RV-LS
FW-LS
HOMES
Between HOMES and RV-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
Starting direction of return-to-home operation: Positive side
HOMES FW-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
HOMES FW-LS
HOMES
HOMES
FW-LS
FW-LS
Between HOMES and FW-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
HOMES FW-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
Starting direction of return-to-home operation: Negative side
HOMES FW-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
HOMES FW-LS
HOMES
HOMES
FW-LS
FW-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
HOMES FW-LS
126
Drive profile
When the SLIT input, TIM signal, and ZSG signal are used concurrently
Even after return-to-home operation is complete, operation is continued until an external signal is detected.
The return-to-home operation will be completed when the external signal is detected while the HOME sensor is being
ON.
Explanation of labels
• VR: Speed during search for switch (6099h-01h)
• VS: (HOME) Starting speed (4163h)
• VL: Speed during search for zero (6099h-02h)
• - - -: Orbit when a home offset is set
Home detection signal
SLIT input
TIM signal or
ZSG signal
Starting direction of return-to-home operation: Positive side
HOMES FW-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
SLIT input
ON
OFF
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
HOMES FW-LS
SLIT input and TIM signal or
SLIT input and ZSG signal
TIM output
(ZSG output)
ON
OFF
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
SLIT input
ON
OFF
TIM output
(ZSG output)
ON
OFF
HOMES FW-LS
TIM output
(ZSG output)
ON
OFF
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
SLIT input
ON
OFF
TIM output
(ZSG output)
ON
OFF
Starting direction of return-to-home operation: Negative side
HOMES FW-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
SLIT input
ON
OFF
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
HOMES FW-LS
HOMES FW-LS
127
Drive profile z Return-to-home operation sequence of the 2-sensor mode
The motor is operated in the "(HOME) Starting speed (4163h)." When the limit sensor is detected, the motor rotates in the reverse direction and pulls out of the limit sensor. After pulling out, the motor is operated according to the value of the "(HOME) Backward steps in 2 sensor home-seeking (4169h)" and stops. The position at which the motor stopped becomes the home.
Explanation of labels
• VR: Speed during search for switch (6099h-01h)
• VS: (HOME) Starting speed (4163h)
• VL: Speed during search for zero (6099h-02h)
• - - -: Orbit when a home offset is set
Starting position of return-to-home operation
RV-LS
Starting direction of return-to-home operation: Positive side
FW-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR *
FW-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
*
FW-LS
Between RV-LS and FW-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR *
FW-LS
Starting direction of return-to-home operation: Negative side
FW-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
*
FW-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
*
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
*
FW-LS
* After pulling out of the limit sensor, the motor rotates to stop according to the value set in the "(HOME) Backward steps in 2 sensor home-seeking (4169h)."
128
Drive profile
When the SLIT input, TIM signal, and ZSG signal are used concurrently
Even after return-to-home operation is complete, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is complete.
Explanation of labels
• VR: Speed during search for switch (6099h-01h)
• VS: (HOME) Starting speed (4163h)
• VL: Speed during search for zero (6099h-02h)
• - - -: Orbit when a home offset is set
Home detection signal
SLIT input
TIM signal or
ZSG signal
Starting direction of return-to-home operation: Positive side
FW-LS
+VR
+VS
+VL
RV-LS
*
-VL
-VS
-VR
SLIT input
ON
OFF
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
SLIT input and TIM signal or
SLIT input and ZSG signal
TIM output
(ZSG output)
ON
OFF
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
SLIT input
ON
OFF
TIM output
(ZSG output)
ON
OFF
*
FW-LS
Starting direction of return-to-home operation: Negative side
FW-LS
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
SLIT input
ON
OFF
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
*
*
FW-LS
TIM output
(ZSG output)
ON
OFF
+VR
+VS
+VL
RV-LS
-VL
-VS
-VR
*
SLIT input
TIM output
(ZSG output)
ON
OFF
ON
OFF
*
FW-LS
FW-LS
* After pulling out of the limit sensor, the motor rotates to stop according to the value set in the "(HOME) Backward steps in 2 sensor home-seeking (4169h)."
129
Drive profile z One-way rotation mode
The motor is operated in the "Speed during search for switch (6099h-01h)." When the HOME sensor is detected, the motor decelerates to a stop and pulls out of the range of the HOME sensor at the "Speed during search for zero
(6099h-02h)."
After pulling out, motor operates according to the value of "(HOME) Operating amount in uni-directional homeseeking (416Ah)," and stops. The position at which the motor stopped becomes the home.
Explanation of labels
• VR: Speed during search for switch (6099h-01h)
• VS: (HOME) Starting speed (4163h)
• VL: Speed during search for zero (6099h-02h)
• - - -: Orbit when a home offset is set
Starting position of return-to-home operation
HOMES
Starting direction of return-to-home operation: Positive side
HOMES
+VR
+VS
+VL
-VL
-VS
-VR
*
HOMES
Other than HOMES
+VR
+VS
+VL
-VL
-VS
-VR
*
+VR
+VS
+VL
-VL
-VS
-VR
Starting direction of return-to-home operation: Negative side
HOMES
+VR
+VS
+VL
*
-VL
-VS
-VR
HOMES
*
* After pulling out of the HOME sensor, the motor rotates to stop according to the value set in the "(HOME) Operating amount in uni-directional home-seeking (416Ah)."
When the motor pulls out of the HOME sensor during deceleration stop after detection of the HOME sensor, an alarm of return-to-home error (alarm code 62h) is generated. Set the "Homing acceleration
(609Ah)" so that the motor can stop in the range of the HOME sensor.
130
Drive profile
When the SLIT input, TIM signal, and ZSG signal are used concurrently
Even after return-to-home operation is complete, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is complete.
Explanation of labels
• VR: Speed during search for switch (6099h-01h)
• VS: (HOME) Starting speed (4163h)
• VL: Speed during search for zero (6099h-02h)
• - - -: Orbit when a home offset is set
Home detection signal
SLIT input
TIM signal or
ZSG signal
Starting direction of return-to-home operation: Positive side
HOMES
+VR
+VS
+VL
-VL
-VS
-VR
*
SLIT input
ON
OFF
HOMES
+VR
+VS
+VL
-VL
-VS
-VR
*
SLIT input and TIM signal or
SLIT input and ZSG signal
TIM output
(ZSG output)
ON
OFF
HOMES
+VR
+VS
+VL
-VL
-VS
-VR
*
SLIT input
ON
OFF
TIM output
(ZSG output)
ON
OFF
Starting direction of return-to-home operation: Negative side
HOMES
+VR
+VS
+VL
*
-VL
-VS
-VR
SLIT input
ON
OFF
HOMES
+VR
+VS
+VL
-VL
-VS
-VR
TIM output
(ZSG output)
ON
OFF
*
+VR
+VS
+VL
-VL
-VS
-VR
SLIT input
TIM output
(ZSG output)
ON
OFF
ON
OFF
HOMES
*
* After pulling out of the HOME sensor, the motor rotates to stop according to the value set in the "(HOME) Operating amount in uni-directional home-seeking (416Ah)."
131
Drive profile z Push-motion mode
The motor is operated in the "Speed during search for switch (6099h-01h)." When the motor presses the stopper or others installed in the mechanical end, it rotates in the reverse direction and stops after moving the value set in the
"(HOME) Backward steps after first entry in push-home-seeking (416Ch)." Once again, the motor starts the operation toward the stopper, and it rotates in the reverse direction when pressing the stopper, and stops after moving the value set in the "(HOME) Backward steps in push-home-seeking (416Eh)."
Do not perform push-motion operation with geared motors and DGII Series. Doing so may cause damage to the motor or gear part.
Explanation of labels
• VR: Speed during search for switch (6099h-01h)
• VS: (HOME) Starting speed (4163h)
• VL: Speed during search for zero (6099h-02h)
• - - -: Orbit when a home offset is set
Starting position of return-to-home operation
Between mechanical ends
Starting direction of return-to-home operation: Positive side
Reverse side mechanical end
+VR
+VS
+VL
Forward side mechanical end
*1
-VL
-VS
-VR
*2
Starting direction of return-to-home operation: Negative side
Forward side mechanical end
+VR
+VS
+VL
Reverse side mechanical end
*2
-VL
-VS
-VR
*1
*1 The motor moves from the mechanical end according to the value set in the "(HOME) Backward steps after first entry in push-home-seeking (416Ch)" and stop.
*2 The motor moves from the mechanical end according to the value set in the "(HOME) Backward steps in pushhome-seeking (416Eh)" and stop.
132
Drive profile
When the SLIT input, TIM signal, and ZSG signal are used concurrently
Even after return-to-home operation is complete, operation is continued until an external signal is detected. If an external signal is detected, return-to-home operation is complete.
Explanation of labels
• VR: Speed during search for switch (6099h-01h)
• VS: (HOME) Starting speed (4163h)
• VL: Speed during search for zero (6099h-02h)
• - - -: Orbit when a home offset is set
Home detection signal
SLIT input
TIM signal or
ZSG signal
Starting direction of return-to-home operation: Positive side
Reverse side mechanical end
+VR
+VS
+VL
Forward side mechanical end
*
-VL
-VS
-VR
SLIT input
ON
OFF
+VR
+VS
+VL
Reverse side mechanical end
-VL
-VS
-VR
SLIT input and TIM signal or
SLIT input and ZSG signal
TIM output
(ZSG output)
ON
OFF
+VR
+VS
+VL
Reverse side mechanical end
-VL
-VS
-VR
Forward side mechanical end
*
Forward side mechanical end
*
Starting direction of return-to-home operation: Negative side
Reverse side mechanical end
+VR
+VS
+VL
-VL
-VS
-VR
SLIT input
ON
OFF
*
+VR
+VS
+VL
Reverse side mechanical end
-VL
-VS
-VR
*
TIM output
(ZSG output)
ON
OFF
+VR
+VS
+VL
Reverse side mechanical end
-VL
-VS
-VR
*
Forward side mechanical end
Forward side mechanical end
Forward side mechanical end
SLIT input
ON
OFF
TIM output
(ZSG output)
ON
OFF
SLIT input
TIM output
(ZSG output)
ON
OFF
ON
OFF
* The motor moves from the mechanical end according to the value set in the "(HOME) Backward steps in push-homeseeking (416Eh)" and stop.
133
Function
4-1 Touch probe
The touch probe is a function to set the external latch input signal (EXT1 input, EXT2input) or output signal (ZSG output, TIM output) as a trigger, and to latch the position for when the trigger is input. For the position to latch, either of the internal command position or feedback position can be selected.
The touch probe has the touch probe 1 and touch probe 2.
z Related object
Index Sub Name
60B8h 00h Touch probe function
Type Access
U16
U16
RW
RO
PDO
RxPDO
TxPDO
Save
−
−
Range
0000h to FFFFh
(Initial value: 0000h)
−
Update
A
− 60B9h 00h Touch probe status
60BAh
60BBh
00h
00h
Touch probe position 1 positive value [step]
Touch probe position 1 negative value [step]
60BCh
60BDh
00h
00h
Touch probe position 2 positive value [step]
Touch probe position 2 negative value [step]
INT32
INT32
INT32
INT32
RO
RO
RO
RO
TxPDO
TxPDO
TxPDO
TxPDO
−
−
−
−
−
−
−
−
−
−
−
−
44B0h 00h
44B1h 00h
44B2h 00h
44B3h 00h
Touch probe 1 latch position
Touch probe 2 latch position
Touch probe 1
TIM/ZSG signal select
Touch probe 2
TIM/ZSG signal select
U8
U8
U8
U8
RW
RW
RW
RW
No
No
No
No
−
−
−
−
0: Latches the feedback
position (Initial value)
1: Latches the command
position
0: Latches the feedback
position (Initial value)
1: Latches the command
position
0: Latch on the ZSG output
(Initial value)
1: Latch on the TIM output
0: Latch on the ZSG output
(Initial value)
1: Latch on the TIM output
A
A
A
A z Related signal
Signal name Description
EXT1 input This is an external latch input signal for the touch probe 1.
EXT2 input This is an external latch input signal for the touch probe 2.
ZSG output This signal can be used in the touch probe 1 and touch probe 2.
TIM output
This signal is output once per 7.2° rotation of the motor output shaft.
It can be used in the touch probe 1 and touch probe 2.
134
Function
Details of touch probe function
The action of the touch probe is set in the "Touch probe function (60B8h)"
The action of the touch probe 1 is set in the lower 8 bits, and that of the touch probe 2 is set in the upper 8 bits.
Set the trigger condition using the Touch probe 1 trigger action/Touch probe 2 trigger action (Bit1/Bit9) and the
Touch probe 1 trigger selection/Touch probe 2 trigger selection (Bit2/Bit10). After that, changing the Touch probe 1 permission/Touch probe 2 permission (Bit0/Bit8) from 0 to 1 latches according to the set trigger condition.
Be sure to change the Touch probe 1 permission/Touch probe 2 permission (Bit0/Bit8) back to 0 before changing the trigger condition. Changing the trigger condition while the Touch probe 1 permission/Touch probe 2 permission
(Bit0/Bit8) remains 1 will not be enabled.
Bit
0 Touch probe 1 permission
1 Touch probe 1 trigger action
2 Touch probe 1 trigger selection
3 Reserved
11 Reserved
Name
4 Touch probe 1 positive value action
5
Touch probe 1 negative value action
6 Reserved
7 Reserved
8 Touch probe 2 permission
9 Touch probe 2 trigger action
10 Touch probe 2 trigger selection
12 Touch probe 2 positive value action
13
Touch probe 2 negative value action
14 Reserved
15 Reserved
Value Definition
0 Disables touch probe 1.
1 Enables touch probe 1.
0
1
First trigger action
Latches only once on the first trigger.
Continuous operation
Latches every time a trigger is input.
0 Sets the external latch input EXT1 as a trigger.
1 Sets the ZSG output or TIM output as a trigger.
0 Reserved
0 Disables the latch function at the positive value of a trigger.
1 Enables the latch function at the positive value of a trigger.
0 Disables the latch function at the negative value of a trigger.
1 Enables the latch function at the negative value of a trigger.
0 Reserved
0 Reserved
0 Disables touch probe 2.
1 Enables touch probe 2.
0
First trigger action
Latches only once on the first trigger.
1
Continuous operation
Latches every time a trigger is input.
0 Sets the external latch input EXT2 as a trigger.
1 Sets the ZSG output or TIM output as a trigger.
0 Reserved
0 Disables the latch function at the positive value of a trigger.
1 Enables the latch function at the positive value of a trigger.
0 Disables the latch function at the negative value of a trigger.
1 Enables the latch function at the negative value of a trigger.
0 Reserved
0 Reserved
135
Function
Details of touch probe status
The status of the touch probe is output by the "Touch probe status (60B9h)."
The status of the touch probe 1 is output by the lower 8 bits, and that of the touch probe 2 is output by the upper
8 bits.
Bit
0
1
2
8
9
10
Touch probe 1 permission status
Touch probe 1 positive value latch
Touch probe 1 negative value latch
3 to 7 Reserved
11 to 15 Reserved
Name
Touch probe 2 permission status
Touch probe 2 positive value latch
Touch probe 2 negative value latch
Value Definition
0 Touch probe 1 is disabled.
1 Touch probe 1 is enabled.
0 Has not latch on the positive value of the touch probe 1.
1 Latched on the positive value of the touch probe 1.
0 Has not latch on the negative value of the touch probe 1.
1 Latched on the negative value of the touch probe 1.
0 Reserved
0 Touch probe 2 is disabled.
1 Touch probe 2 is enabled.
0 Has not latch on the positive value of the touch probe 2.
1 Latched on the positive value of the touch probe 2.
0 Has not latch on the negative value of the touch probe 2.
1 Latched on the negative value of the touch probe 2.
0 Reserved
Trigger and latch position
A signal that is set as a trigger is selected by the "Trigger selection (bit2/bit10)" of the "Touch probe function (60B8h)."
The ZSG output and TIM output can be selected by the "Touch probe TIM/ZSG signal select (44B2h/44B3h)."
The latch position varies depending on the signal that was set as the trigger. When the external latch input (EXT1 input, EXT2 input) is set as the trigger, the latch position can be set to ether of the feedback position (actual position) or internal command position.
Signal name
External latch input
ZSG output
TIM output
Latch position
Feedback position (actual position) or internal command position.
Select by the "Touch probe latch position (44B0h/44B1h)"
Feedback position
Internal command position
Related object
Index Sub Object name
44B0h 00h Touch probe 1 latch position
44B1h 00h Touch probe 2 latch position
44B2h 00h Touch probe 1 TIM/ZSG signal select
44B3h 00h Touch probe 2 TIM/ZSG signal select
Initial value
0
0
0
0
Description
0: Latches the feedback position
1: Latches the command position
0: Latch on the ZSG output
1: Latch on the TIM output
136
Function
Operation sequence of the touch probe
The operation examples of touch probe 1 are shown below.
z If the trigger action is "First trigger action (60B8h: bit1 is 0)"
Touch probe 1 permission
(60B8h: bit0)
Touch probe 1 positive value action
(60B8h: bit4)
Touch probe 1 permission status
(60B9h: bit0)
Touch probe 1 positive value latch
(60B9h: bit1)
Trigger input
Touch probe position 1 positive value
(60BAh)
P0 P1 P2
P0 to P2: Latch position z If the trigger action is "Continuous operation (60B8h: bit1 is 1)"
Touch probe 1 permission
(60B8h: bit0)
Touch probe 1 positive value action
(60B8h: bit4)
Touch probe 1 permission status
(60B9h: bit0)
Touch probe 1 positive value latch
(60B9h: bit1)
Trigger input
Touch probe position 1 positive value
(60BAh)
P0 P1 P2 P3
P0 to P3: Latch position
4-2 Resolution
When the "Gear ratio (6091h)" is set, the resolution per one rotation of the motor output shaft can be set.
• Resolution of the motor output shaft = 10,000 × "Electronic gear B (6091h-02h)"/"Electronic gear A (6091h-01h)"
• Factory setting: 10,000 P/R
• Setting range: 100 to 10,000 P/R
Related object
Index
6091h
Sub Name
00h Number of entries
01h Electronic gear A
02h Electronic gear B
Type Access PDO Save
U8 RO No − 2
U32
U32
RW
RW
No
No
Range
1 to 65,535 (Initial value: 1)
1 to 65,535 (Initial value: 1)
Update
−
C
C
• If the value out of the setting range is set, the information of electronic gear setting error is generated (information code 2000h). If the control power supply is turned on again or configuation is executed while the information of electronic gear setting error is present, an alarm of electronic gear setting error is generated (alarm code 71h).
• If the resolution was changed after executing preset with the "Home offset (607Ch)" other than "0," execute preset again. When the "Home offset (607Ch)" is "0," it is no need to execute preset again even if the resolution is changed. (The present position is calculated automatically.)
• When the TIM output is used in return-to-home operation or others, set the resolution to be an integral multiple of 50.
137
Function
4-3 Wrap function
The wrap function is a function to automatically preset the position information of the current position when the number of revolutions of the motor output shaft exceeds the set range. Setting of wrap offset allows you to limit the operation area of the equipment and control the index table with coordinates on the positive and negative sides.
Related object
Index Sub Name
41C7h 00h Wrap setting
Type Access PDO Save
U8 RW No
Range
0: Disable
1: Enable (Initial value)
Update
C
41C9h 00h
41CBh 00h
41CCh 00h
Initial coordinate generation & wrap setting range [1=0.1 rev]
Initial coordinate generation & wrap range offset ratio [1=0.01 %]
Initial coordinate generation & wrap range offset value [step]
INT32
U16
INT32
RW
RW
RW
No
No
No
5 to 655,360
(Initial value: 10)
0 to 10,000
(Initial value: 5,000)
−536,870,912 to
536,870,911
(Initial value: 0)
C
C
C
4-4 Operating current and stop current
Set the base current rate (%) for the operating current and stop current by the "Base current (4126h)."
• Operating current = Maximum output current × "Base current (4126h)" × "Operating current (4120h)"
• Stop current = Maximum output current × "Base current (4126h)" × "Stop current (4128h)"
• Push current = Maximum output current × "Base current (4126h)" × "Push current (4121h)"
If the base current is set, the maximum output current of the driver can be changed. If the load is small and there is an ample allowance for torque, the motor temperature rise can be suppressed by setting a lower base current. However, excessively low base current may cause a problem in starting the motor or holding the load in position. Do not reduce the base current any more than is necessary.
Related object
Index Sub
4120h 00h
Name
Operating current
[1=0.1 %]
4121h 00h Push current [1=0.1 %]
4126h 00h Base current [1=0.1 %]
4128h 00h Stop current [1=0.1 %]
Type
INT16
INT16
INT16
INT16
Access
RW
RW
RW
RW
PDO Save
RxPDO
RxPDO
RxPDO
RxPDO
415Fh
416Bh
00h
00h
JOG/HOME/ZHOME operating current
[1=0.1 %]
(HOME) Operating current for push-home-seeking
[1=0.1 %]
INT16
INT16
RW
RW
No
No
* With the profile position mode, it will be update at start of operation.
Range
0 to 1,000
(Initial value: 1,000)
0 to 1,000
(Initial value: 200)
0 to 1,000
(Initial value: 1,000)
0 to 1,000
(Initial value: 500)
0 to 1,000
(Initial value: 1,000)
0 to 1,000
(Initial value: 1,000)
Update
A *
A *
A
A
B
B
138
4-5
Related object
Index
40C0h
40C2h
40C5h
40C6h
Sub
00h
00h
00h
00h
40C8h 00h
40C9h
40CAh
40CBh
40CCh
40CDh
40CFh
40D0h
40D1h
40D2h
40D3h
40D4h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
Alarm reset
Name
Clear alarm history
P-PRESET execution
Configuration
Read batch NV memory
Write batch NV memory
All data initialization
Read from backup
Write to backup
Clear latch information
Clear tripmeter
Execute ETO-CLR input
ZSG-PRESET
Clear ZSG-PRESET
Clear information
Clear information history
Function
Maintenance commands
Resetting an alarm, the position preset (P-PRESET), batch processing for the non-volatile memory, and others are performed.
The maintenance commands include processing in which the memory is operated, such as nonvolatile memory batch processing and position preset (P-PRESET). Be careful not to execute them unnecessarily in succession.
Description
Resets the alarm that is present. Some alarms cannot be reset.
Clears alarm history.
Presets the command position.
Executes the parameter recalculation and the setup.
Reads the parameters saved in the non-volatile memory to the
RAM. All parameters saved in the RAM are overwritten.
Writes the parameters saved in the RAM to the non-volatile memory. The non-volatile memory can be rewritten approximately 100,000 times.
Resets the parameters saved in the non-volatile memory to their initial values.
Reads all the data from the backup area.
Writes all the data to the backup area.
Clears the cumulative load. This is used when the "Cumulative load value auto clear (41B3h)" is set to “0: Disable.”
Clears the tripmeter.
Puts the motor, which is after the power removal function is released, into a state possible to excite.
Resets the position of the Z-phase.
Clears the position data of the Z-phase reset by the “ZSG-
PRESET (40D1h)” command.
Clears information.
Clears information history.
How to execute maintenance commands
The following two methods are available to execute maintenance commands. Use them selectively in accordance with the intended use.
z Writing 1 to data (recommended)
When data is changed from 0 to 1 after 1 is written to it, the command is executed.
To execute the same command again, restore the data to 0 and then write 1. It is safe, because the command is not executed in succession even if 1 is written from the EtherCAT master continuously.
z Writing 2 to data
When 2 is written to data, the command is executed. After execution, the data is restored to 1 automatically.
Data does not need to restore to 1, and it can be written consecutively.
If commands which take time to write to the non-volatile memory such as "Write batch NV memory (40C9h)" are executed consecutively, increase the length of the intervals between commands.
139
Function
Configuration
Configuration can be executed when all of the following conditions are satisfied:
• An alarm is not present.
• The motor is not operating.
• I/O test, remote operation and downloading are not executed with the MEXE02 .
The following table shows the driver status before and after executing the configuration.
Item
PWR/ALM LED
Configuration is ready to execute
Green lit
Configuration is being executed
Green and red blink twice simultaneously *
Electromagnetic brake
Motor excitation
Output signal
Input signal
Hold/release
Excitation/non-excitation
Enable
Enable
* Green and red colors may overlap and it may be visible to orange.
Hold
Non-excitation
Disable
Disable
After execution of configuration
Depends on the driver condition.
Enable
Enable
The correct monitor value may not be returned even if monitoring is executed during configuration.
4-6 Assignment of I/O function
This section explains the assignment of I/O functions and internal I/O status.
Assignment to input terminals
Related object
Index Sub Name
4840h 00h DIN0 input function
4841h 00h DIN1 input function
4842h 00h DIN2 input function
4843h 00h DIN3 input function
4844h 00h DIN4 input function
4845h 00h DIN5 input function
Type Access PDO Save
U8
U8
U8
U8
U8
U8
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
Range
0 to 127
[Initial value: 30 (HOMES)]
0 to 127
[Initial value: 1 (FREE)]
0 to 127
[Initial value: 12 (ETO-CLR)]
0 to 127
[Initial value: 104 (EXT1)]
0 to 127
[Initial value: 28 (FW-LS)]
0 to 127
[Initial value: 29 (RV-LS)]
Update
C
C
C
C
C
C
140
Function
Assignment to the output terminals
Output signals can be assigned to the output terminals OUT0 to OUT5. For output signals that can be assigned, refer
Related object
Index
4860h
4861h
4862h
4863h
4864h
4865h
Sub
00h
00h
00h
00h
00h
00h
Name
DOUT0 (Normal) output function
DOUT1 (Normal) output function
DOUT2 (Normal) output function
DOUT3 (Normal) output function
DOUT4 (Normal) output function
DOUT5 (Normal) output function
Type Access PDO Save
U8
U8
U8
U8
U8
U8
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
Range
0 to 255
[Initial value: 144 (HOME-END)]
0 to 255
[Initial value: 137 (ETO-MON)]
0 to 255
[Initial value: 133 (PLS-RDY)]
0 to 255
[Initial value: 142 (CRNT)]
0 to 255
[Initial value: 134 (MOVE)]
0 to 255
[Initial value: 130 (ALM-B)]
Update
C
C
C
C
C
C
Direct I/O
The status of the direct I/O can be checked using the "Direct I/O (406Ah)." Bit arrangements are as follows.
Bit31
BSG
Bit23
−
Bit15
VR-IN3
Bit7
−
Bit30
ASG
Bit22
−
Bit14
VR-IN2
Bit6
−
Bit29
−
Bit21
OUT5
Bit13
VR-IN1
Bit5
IN5
Bit28
−
Bit20
OUT4
Bit12
VR-IN0
Bit4
IN4
Bit27
−
Bit19
OUT3
Bit11
−
Bit3
IN3
Bit26
−
Bit18
OUT2
Bit10
EXT-IN
Bit2
IN2
Bit25
−
Bit17
OUT1
Bit9
−
Bit1
IN1
Bit24
−
Bit16
OUT0
Bit8
−
Bit0
IN0
Related object
Index
406Ah
Sub Name
00h Direct I/O
Type
U32
Access
RO
PDO
TxPDO
Save
−
Range
−
Update
−
141
Function
I/O status
The status of the I/O inside the driver can be monitored using the I/O status. Bit arrangements of the internal I/O are as follows.
Driver object
I/O status 1
(40B8h)
I/O status 2
(40B9h)
I/O status 3
(40BAh)
I/O status 4
(40BBh)
I/O status 5
(40BCh)
Bit31
−
Bit23
−
Bit15
−
Bit7
−
Bit31
R15
Bit23
R7
Bit15
−
Bit7
−
Bit31
−
Bit23
−
Bit15
−
Bit7
−
Bit31
SLIT
Bit30
HOMES
Bit23 Bit22
SPD-LMT CRNT-LMT
Bit15
−
Bit7
−
Bit14
INFO-CLR
Bit6
−
Bit30
−
Bit22
−
Bit14
−
Bit6
−
Bit30
R14
Bit22
R6
Bit14
−
Bit6
−
Bit30
−
Bit22
−
Bit14
−
Bit6
−
Bit31
−
Bit30
−
Bit29
TIM
Bit23 Bit22 Bit21
ORGN-STLD PRST-STLD PRST-DIS
Bit15
AUTO-CD
Bit7
INFO
Bit14
CRNT
Bit6
MOVE
Bit13
VA
Bit5
PLS-RDY
Bit29
−
Bit21
−
Bit13
−
Bit5
−
Bit29
RV-LS
Bit21
T-MODE
Bit13
LAT-CLR
Bit5
STOP
Bit29
−
Bit21
−
Bit13
−
Bit5
−
Bit29
R13
Bit21
R5
Bit13
−
Bit5
−
Description
Bit28
−
Bit20
−
Bit12
−
Bit4
−
Bit28
R12
Bit20
R4
Bit12
−
Bit4
−
Bit28
−
Bit20
−
Bit12
−
Bit4
−
Bit28
FW-LS
Bit20
PLS-DIS
Bit12
ETO-CLR
Bit4
−
Bit28
RND-ZERO
Bit20
−
Bit12
TLC
Bit4
READY
Bit27
−
Bit19
−
Bit11
−
Bit3
−
Bit27
R11
Bit19
R3
Bit11
−
Bit3
−
Bit27
−
Bit19
−
Bit11
−
Bit3
−
Bit27
RV-BLK
Bit19
PLS-XMODE
Bit11
−
Bit3
CLR
Bit27
ZSG
Bit19
−
Bit11
−
Bit3
SYS-RDY
Bit26
−
Bit18
−
Bit10
−
Bit2
−
Bit26
R10
Bit18
R2
Bit10
−
Bit2
−
Bit26
RV-SLS
Bit18
−
Bit10
IN-POS
Bit2
ALM-B
Bit26
−
Bit18
−
Bit10
−
Bit2
−
Bit26
FW-BLK
Bit18
CCM
Bit10
−
Bit2
−
Bit25
−
Bit17
−
Bit9
EXT2
Bit1
−
Bit25
R9
Bit17
R1
Bit9
−
Bit1
−
Bit25
−
Bit17
−
Bit9
−
Bit1
−
Bit25
−
Bit17
−
Bit9
P-PRESET
Bit1
FREE
Bit25
FW-SLS
Bit17
ABSPEN
Bit9
ETO-MON
Bit1
ALM-A
Bit24
−
Bit16
−
Bit8
EXT1
Bit0
CON
Bit24
R8
Bit16
R0
Bit8
−
Bit0
−
Bit24
−
Bit16
−
Bit8
−
Bit0
−
Bit24
−
Bit16
HMI
Bit8
ALM-RST
Bit0
Not used
Bit24
RND-OVF
Bit16
HOME-END
Bit8
SYS-BSY
Bit0
CONST-OFF
142
Function
Driver object
I/O status 6
(40BDh)
I/O status 7
(40BEh)
I/O status 8
(40BFh)
Bit23
−
Bit15
−
Bit7
−
Bit31
−
Bit23
−
Bit15
−
Bit30
−
Bit22
−
Bit14
−
Bit7
AREA7
Bit31
−
Bit23
−
Bit15
Bit6
AREA6
Bit30
−
Bit22
−
Bit14
−
Bit7
−
Bit31
−
Bit6
−
Bit30
INFO-RBT INFO-CFG
Bit22
−
Bit14
INFO-
RND-E
Bit6
INFO-
OLTIME
Bit21
−
Bit13
DCMD-
FULL
Bit5
−
Bit29
INFO-
IOTEST
Bit21
Bit29
−
Bit21
Description
Bit28
−
Bit20
USR-OUT1 USR-OUT0
Bit27
−
Bit19
−
Bit12 Bit11 Bit13
HWTOIN-
MON
EDM-MON −
Bit5
AREA5
Bit29
−
Bit4
AREA4
Bit28
−
Bit3
AREA3
Bit27
−
Bit20
−
Bit12
Bit19
−
Bit11
DCMD-RDY
Bit4
OPE-BSY
Bit28
INFO-
DSLMTD
Bit20
PLS-LOST
Bit3
−
Bit27
−
INFO-ODO
Bit13
INFO-EGR-E
Bit5
INFO-
UVOLT
INFO-TRIP
Bit12
−
Bit4
INFO-
OVOLT
Bit19
INFO-
CULD1
Bit11
INFO-PR-
REQ
Bit3
INFO-
MTRTMP
Related object
Index Sub Name
40B8h 00h I/O status 1
40B9h 00h I/O status 2
40BAh 00h I/O status 3
40BBh 00h I/O status 4
40BCh 00h I/O status 5
40BDh 00h I/O status 6
40BEh 00h I/O status 7
40BFh 00h I/O status 8
Type
U32
U32
U32
U32
U32
U32
U32
U32
Access
RO
RO
RO
RO
RO
RO
RO
RO
PDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
−
−
−
−
−
Save
−
−
−
−
Bit2
−
Bit26
−
Bit2
AREA2
Bit26
−
Bit18
−
Bit10
Bit18
INFO-
CULD0
Bit10
INFO-
ZHOME
Bit2
INFO-
DRVTMP
Bit26
−
Bit18
−
Bit10
RG
Bit25
−
Bit17
−
Bit9
MBC
Bit24
−
Bit16
−
Bit8
MPS
Bit1
AREA1
Bit25
−
Bit17
−
Bit9
Bit0
AREA0
Bit24
−
Bit16
−
Bit8
− −
Bit1 Bit0
SPD-LMTD CRNT-LMTD
Bit25 Bit24
− −
Bit17
INFO-RV-OT
Bit9
Bit16
INFO-FW-
OT
Bit8
INFO-START INFO-SPD
Bit1
INFO-
POSERR
Bit0
INFO-USRIO
−
−
−
−
−
Range
−
−
−
Update
−
−
−
−
−
−
−
−
143
Function
Driver input command
The "Driver input command (403Eh)" is an input command from the EtherCAT master to the driver. Bit arrangements are as follows.
Bit0 to bit15 are assigned to the R-IN0 to R-IN15.
( ): Initial value
Bit15
R-IN15
(not used)
Bit7
R-IN7
(not used)
Bit14
R-IN14
(not used)
Bit6
R-IN6
(not used)
Bit13
R-IN13
(not used)
Bit5
R-IN5
(not used)
Bit12
R-IN12
(not used)
Bit4
R-IN4
(not used)
Bit11
R-IN11
(not used)
Bit3
R-IN3
(not used)
Bit10
R-IN10
(not used)
Bit2
R-IN2
(not used)
Bit9
R-IN9
(not used)
Bit1
R-IN1
(not used)
Bit8
R-IN8
(not used)
Bit0
R-IN0
(not used)
Related object
For input signals that can be assigned, refer to p.146.
Index Sub Name Type Access PDO Save
4900h 00h R-IN0 input function U8 RW No
4901h
4902h
4903h
4904h
4905h
4906h
4907h
4908h
4909h
490Ah 00h R-IN10 input function
490Bh 00h R-IN11 input function
490Ch 00h R-IN12 input function
490Dh 00h R-IN13 input function
490Eh
00h R-IN1 input function
00h R-IN2 input function
00h R-IN3 input function
00h R-IN4 input function
00h R-IN5 input function
00h R-IN6 input function
00h R-IN7 input function
00h R-IN8 input function
00h R-IN9 input function
00h R-IN14 input function
490Fh 00h R-IN15 input function
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
Range
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
0 to 127
[Initial value: 0 (not used)]
Update
C
C
C
C
C
C
C
C
C
C
C
C
C
C
C
C
144
Function
Driver status
The status of the R-OUT0 to R-OUT15 can be checked using the "Driver output status (403Fh)." Bit arrangements are as follows.
( ): Initial value
Bit15
R-OUT15
(TLC)
Bit7
R-OUT7
(ALM-A)
Bit14
R-OUT14
(IN-POS)
Bit6
R-OUT6
(INFO)
Bit13
R-OUT13
(MOVE)
Bit5
R-OUT5
(DCMD-RDY)
Bit12
R-OUT12
(TIM)
Bit4
R-OUT4
(HOME-END)
Bit11
R-OUT11
(AREA2)
Bit3
R-OUT3
(not used)
Bit10
R-OUT10
(AREA1)
Bit2
R-OUT2
(ZSG)
Bit9
R-OUT9
(AREA0)
Bit1
R-OUT1
(RV-LS_R)
Bit8
R-OUT8
(SYS-BSY)
Bit0
R-OUT0
(FW-LS_R)
Related object
For output signals that can be assigned, refer to p.147.
Index Sub
4910h
4911h
4912h
4913h
4914h
4915h
4916h
4917h
4918h
4919h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
491Ah 00h
491Bh 00h
491Ch 00h
491Dh 00h
491Eh
491Fh
00h
00h
Name
R-OUT0 output function
R-OUT1 output function
R-OUT2 output function
R-OUT3 output function
R-OUT4 output function
R-OUT5 output function
R-OUT6 output function
R-OUT7 output function
R-OUT8 output function
R-OUT9 output function
R-OUT10 output function
R-OUT11 output function
R-OUT12 output function
R-OUT13 output function
R-OUT14 output function
R-OUT15 output function
Type Access PDO Save
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
Range
0 to 255
[Initial value: 28 (FW-LS_R)]
0 to 255
[Initial value: 29 (RV-LS_R)]
0 to 255
[Initial value: 155 (ZSG)]
0 to 255
[Initial value: 0 (not used)]
0 to 255
[Initial value: 144 (HOME-END)]
0 to 255
[Initial value: 204 (DCMD-RDY)]
0 to 255
[Initial value: 135 (INFO)]
0 to 255
[Initial value: 129 (ALM-A)]
0 to 255
[Initial value: 136 (SYS-BSY)]
0 to 255
[Initial value: 160 (AREA0)]
0 to 255
[Initial value: 161 (AREA1)]
0 to 255
[Initial value: 162 (AREA2)]
0 to 255
[Initial value: 157 (TIM)]
0 to 255
[Initial value: 134 (MOVE)]
0 to 255
[Initial value: 138 (IN-POS)]
0 to 255
[Initial value: 140 (TLC)]
Update
C
C
C
C
C
C
C
C
C
C
C
C
C
C
C
C
145
Function
Input signal list
To assign signals via EtherCAT communication, use the "Assignment No." in the table instead of the signal names.
Assignment
No.
0
Signal name
Not used
Function Status
1
3
5
8
9
12
13
14
16
18
19
20
21
22
23
26
27
28
29
30
31
FREE
CLR
STOP
ALM-RST
P-PRESET
ETO-CLR
LAT-CLR
INFO-CLR
HMI
CCM
PLS-XMODE
PLS-DIS
T-MODE
CRNT-LMT
SPD-LMT
FW-BLK
RV-BLK
FW-LS
RV-LS
HOMES
SLIT
Set when the input terminal is not used.
Cut off the current of the motor not to excite it. When an electromagnetic brake motor is used, the electromagnetic brake is in a state of releasing.
Clear the deviation (position deviation) between the command position and actual position to zero.
−
0: No motion
1: Electromagnetic brake is in a
state of releasing + motor non-
excitation
0: No motion
1: Clear deviation
Stop the motor.
Release the alarm that is present.
Rewrite the mechanical home to the current position.
Puts the motor, which is after the power removal function is released, into a state possible to excite.
Clear the cumulative load. This is used when the "Cumulative load value auto clear (41B3h)" is set to "0: Disable."
0: No motion
1: Stop operation
0: No motion
1: Reset alarm
0: No motion
1: Execute preset
0: No motion
1: Transition to a state of allowing
motor excitation
0: No motion
1: Clear cumulative load
Release the information status.
Release the function limitation of the
MEXE02 .
Change the control mode from the normal mode to the current control mode.
Change the number of input pulses and the magnification of the frequency.
Disable the pulse input.
Disable the overload alarm.
Execute current limiting.
0: No motion
1: Release information status
0: Function limitation
1: Release the function limitation
0: Normal mode
1: Current control mode
0: No motion
1: Change magnification
0: No motion
1: Pulse input disable
0: No motion
1: Disable the overload alarm
0: Release the current limitation
1: Current limitation
Execute speed limiting. This signal cannot be used in the cyclic synchronous position mode (CSP).
0: Release the speed limiting
1: Speed limiting
Stop operation in the forward direction.
Stop operation in the reverse direction.
A signal input from the limit sensor in the forward direction.
A signal input from the limit sensor in the reverse direction.
A signal input from the mechanical home sensor.
A signal input from the slit sensor.
0: No motion
1: Stop the forward direction
operation
0: No motion
1: Stop the reverse direction
operation
0: OFF
1: ON
0: OFF
1: ON
0: OFF
1: ON
0: OFF
1: ON
146
Function
90
91
92
93
86
87
88
89
94
95
Assignment
No.
80
81
82
83
84
85
96
104
105
Signal name
R12
R13
R14
R15
R8
R9
R10
R11
R4
R5
R6
R7
R0
R1
R2
R3
CON
EXT1
EXT2
General signals.
Function
0: OFF
1: ON
Status
This signal is used to excite the motor. Use when pulse-input operation is performed.
This is an external latch signal of the touch probe 1.
This is an external latch signal of the touch probe 2.
0: Motor non-excitation
1: Motor excitation
0: OFF
1: ON
0: OFF
1: ON
• When the same input signal is assigned to multiple input terminals, the function is executed if any of the terminals has input.
• When the HMI input is not assigned to the input terminals, this input is always turned 1. Also, when this input is assigned to both direct I/O (DIN0 to DIN5) and remote I/O (R-IN0 to R-IN15), the function is executed only when both of them are turned 1.
Output signals list
To assign signals via EtherCAT communication, use the "Assignment No." in the table instead of the signal names.
Assignment
No.
Signal name Function Status
0 Not used
Set when the output terminal is not used.
−
1 to 127
128
Response signals
(input signal_R)
CONST-OFF
Output in response to the corresponding input signal.
0: Input signal is OFF
1: Input signal is ON
129
130
131
132
133
134
ALM-A
ALM-B
SYS-RDY
READY
PLS-RDY
MOVE
Output an OFF state all the time.
Output the alarm status of the driver
(normally open).
Output the alarm status of the driver
(normally closed).
Output when the control power supply of the driver is turned on.
Output when the driver is ready to operate.
Output when the pulse input is enabled.
Output when the motor operates.
0: OFF
0: Alarm not present
1: Alarm present
0: Alarm present
1: Alarm not present
0: During system preparation
1: System preparation is complete
0: Not ready
1: Ready for operation
0: Pulse input is disabled
1: Pulse input is enabled
0: Motor stopped
1: Motor operating
147
Function
Assignment
No.
135
136
137
138
140
141
142
143
144
145
149
150
151
152
153
154
155
156
157
Signal name
INFO
SYS-BSY
ETO-MON
IN-POS
TLC
VA
CRNT
AUTO-CD
HOME-END
ABSPEN
PRST-DIS
PRST-STLD
ORGN-STLD
RND-OVF
FW-SLS
RV-SLS
ZSG
RND-ZERO
TIM
Function Status
Output the information status of the driver.
Output when the driver is in internal processing status.
Output after the driver transitions to the power removal status until the motor puts into a state that can be excited.
Output when the positioning operation is complete. This signal is not output in the cyclic synchronous position mode
(CSP).
Output when the output torque reaches the upper limit value.
Output when the operating speed reaches the target speed. This signal is not output in the cyclic synchronous position mode (CSP).
0: Information not present
1: Information present
0: No internal processed
1: During internal processing
0: Excitation possible
1: Excitation not possible
0: During positioning operation
1: Positioning operation is complete
0: Inside torque range
1: Outside torque range
0: Not reach the target speed
1: Reach the target speed
Output while the motor is excited.
0: Motor non-excitation
1: Motor excitation
0: Normal
1: Automatic current cutback status
Output when the motor is in automatic current cutback status.
Output upon completion of return-tohome operation and when position preset (P-PRESET) is executed.
Output when the position coordinate is set.
Output when preset is required again to operate the motor after preset.
Output when the mechanical home is set.
Output when a mechanical home suitable to the product is set at the time of factory shipment.
Output is inverted when the wrap range is exceeded. (Toggle action)
0: Not home
1: Home
0: Position coordinate is not set
1: Position coordinate is set
0: Normal
1: Preset is not set
0: Mechanical home is not set
1: Mechanical home has set
0: Mechanical home is not set
1: Mechanical home has set
Output when the software limit in the forward direction is reached.
Output when the software limit in the reverse direction is reached.
0 and 1 are switched every time the wrap range is exceeded.
0: Not reached the software limit in the
forward direction
1: Reached the software limit in the
forward direction
0: Not reached the software limit in the
reverse direction
1: Reached the software limit in the
reverse direction
Output every time the actual position of the motor rotates one revolution from the preset position.
Output if the motor is at the home of wrap range when the "Wrap setting
(41C7h)" is set to "Enable."
Output every time the motor output shaft rotates 7.2° with reference to the command position.
0: Normal
1: Motor one revolution
0: Not wrap home
1: Wrap home
0: OFF
1: ON
148
Function
149
Function
245
252
253
254
255
241
242
243
244
Assignment
No.
233
234
235
237
238
240
Signal name
INFO-START
INFO-ZHOME
INFO-PR-REQ
INFO-EGR-E
INFO-RND-E
INFO-FW-OT
INFO-RV-OT
INFO-CULD0
INFO-CULD1
INFO-TRIP
INFO-ODO
INFO-DSLMTD
INFO-IOTEST
INFO-CFG
INFO-RBT
Function
Output when corresponding information is generated.
Status
0: Information not present
1: Information present
150
Position coordinate management
5-1 Overview of position coordinate management
The AZ Series manages the position coordinate of the motor with the ABZO sensor (mechanical multi-rotation absolute sensor). The present position coordinate is mechanically recorded inside the ABZO sensor. Therefore, even if the motor output shaft was externally rotated while the power was OFF, the absolute coordinate against the home can be maintained.
The coordinate is set in the following flow.
Connect the motor and the driver and turn on the control power supply.
The initial coordinate is generated automatically.
Set the mechanical home.
Factory home or user home
Set the generation range of the initial coordinate and the wrap range.
Turn on the control power supply again.
The changed parameter is updated.
About ABZO sensor
The ABZO sensor is a mechanical multi-rotation absolute sensor that does not require a battery.
It stores the present position as an absolute position until the number of revolutions of the motor output shaft exceeds 1,800 (*). The present position is maintained even if the control power supply is turned off.
The number of count is reset to 0 when the number exceeds 1,800 (*), and the number is newly counted from 1.
* The multi-rotation amount varies depending on the motor frame size. Check with the following table.
Multi-rotation amount of ABZO sensor
Motor frame size [mm(in.)]
20 (0.79), 28 (1.10)
40 (1.57), 42 (1.65), 60 (2.36),
85 (3.35), 90 (3.54)
Specifications of ABZO sensor
900 revolutions
1,800 revolutions
About initial coordinate generation
Initial coordinate generation indicates to decide how to use the rotation range of up to 1,800 revolutions
(or 900 revolutions) that the ABZO sensor can manage. There are four parameters required for initial coordinate generation as shown next. These parameters are read when the control power supply is turned on.
• Initial coordinate generation & wrap coordinate setting (47F2h)
• Initial coordinate generation & wrap setting range (41C9h)
• Initial coordinate generation & wrap range offset ratio (41CBh)
• Initial coordinate generation & wrap range offset value (41CCh)
Regardless of whether the wrap function is enabled or disabled, the initial coordinate is generated whenever the control power supply is turned on.
151
Position coordinate management z Factory setting example of the motor
An example of the motor of the frame size 60 mm (2.36 in.) is shown.
To use coordinates both in forward and reverse directions, 1,800 revolutions are divided into positive and negative revolutions, 50 % for each direction.
Motor output shaft
-900 to 900 revolutions
-900 rev 0 900 rev z Setting example of motorized actuator
The following is an example to set the home of a motorized actuator to 30 mm from the motor side.
• Model of motorized actuator: 4
• Stroke of motorized actuator: 600 mm
• Pitch of motorized actuator: 6 mm/rev
Concept of initial coordinate
Initial coordinate generation range =
Stroke
Pitch
=
600
6
= 100 rev
Wrap range offset ratio =
Home
Stroke
× 100 =
30
600
× 100 = 5 (%)
From the above, the actual coordinate is in the range of −5 to 95 revolutions.
-5 rev 0 95 rev
Setting example of parameters
Index Parameter name
47F2h Initial coordinate generation & wrap coordinate setting
41C9h Initial coordinate generation & wrap setting range [1=0.1 rev]
41CBh Initial coordinate generation & wrap range offset ratio [1=0.01 %]
41CCh Initial coordinate generation & wrap range offset value
Setting value
1: Manual setting
1,000
500
0 step
152
Position coordinate management
Wrap function
The wrap function is a function to automatically preset the position information of the current position when the number of revolutions of the motor output shaft exceeds the set range. Setting of wrap offset allows you to limit the operation area of the equipment and control the index table with coordinates on the positive and negative sides.
For the specific setting methods, refer to p.158.
To set the wrap function, change the "Initial coordinate generation & wrap coordinate setting
(47F2h)" to "1: Manual setting." [Initial value: 0 (Prioritize ABZO setting)]
When this parameter is changed, turn on the control power supply of the driver again.
z Concept of wrap setting
This explains as an example for the motor of the frame size 60 mm (2.36 in.).
With wrap setting, 1,800 revolutions managed by the ABZO sensor are divided evenly to generate coordinates within the number of revolutions divided evenly.
Therefore, set a value by which 1,800 can exactly be divided.
Example: When the wrap function executes if the motor rotates 180 times in the same direction
Motor output shaft
0 to 180 revolutions
180
Wrap coordinate
0
Motor output shaft number of revolutions
(rev)
0 180 360 540 1,800
The present position of the motor is preset every 180 revolutions, however, the 32-bit counter in the driver is not preset.
Example: When the range of use of the motor is offset to − 90 to 90 revolutions
Motor output shaft
-90 to 90 revolutions
90
Wrap coordinate 0
-90
Motor output shaft number of revolutions
(rev)
0
When the wrap setting range is exceeded, the symbol is reversed.
180 360 540 1,800
153
Position coordinate management z Setting example of index table
This is an example in which the index table is made rotate once when the motor output shaft rotates 18 times.
• Gear ratio of motor: 18
Concept of initial coordinate
To allow the index table to rotate in both directions, 18 revolutions are divided into positive and negative rotations,
50 % for each direction.
0
-9 -4.5
0 4.5
9
-4.5
4.5
-9
Setting example of parameters
Index Parameter name
47F2h Initial coordinate generation & wrap coordinate setting
41C7h Wrap setting
41C9h Initial coordinate generation & wrap setting range [1=0.1 rev]
41CBh Initial coordinate generation & wrap range offset ratio [1=0.01 %]
41CCh Initial coordinate generation & wrap range offset value
Setting value
1: Manual setting
1: Enable
180
5,000
0 step z Relationship between the wrap function and the 32-bit counter inside the driver
The 32-bit counter inside the driver outputs the position information of the motor as the number of steps regardless of whether the wrap function is enabled or disabled.
When the wrap function is enabled, the relationship between the wrap coordinate and 32-bit counter are as follows.
Example:
If the wrap function is performed when the motor rotates 180 revolutions in the same direction
Motor output shaft
0 to 180 revolutions
32-bit counter
(step)
5,400,000 steps
3,600,000 steps
1,800,000 steps
Wrap coordinate
(rev)
180 rev
0
154
Position coordinate management
The present position of the motor is preset by 180 revolutions, but the 32-bit counter is not preset.
The value of the 32-bit counter can be checked by the "Command position 32-bit counter (4091h)."
The 32-bit counter goes around between −2,147,483,648 to 2,147,483,647.
It shows 2,147,483,647 after -2,147,483,648, and after that it shows in descending order.
-2,147,483,648 0 2,147,483,647
It shows -2,147,483,648 after 2,147,483,647, and after that it shows in ascending order.
5-2 Position coordinate origin
When the position coordinate has been set, the ABSPEN output is turned ON.
If the position coordinate has not been set, the next operation cannot be performed.
• High-speed return-to-home operation
• Absolute positioning operation (when the "Permission of absolute positioning without setting absolute coordinates (4148h)" is "0: Disable")
Related object
Index Parameter name
4148h
Permission of absolute positioning without setting absolute coordinates
Description
Permits absolute positioning operation when the position coordinate is not set.
Setting range
0: Disable
1: Enable
Initial value
0
Mechanical home
The mechanical home is the home stored by the ABZO sensor. The mechanical home includes the "factory home" written in the ABZO sensor at the time of factory shipment and the "user home" set by performing return-to-home operation or position preset (P-PRESET).
z Factory home
The factory home is set in products with which the mechanism is pre-assembled to the motor, such as motorized actuators. It cannot be changed.
If the factory home is set, the ORGN-STLD output is turned ON.
z User home
When the user home is set by performing return-to-home operation or position preset (P-PRESET), the PRST-STLD output is turned ON. The user home can be released by "Position preset clear" of the MEXE02 .
If the user home is set, the home information is written to the non-volatile memory. The non-volatile memory can be rewritten approximately 100,000 times.
155
Position coordinate management
Setting of mechanical home
To set the mechanical home, perform the position preset (P-PRESET) or return-to-home operation. When the mechanical home coordinate is set, operation is performed on coordinates with the mechanical home in the center.
z Position preset
When position preset (P-PRESET) is executed, the command position and the actual position have the values set in the "Home offset (607Ch)" and the home is set.
Related objects
Index Parameter name
607Ch Home offset
4148h
Permission of absolute positioning without setting absolute coordinates
Description
Sets the preset position.
Setting range
−2,147,483,648 to 2,147,483,647 steps
Permits absolute positioning operation when the position coordinate is not set.
Setting range
0: Disable
1: Enable
Initial value
0
0
5-3 z Return-to-home operation
When return-to-home operation is performed, the mechanical home can be set.
Cases in which the position coordinate is not set
In the following cases, the position coordinate is not set. The ABSPEN output is turned OFF.
• Factory setting
• When position preset (P-PRESET) is performed with the "Home offset (607Ch)" set to a value other than "0" and then resolution is changed.
• When "Position preset clear" under "Communication" menu of the MEXE02 is executed.
• During return-to-home operation
Parameters related to ABZO sensor
With the AZ Series, the specification of the ABZO sensor and parameters based on the pre-assembled mechanism to the motor are written in the ABZO sensor in advance.
Related objects
Index
47F0h Mechanism settings
47F1h Gear ratio setting
47F2h
47F3h
Parameter name
Initial coordinate generation & wrap coordinate setting
Mechanism limit parameter setting
Description
To change the mechanism settings parameter, select manual setting.
Setting range
0: Prioritize ABZO setting
1: Manual setting
Sets the gear ratio for geared motor.
When “0: Gear ratio setting disable” is set, the gear ratio is considered as "1."
Setting range
0: Gear ratio setting disable
1 to 32,767: Gear ratio (1=0.01)
To change the initial coordinate generation & wrap coordinate parameter, select manual setting.
Setting range
0: Prioritize ABZO setting
1: Manual setting
Disables the ABZO setting of the mechanism limit parameter.
Setting range
0: Follow ABZO setting
1: Disable
Initial value
1
0
0
0
156
Position coordinate management
Index
47F4h
47F5h
Parameter name
Mechanism protection parameter setting
JOG/HOME/ZHOME operation setting
Description
Disables the ABZO setting of the mechanism protection parameter.
Setting range
0: Follow ABZO setting
1: Disable
To change the parameter for JOG operation and return-tohome operation, select manual setting.
Setting range
0: Prioritize ABZO setting
1: Manual setting
When the parameter of the wrap function is set z Setting example: When the wrap range is set to −50 to 50 revolutions
1. Change the "Initial coordinate generation & wrap coordinate setting (47F2h)" to "1: Manual setting."
When it is changed to "1: Manual setting," the following driver parameters can be set manually.
- Wrap setting
- The number of the RND-ZERO output in wrap range
- Initial coordinate generation & wrap setting range
- Initial coordinate generation & wrap range offset ratio
- Initial coordinate generation & wrap range offset value
2. Set each parameters as follows.
Index
41C7h Wrap setting
Parameter name
41CDh The number of the RND-ZERO output in wrap range
41C9h Initial coordinate generation & wrap setting range [1=0.1 rev]
41CBh Initial coordinate generation & wrap range offset ratio [1=0.01 %]
41CCh Initial coordinate generation & wrap range offset value
Setting value
1: Enable
1
1,000
5,000
0 step
Initial value
0
0
5-4 Mechanism settings parameter
The mechanism settings parameter is a parameter required for combined use with the mechanism such as the geared motor and motorized actuator.
To change the mechanism settings parameter, change the "Mechanism settings (47F0h)" to "1:
Manual setting." [Initial value: 1 (Manual setting)]
When this parameter is changed, turn on the control power supply of the driver again.
Motor rotation direction
Set the relationship between the coordinate system of the motor and the actual rotation direction.
Related object
Index
41C2h
Parameter name
Motor rotation direction
Description
Sets the rotation direction of the motor output shaft.
Setting range
0: Positive side=Counterclockwise
1: Positive side=Clockwise
2: Positive side=Counterclockwise
(the driver parameter is applied)
3: Positive side=Clockwise
(the driver parameter is applied)
Initial value
1
157
Position coordinate management
5-5 Initial coordinate generation & wrap coordinate parameter
These are parameters to be used for generation of the coordinate system.
Wrap function
For the wrap function, refer to p.153.
z Related operation mode wrap absolute push-motion
When the following operations are performed with the profile position mode (PP), set the wrap function.
• Wrap absolute positioning operation
• Wrap proximity positioning operation
• Wrap forward direction absolute positioning operation
• Wrap reverse direction absolute positioning operation
• Wrap absolute push-motion operation
• Wrap proximity push-motion operation
• Wrap forward direction push-motion operation
• Wrap reverse direction push-motion operation
Related objects
Index
47F2h
41C7h Wrap setting
41C9h
41CBh
41CCh
Parameter name
414Fh Wrap positioning mode
Initial coordinate generation & wrap coordinate setting
Initial coordinate generation & wrap setting range
Initial coordinate generation & wrap range offset ratio
Initial coordinate generation & wrap range offset value
Description
Sets the operation mode for wrap positioning operation.
Setting range
0: Wrap absolute positioning
1: Wrap proximity
2: Wrap forward direction
3: Wrap reverse direction
To use the wrap function, select manual setting.
Setting range
0: Prioritize ABZO setting
1: Manual setting
Sets the wrap function.
Setting range
0: Disable
1: Enable
Sets the wrap range. The command position returns to 0 when the motor has rotated for the number of times set here.
Setting range
Refer to the next table.
Sets the offset ratio of the wrap range.
Setting range
0 to 10,000 (1=0.01 %)
Sets the amount of offset of the wrap range.
Setting range
−536,870,912 to 536,870,911 steps
Initial value
0
0
1
10
5,000
0
158
Position coordinate management
Value that can be set in the "Initial coordinate generation & wrap setting range (41C9h)" (1=0.1 rev)
Since the internal coordinate of the ABZO sensor is 1,800 rev (or 900 rev), select a value from the table, and set in the
"Initial coordinate generation & wrap setting range (41C9h)."
In the table, the values which are surrounded with thick box border cannot be set in 900 rev.
10
12
15
16
8
9
5
6
30
36
40
45
18
20
24
25
75
80
90
100
48
50
60
72
Wrap setting range [rev]
120
125
144
150
180
200
225
240
400
450
500
600
250
300
360
375
720
750
900
1,000
1,125
1,200
1,500
1,800
2,000
2,250
3,000
3,600
4,500
6,000
9,000
18,000 z Setting example
When "Initial coordinate generation & wrap range offset ratio (41CBh)" is set to "50 %" and "Initial coordinate generation & wrap range offset value (41CCh)" to "0 step"
Example 1: Coordinate when the wrap setting range is 1 rev and the resolution is 10,000 P/R
Index
6091h
47F2h
41C7h
41C9h
41CBh
41CCh
00h
00h
00h
00h
Sub
01h
02h
00h
Parameter name
Electronic gear A
Electronic gear B
Initial coordinate generation & wrap coordinate setting
Wrap setting
Initial coordinate generation & wrap setting range [1=0.1 rev]
Initial coordinate generation & wrap range offset ratio [1=0.01 %]
Initial coordinate generation & wrap range offset value
Setting value
1
1
1: Manual setting
1: Enable
10
5,000
0 step
Position coordinate image
When the parameters are set as in the table above, the motor can be operated on coordinates in the figure.
0
-5,000 -2,500 0 2,500 4,999
-2,500 2,500
-5,000
159
Position coordinate management
Example 2: Coordinate when the wrap setting range is 1,800 rev and the resolution is 10,000 P/R
Index
6091h
47F2h
41C7h
41C9h
41CBh
41CCh
Sub
01h
02h
00h
00h
00h
00h
00h
Parameter name
Electronic gear A
Electronic gear B
Initial coordinate generation & wrap coordinate setting
Wrap setting
Initial coordinate generation & wrap setting range [1=0.1 rev]
Initial coordinate generation & wrap range offset ratio [1=0.01 %]
Initial coordinate generation & wrap range offset value
Setting value
1
1
1: Manual setting
1: Enable
18,000
5,000
0 step
Position coordinate image
When the parameters are set as in the table above, the motor can be operated on coordinates in the figure.
0
-9,000,000 -4,500,000 0 4,500,000 8,999,999
-4,500,000 4,500,000
-9,000,000
If the "Wrap setting (41C7h)" or the "Initial coordinate generation & wrap setting range (41C9h)" is changed, the absolute position may be shifted. When the parameter is changed, perform preset
(P-PRESET) or return-to-home operation.
z Setting condition of the "Initial coordinate generation & wrap setting range (41C9h)"
When the wrap range meets the following condition, continuous rotation in the same direction becomes possible with the home maintained.
Condition (1)
1,800 *
Wrap setting range
= Integer * The motors of frame size 20 mm (0.79 in.) and 28 mm (1.10 in.) are 900.
Condition (2) Wrap setting range × Resolution = Wrap setting range ×
Electronic gear B
Electronic gear A
× 10,000 = Integer
If the setting condition of the "Initial coordinate generation & wrap setting range (41C9h)" is not met even though the "Wrap setting (41C7h)" is set to "1: Enable," information of wrap setting error is generated. If the control power supply is turned on again or configuration is executed while the information of wrap setting error is present, an alarm of wrap setting error is generated.
Setting example 1
• Wrap setting range: 100 rev
• Resolution: 10,000 P/R (electronic gear A=1, electronic gear B=1)
• Motor: Standard motor (gear ratio 1)
Condition (1)
1,800
Wrap setting range
=
1,800
100
= 18
Condition (2) Wrap setting range ×
Electronic gear B
Electronic gear A
× 10,000 = 100 ×
1
1
× 10,000 = 1,000,000
Both Condition (1) and (2) are integers and this meets the setting condition. Wrap function can be executed.
160
Position coordinate management
Setting example 2
• Wrap setting range: 14.4 rev
• Resolution: 3,333.333··· P/R (electronic gear A=3, electronic gear B=1)
• Motor: TS geared type (gear ratio 3.6)
Condition (1)
Condition (2)
1,800
Wrap setting range
=
Wrap setting range ×
1,800
14.4
= 125
Electronic gear B
Electronic gear A
× 10,000 = 14.4 ×
1
3
× 10,000 = 48,000
Both Condition (1) and (2) are integers and this meets the setting condition. Wrap function can be executed.
Setting example 3
• Wrap setting range: 4.5 rev
• Resolution: 10,000 P/R (electronic gear A=1, electronic gear B=1)
• Actuator: DGII Series (gear ratio 18)
Condition (1)
Condition (2)
1,800
Wrap setting range
=
Wrap setting range ×
1,800
4.5
= 400
Electronic gear B
Electronic gear A
× 10,000 = 4.5 ×
1
1
× 10,000 = 45,000
Both Condition (1) and (2) are integers and this meets the setting condition. In the case of this setting, wrap function is executed every time the motor rotates by 90 degrees on the output shaft of DGII Series.
Setting example 4
• Wrap setting range: 1,000 rev
• Resolution: 10,000 P/R (electronic gear A=1, electronic gear B=1)
• Motor: PS geared type (gear ratio 20)
Condition (1)
1,800
Wrap setting range
=
1,800
1,000
= 1.8
Condition (2) Wrap setting range × Resolution = 1,000 × 10,000 = 10,000,000
Condition (1) is not an integer and this does not meet the setting condition. The information of wrap setting error is generated and wrap function cannot be executed.
Wrap offset function
The position of the boundary point of the wrap range can be offset by using the mechanical home as a reference.
Wrap offset is set in the "Initial coordinate generation & wrap range offset ratio (41CBh)" and the "Initial coordinate generation & wrap range offset value (41CCh)." z Wrap offset ratio setting
When the "Initial coordinate generation & wrap range offset ratio (41CBh)" is set, the wrap range can be offset in the negative direction.
Setting example: When the wrap range is 1,800 rev and the resolution is 10,000 P/R
0 (Home)
17,999,999
Wrap offset ratio = 0.00 %
–4,500,000
Wrap offset ratio = 25.00 %
–9,000,000
Wrap offset ratio = 50.00 %
–13,500,000
Wrap offset ratio = 75.00 %
Wrap offset ratio = 100.00 %
–17,999,999
4,499,999
8,999,999
13,499,999
161
Position coordinate management z Wrap range offset value setting
For the coordinate system offset in the "Initial coordinate generation & wrap range offset ratio (41CBh)," the coordinate can be shifted by step.
When the coordinate is set in the "Initial coordinate generation & wrap range offset value (41CCh)," information of wrap setting error is generated if the home is not included in the coordinate. If the control power supply is turned on again or configuration is executed while the information of wrap setting error is present, an alarm of wrap setting error is generated.
Setting example 1:
When the wrap range is 1,800 rev, the resolution 10,000 P/R, and the wrap offset ratio setting 50 %.
0 8,999,999 -9,000,000
Wrap offset value = 0 step
-8,999,000
Wrap offset value = 1,000 steps
Wrap offset value = -1,000 steps
-9,001,000
9,000,999
8,998,999
Setting example 2:
When the wrap range is 1,800 rev, the resolution 10,000 P/R, and the wrap offset ratio setting 0 %.
0 17,999,999
Wrap offset value = 0 step
1,000 18,000,999
Wrap offset value = 1,000 steps *
Wrap offset value = -1,000 steps
-1,000 17,998,999
* Information of wrap setting error is generated
RND-ZERO output
The RND-ZERO output is a signal output for each boundary point of division when the wrap range is divided evenly with the home as a reference. The number of division can be set in the "The number of the RND-ZERO output in wrap range (41CDh)." The RND-ZERO output is output when the "Wrap setting (41C7h)" parameter is set to "1: Enable." z Usage example 1
When the RND-ZERO signal is output for every rotation of the output shaft
(In case of wrap range of 1,800 rev and a geared motor of gear ratio 7.2)
The number of the RND-ZERO output in wrap range =
Wrap range
Gear ratio
=
1,800
7.2
= 250
In this usage example, you can check that the motor is in the home. With a geared motor, it can be used as a Z-phase signal that outputs one pulse for every rotation.
z Usage example 2
When the movable range is evenly divided by 90 degrees and the RND-ZERO signal is output for a certain travel amount
Number of division of movable range =
The number of the RND-ZERO output in wrap range
=
360°
90°
Wrap range
Gear ratio
= 4
× Number of division of movable range =
1,800
18
× 4 = 400
In this usage example, the signal can be output regularly during operation of the motorized actuator or hollow rotary actuator. It can be used to synchronize multiple motors and to operate by inputting the RND-ZERO signal to other system.
162
Position coordinate management
Related object
Index Parameter name
41CDh
The number of the RND-ZERO output in wrap range
Description
Sets the number of times to turn the RND-ZERO output
ON in the wrap range.
Setting range
1 to 536,870,911 divisions
Initial value
1
163
Save of parameters
The parameters are saved in RAM or non-volatile memory of the driver. The parameters saved in RAM are erased once the control power supply is cut off, however, the parameters saved in the non-volatile memory are saved even if the control power supply is cut off. When the control power is applied to the driver, the parameters saved in the nonvolatile memory are sent to RAM, and the recalculation and setup for the parameters are executed in RAM.
When the parameters are set to driver via EtherCAT communication, they are saved in the RAM space.
To save the parameters stored in the RAM to the non-volatile memory, execute the "Write batch NV memory (40C9h)" of the maintenance command.
Do not turn off the control power supply while writing in the non-volatile memory, and also do not turn off within 5 seconds after the completion of writing. Doing so may abort writing the data and cause an alarm of EEPROM error to generate (alarm code 41h).
The non-volatile memory can be rewritten approximately 100,000 times.
How to execute maintenance commands
The following two methods are available to execute maintenance commands. Use them selectively in accordance with the intended use.
z Writing 1 to data (recommended)
When data is changed from 0 to 1 after 1 is written to it, the command is executed.
To execute the same command again, restore the data to 0 and then write 1. It is safe, because the command is not executed in succession even if 1 is written from the EtherCAT master continuously.
z Writing 2 to data
When 2 is written to data, the command is executed. After execution, the data is restored to 1 automatically.
Data does not need to restore to 1, and it can be written consecutively.
If commands which take time to write to the non-volatile memory such as "Write batch NV memory (40C9h)" are executed consecutively, increase the length of the intervals between commands.
164
Object dictionary
7-1
This chapter explains the details of objects.
Composition of the object dictionary
Objects are constructed as follows.
Index (Hex)
1000h to 1FFFh
2000h to 3FFFh
4000h to 4FFFh
5000h to 5FFFh
6000h to 67FFh
Object
CoE communication area
Manufacturer specific area
Profile area
Overview
CoE communication area
Not used
Driver object
Not used
Profile area
Object dictionary item
Item
Index, sub, name Index, sub-Index, and name of objects
Description
Definition objets of data type. Abbreviations described in the table below are used in this manual.
Type
Abbreviation
BOOL
INT8
INT16
INT32
U8
U16
U32
STRING
Data type
Boolean
Integer8
Integer16
Integer32
Description
1-bit unsigned data
8-bit signed data
16-bit signed data
32-bit signed data
Unsigned8
Unsigned16
8-bit unsigned data
16-bit unsigned data
Unsigned32 32-bit unsigned data
Visible String Character string
0, 1
Range of value
−128 to 127
−32,768 to 32,767
−2,147,483,648 to
2,147,483,647
0 to 255
0 to 65,535
0 to 4,294,967,295
−
Access
PDO
Save
Update
Access method of objects.
• RW: Read and write of values are possible.
• RO: Only read of values is possible.
Indicates whether the PDO mapping of objects is possible.
• RxPDO: Mapping to RxPDO is possible.
• TxPDO: Mapping to TxPDO is possible.
• No: Mapping to PDO is not possible.
Indicates whether data is saved in the non-volatile memory when the batch non-volatile memory write was executed.
• : Saved in the non-volatile memory.
• −: Not saved in the non-volatile memory.
Indicates the timing to update the change when a value in the object was changed.
• A: Update immediately
• B: Update after operation stop
• C: Update after executing the configuration
• D: Update after cycling the control power supply ON again
165
Object dictionary
7-2 Objects of the CoE communication area
These are objects to set about EtherCAT communication or to indicate the status.
z Device type (1000h)
Indicates the device profile.
Index
1000h
Sub Name
00h Device type
Type
U32
Access
RO
PDO
No
Save Range
− 0004 0192h
Update
−
Details of range
Bit
0 to 15
16 to 31
Name
Device profile
Description
0192h: DS402
Additional information 0004h: ST Single axis driver z Error register (1001h)
Indicates the error status of the driver. If an error occurs in the driver, the "General error (bit0)" is changed to 1. It is changed to 0 when the error is cleared.
Index Sub Name Type Access PDO Save Update
1001h 00h Error register U8 RO No −
Range
Bit0: General error
Bit1 to 7: Reserved
− z Manufacturer device name (1008h)
Indicates the product model.
Index Sub Name
1008h 00h
Manufacturer device name
Type
STRING
Access
RO
PDO
No
Save
−
Range
AZD-AED
AZD-CED
AZD-KED z Manufacturer hardware version (1009h)
Indicates the hardware version of the driver. "V.1.00" is indicated when the version is 1.00.
Index Sub Type Access PDO Save
1009h 00h
Name
Manufacturer hardware version
STRING RO No
Range
− Hardware version
Update
−
Update
− z Manufacturer software version (100Ah)
Indicates the software version of the driver. "V.1.00" is indicated when the version is 1.00.
Index Sub Type Access PDO Save
100Ah 00h
Name
Manufacturer software version
STRING RO No
Range
− Software version
Update
− z Identity object (1018h)
Indicates the product information of the driver. The serial number is always 0.
Index
1018h
Sub Name
00h Number of entries
01h Vendor ID
02h Product code
03h Revision number
04h Serial number
Type
U8
U32
U32
U32
U32
Access
RO
RO
RO
RO
RO
PDO Save
No − 4
No
No
Range
− 0000 02BEh
−
AZD-AED : 0000 13E9h
AZD-CED : 0000 13EAh
AZD-KED : 0000 13E5h
No
No
− 0000 xxxxh
− 0
Update
−
−
−
−
−
166
Object dictionary z Receive PDO mapping 1 (1600h)
Sets the receive PDO mapping 1.
Index Sub Name
00h Number of entries
01h Mapping entry 1
02h Mapping entry 2
1600h
03h Mapping entry 3
04h Mapping entry 4
05h Mapping entry 5
06h Mapping entry 6
07h Mapping entry 7
08h Mapping entry 8
09h Mapping entry 9
0Ah Mapping entry 10
0Bh Mapping entry 11
0Ch Mapping entry 12
0Dh Mapping entry 13
0Eh Mapping entry 14
0Fh Mapping entry 15
10h Mapping entry 16 z Receive PDO mapping 2 (1601h)
Sets the receive PDO mapping 2.
Index Sub Name
00h Number of entries
01h Mapping entry 1
02h Mapping entry 2
1601h
03h Mapping entry 3
04h Mapping entry 4
05h Mapping entry 5
06h Mapping entry 6
07h Mapping entry 7
08h Mapping entry 8
09h Mapping entry 9
0Ah Mapping entry 10
0Bh Mapping entry 11
0Ch Mapping entry 12
0Dh Mapping entry 13
0Eh Mapping entry 14
0Fh Mapping entry 15
10h Mapping entry 16
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
Type Access PDO Save
U8 RW No −
Range
0 to 16 (Initial value: 3)
U32
U32
U32
RW
RW
RW
No
No
No
−
−
−
0000 0000h to FFFF FFFFh
(Initial value: 6040 0010h)
0000 0000h to FFFF FFFFh
(Initial value: 607A 0020h)
0000 0000h to FFFF FFFFh
(Initial value: 6060 0008h)
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
No
No
No
No
No
−
−
−
−
−
−
−
−
−
−
−
−
−
0000 0000h to FFFF FFFFh
(Initial value: 0000 0000h)
Update
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
Type Access PDO Save
U8 RW No −
Range
0 to 16 (Initial value: 5)
U32
U32
RW
RW
No
No
−
−
0000 0000h to FFFF FFFFh
(Initial value: 6040 0010h)
0000 0000h to FFFF FFFFh
(Initial value: 607A 0020h)
U32
U32
U32
RW
RW
RW
No
No
No
−
−
−
0000 0000h to FFFF FFFFh
(Initial value: 60FF 0020h)
0000 0000h to FFFF FFFFh
(Initial value: 6060 0008h)
0000 0000h to FFFF FFFFh
(Initial value: 60B8 0010h)
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
No
No
No
−
−
−
−
−
−
−
−
−
−
−
0000 0000h to FFFF FFFFh
(Initial value: 0000 0000h)
Update
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
167
Object dictionary z Transmit PDO mapping 1 (1A00h)
Sets the transmit PDO mapping 1.
Index Sub Name
00h Number of entries
01h Mapping entry 1
02h Mapping entry 2
1A00h
03h Mapping entry 3
04h Mapping entry 4
05h Mapping entry 5
06h Mapping entry 6
07h Mapping entry 7
08h Mapping entry 8
09h Mapping entry 9
0Ah Mapping entry 10
0Bh Mapping entry 11
0Ch Mapping entry 12
0Dh Mapping entry 13
0Eh Mapping entry 14
0Fh Mapping entry 15
10h Mapping entry 16 z Transmit PDO mapping 2 (1A01h)
Sets the transmit PDO mapping 2.
Index Sub Name
00h Number of entries
01h Mapping entry 1
1A01h
02h Mapping entry 2
03h Mapping entry 3
04h Mapping entry 4
05h Mapping entry 5
06h Mapping entry 6
07h Mapping entry 7
08h Mapping entry 8
09h Mapping entry 9
0Ah Mapping entry 10
0Bh Mapping entry 11
0Ch Mapping entry 12
0Dh Mapping entry 13
0Eh Mapping entry 14
0Fh Mapping entry 15
10h Mapping entry 16
168
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
Type Access PDO Save
U8 RW No −
Range
0 to 16 (Initial value: 3)
U32
U32
U32
RW
RW
RW
No
No
No
−
−
−
0000 0000h to FFFF FFFFh
(Initial value: 6041 0010h)
0000 0000h to FFFF FFFFh
(Initial value: 6064 0020h)
0000 0000h to FFFF FFFFh
(Initial value: 6061 0008h)
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
No
No
No
No
No
−
−
−
−
−
−
−
−
−
−
−
−
−
0000 0000h to FFFF FFFFh
(Initial value: 0000 0000h)
Update
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
U32
U32
U32
U32
U32
U32
U32
U32
Type Access PDO Save
U8 RW No −
Range
0 to 16 (Initial value: 8)
U32
U32
U32
RW
RW
RW
No
No
No
−
−
−
0000 0000h to FFFF FFFFh
(Initial value: 6041 0010h)
0000 0000h to FFFF FFFFh
(Initial value: 6064 0020h)
0000 0000h to FFFF FFFFh
(Initial value: 6061 0008h)
U32
U32
U32
U32
U32
RW
RW
RW
RW
RW
No
No
No
No
No
−
−
−
−
−
0000 0000h to FFFF FFFFh
(Initial value: 60B9 0010h)
0000 0000h to FFFF FFFFh
(Initial value: 60BA 0020h)
0000 0000h to FFFF FFFFh
(Initial value: 60BC 0020h)
0000 0000h to FFFF FFFFh
(Initial value: 603F 0010h)
0000 0000h to FFFF FFFFh
(Initial value: 60FD 0020h)
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
−
−
−
−
−
−
−
−
0000 0000h to FFFF FFFFh
(Initial value: 0000 0000h)
Update
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
Object dictionary z Sync manager communication type (1C00h)
Sets the communication type of sync manager (SM).
Index
1C00h
Sub Name
00h Number of entries
01h
Communication type sync manager 0
02h
03h
04h
Communication type sync manager 1
Communication type sync manager 2
Communication type sync manager 3
Type Access PDO Save
U8
U8
U8
U8
U8
RO
RO
RO
RO
RO
No
No
No
No
No
−
−
−
−
−
4
Range
1: Mailbox output
(EtherCAT master to driver)
2: Mailbox input
(Driver to EtherCAT master)
3: Process data output
(EtherCAT master to driver)
4: Process data input
(Driver to EtherCAT master) z Sync manager 2 PDO assignment (1C12h)
Sets the object assigned in the process data output (receive PDO: RxPDO) of the sync manager 2 (SM2).
It can be changed when the EtherCAT communication state machine is pre-operational.
Refer to "Setting of PDO mapping object" on p.94 for how to set the PDO mapping.
Index
1C12h
Sub Name
00h Number of entries
01h
Index of assigned
PDO 1
Type Access PDO Save
U8 RW No −
Range
0 to 1 (Initial value: 1)
U16 RW No −
0000h to FFFFh
(Initial value: 1600h) z Sync manager 3 PDO assignment (1C13h)
Sets the object assigned in the process data input (transmit PDO: TxPDO) of the sync manager3 (SM3).
It can be changed when the EtherCAT communication state machine is pre-operational.
Refer to "Setting of PDO mapping object" on p.94 for how to set the PDO mapping.
Index
1C13h
Sub Name
00h Number of entries
01h
Index of assigned
PDO 1
Type Access PDO Save
U8 RW No −
Range
0 to 1 (Initial value: 1)
U16 RW No −
0000h to FFFFh
(Initial value: 1A00h) z Sync manager 2 synchronization (1C32h)
Sets the synchronization type of the sync manager 2 (SM2) and indicates the status.
Index
1C32h
Sub
00h
01h
02h
03h
04h
05h
06h
Name
Number of entries
Synchronization type
Cycle time [ns]
Shift time [ns]
Synchronization types supported
Minimum cycle time
[ns]
Calc and copy time
[ns]
07h
08h
Reserved
Reserved
09h Delay time [ns]
0Ah to 1Fh Reserved
20h Sync error
U32
U16
U32
U16
BOOL
Type Access PDO Save
U8 RO No − 20h
U16 RW No −
Range
00h to 02h
(Initial value: 02h)
U32
U32
RO
RO
No
No
− −
− 0
U16
U32
U32
RO
RO
RO
−
−
RO
−
RO
No
No
No
−
−
No
−
No
− 0007h
−
−
− −
− −
− 0
− −
− 0
0003 D090h
(250,000 ns)
0001 86A0h
(100,000 ns)
Update
A
A
Update
A
A
−
−
−
−
−
−
−
Update
−
A
−
−
−
Update
−
−
−
−
−
169
Object dictionary
Details of sync manager 2 synchronization object
Sub
01h
02h
03h
04h
05h
06h
09h
20h
Name
Synchronization type
Cycle time [ns]
Shift time [ns]
Synchronization types supported
Minimum cycle time [ns]
Calc and copy time [ns]
Delay time [ns]
Sync error
Description
00h: Free run mode (asynchronous)
01h: Sync manager 2 event synchronization mode
02h: DC mode (SYNC0 event synchronization)
Indicates the cycle time of the SYNC0 event.
The shift time is not supported. The read value is always 0.
Indicates the synchronization type supported.
Bit0: Free run mode (asynchronous)
Bit1: Sync manager 2 event synchronization mode
Bit2: DC mode (SYNC0 event synchronization)
Indicates the minimum cycle time supported.
Indicates the minimum value of the internal calc and copy time that is needed from the sync manager 2 event to the SYNC0 event.
The delay time is not supported. The read value is always 0.
Changes to 1 if the sync error is detected.
z Sync manager 3 synchronization (1C33h)
Sets the synchronization type of the sync manager 3 (SM3) and indicates the status.
Index
1C33h
Sub
00h
01h
02h
03h
04h
05h
Name
Number of entries
Synchronization type
Cycle time [ns]
Shift time [ns]
Synchronization
Types supported
Minimum cycle time
[ns]
06h
07h
08h
Calc and Copy Time
[ns]
Reserved
Reserved
09h Delay time [ns]
0Ah to 1Fh Reserved
20h Sync error
U16
U32
U32
U32
U16
U32
U16
BOOL
Type Access PDO Save
U8 RO No − 20h
U16 RW No −
Range
00h, 02h (Initial value)
22h
U32
U32
RO
RO
No
No
− −
− 0
RO
RO
RO
−
−
RO
−
RO
No
No
No
−
−
No
−
No
−
−
−
0007h
− −
− −
− −
− −
− 0
0003 D090h
(250,000 ns)
0002 49F0h
(150,000 ns)
Update
−
A
−
−
−
−
−
−
−
−
−
−
Details of sync manager 3 synchronization object
Sub
01h
02h
03h
04h
05h
06h
09h
20h
Name
Synchronization type
Cycle time [ns]
Shift time [ns]
Synchronization types supported
Minimum cycle time [ns]
Calc and copy time [ns]
Delay time [ns]
Sync error
Description
00h: Free run mode (asynchronous)
02h: DC mode (SYNC0 event synchronization)
22h: Sync manager 2 event synchronization mode
Indicates the cycle time of the SYNC0 event.
The shift time is not supported. The read value is always 0.
Indicates the synchronization type supported.
Bit0: Free run mode (asynchronous)
Bit1: Sync manager 2 event synchronization mode
Bit2: DC mode (SYNC0 event synchronization)
Indicates the minimum cycle time supported.
Indicates the minimum value of the internal calc and copy time that is needed from the sync manager 3 event to the SYNC0 event.
The delay time is not supported. The read value is always 0.
Changes to 1 if the sync error is detected.
170
Object dictionary
7-3 Objects of the profile area
Objects in the profile area are defined by the CiA402 drive profile. Operations of the driver are set, and the status is indicated.
z Error code (603Fh)
Indicates the error code being generated in the driver.
Index
603Fh
Sub Name
00h Error code
Type
U16
Access
RO
PDO
TxPDO
Save
−
Range
−
Update
−
If an alarm is generated in the driver, the error code is indicated. The lower 8 bits of the error code represents the alarm code, and the upper 8 bits represents FFh. When an alarm is not present,
"0000h" is indicated. Refer to p.205 for alarm code.
z Controlword (6040h)
Controls the transition of the drive state machine, start/stop of an operation, and others.
Index Sub Name Type Access PDO Save
6040h 00h Controlword U16 RW RxPDO −
Range
0000h to FFFFh
(Initial value: 0000h)
Update
A
Details of range
Bit
0 Switch on
Name
1 Enable voltage
2 Quick stop
5
6
3 Enable operation
4
Operation mode specific
11
12
13
14
15
7 Fault reset
8 Halt
9 Operation mode specific
10 Reserved
Manufacturer specific
Description
Controls the status of the drive state machine.
Refer to "State transition of the drive state machine" on p.99 for details.
It varies according to the operation mode.
For details, refer to each operation mode of the "3 Drive profile."
Resets the alarm by changing from 0 to 1.
For details, refer to each operation mode of the "3 Drive profile."
Reserved
Manufacturer-specific bit.
For details, refer to each operation mode of the "3 Drive profile."
171
Object dictionary z Statusword (6041h)
Indicates the status of the drive state machine and the operation status of the driver.
Index
6041h
Sub Name
00h Statusword
Type
U16
Access
RO
PDO
TxPDO
Save Range
− −
Update
−
Details of range
Bit Name
0 Ready to switch on
1 Switched on
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning
8 Manufacturer specific
9 Remote
10 Target reached
11 Internal limit active
12
13
14
15
Operation mode specific
Manufacturer specific
Description
Indicates the status of the drive state machine.
Refer to "Status output of the drive state machine" on p.100 for details.
Changes to 1 if information of the driver is generated. When the information status is resolved, it is automatically cleared to 0.
Manufacturer-specific bit.
For details, refer to each operation mode of the "3 Drive profile."
Changes to 1 when the driver initialization is complete.
It varies according to the operation mode.
For details, refer to each operation mode of the "3 Drive profile."
Indicates the status of the function limitation by the internal limit.
For details, refer to each operation mode of the "3 Drive profile."
It varies according to the operation mode.
For details, refer to each operation mode of the "3 Drive profile."
Manufacturer-specific bit.
For details, refer to each operation mode of the "3 Drive profile."
z Quick stop option code (605Ah)
Sets the action by the quick stop command. When the setting is changed while the quick stop is operating, the new setting is applied after stop.
Index Sub Type Access PDO Save Update
605Ah 00h
Name
Quick stop option code
INT16 RW No
Range
0, 1, 2 (Initial value),
3, 5, 6, 7
A
Details of range
Setting value
0
1
5
6
2
3
7
Description
Current off
Decelerates to a stop at the "Profile deceleration (6084h)." Moves to "Switch on disabled" after stop.
Decelerates to a stop at the "Quick stop deceleration (6085h)." Moves to "Switch on disabled" after stop.
Stops immediately. Moves to "Switch on disabled" after stop.
Decelerates to a stop at the "Profile deceleration (6084h)." Keeps "Quick stop active" after stop.
Decelerates to a stop at the "Quick stop deceleration (6085h)." Keeps "Quick stop active" after stop.
Stops immediately. Keeps "Quick stop active" after stop.
If the quick stop command is executed while decelerating to a stop, the deceleration switches to the quick stop deceleration. However, when the deceleration stop is performed by the STOP input signal the deceleration will not switch even if the quick stop command is executed.
172
Object dictionary z Shutdown option code (605Bh)
Sets the operation for when moving from "Operation enabled" to "Ready to switch on."
Index Sub Name
605Bh 00h Shutdown option code
Type
INT16
Access
RW
PDO
No
Save Range
0, 1 (Initial value)
Update
A
Details of range
Setting value
0
1
Description
Current off
Decelerates to a stop at the "Profile deceleration (6084h)."
The motor changes to a non-excitation state after stop.
z Disable operation option code (605Ch)
Sets the operation for when moving from "Operation enabled" to "Switched on."
Index Sub Type Access PDO
605Ch 00h
Name
Disable operation option code
INT16 RW No
Save Range
0, 1 (Initial value)
Update
A
Details of range
Setting value
0
1
Description
Current off
Decelerates to a stop at the "Profile deceleration (6084h)."
The motor changes to a non-excitation state after stop.
z Halt option code (605Dh)
Sets the operation for when the "Halt (bit8)" of the "Controlword (6040h)" was set.
Index Sub Name
605Dh 00h Halt option code
Type
INT16
Access
RW
PDO
No
Save Range
1 (Initial value), 2, 3
Update
A
Details of range
Setting value
1
2
3
Description
Decelerates to a stop at the "Profile deceleration (6084h)." Keeps "Operation enabled" after stop.
Decelerates to a stop at the "Quick stop deceleration (6085h)." Keeps "Operation enabled" after stop.
Stops immediately. Keeps "Operation enabled" after stop.
z Modes of operation (6060h)
Sets the operation mode of the driver. Change the operation mode while the motor is stopped. When the setting is changed during operation, the new setting is updated after stop.
Index Sub Name Type Access PDO Save Update
6060h 00h Modes of operation INT8 RW RxPDO
Range
0 (Initial value), 1, 3,
6, 8, 9
B
Details of range
Setting value
0
1
3
6
8
9
Description
Operation function disable
Profile position mode (PP)
Profile velocity mode (PV)
Homing mode (HM)
Cyclic synchronous position mode (CSP)
Cyclic synchronous velocity mode (CSV)
173
Object dictionary z Modes of operation display (6061h)
Indicates the operation mode that is enabled actually. The range is the same as "Modes of operation (6060h)."
Index
6061h
Sub Name
00h Modes of operation display
Type
INT8
Access
RO
PDO
TxPDO
Save Range
− −
Update
− z Position demand value (6062h)
Indicates the command position. When the "Wrap setting (41C7h)" is set to 1, the value in the wrap range is indicated.
Index
6062h
Sub Name
00h Position demand value [step]
Type
INT32
Access
RO
PDO
TxPDO
Save Range
− −
Update
− z Position actual value (6064h)
Indicates the present position detected by the ABZO sensor. When the "Wrap setting (41C7h)" is set to 1, the value in the wrap range is indicated.
Index
6064h
Sub Name
00h Position actual value [step]
Type
INT32
Access
RO
PDO
TxPDO
Save Range
− −
Update
− z Following error window (6065h)
Sets the condition under which the excessive position deviation alarm is generated.
Index Sub Type Access PDO Save
6065h 00h
Name
Following error windo
[1=0.01 rev]
U32 RW No
Range
1 to 30,000
(Initial value: 300)
Update
A z Position window (6067h)
Sets the output range of the positioning completion output (IN-POS). It is the same as the "IN-POS positioning completion signal range" parameter of the AZ Series.
In the profile position mode, after positioning operation is properly completed, the Target Reached (6041h: Bit10) of the statusword changes 1 when the feedback position has converged in a range of the Position window (6067h) with respect to the command position.
The IN-POS output range can be offset by the "IN-POS positioning completion signal offset (4704h)."
Index Sub Name Type Access PDO Save Update
6067h 00h Position window [1=0.1°] U32 RW No
Range
0 to 180
(Initial value: 18)
A z Velocity demand value (606Bh)
Indicates the present velocity demand value. (Hz)
Index Sub Name Type Access
606Bh 00h Velocity demand value [Hz] INT32 RO
PDO
TxPDO
Save
−
Range
−
Update
− z Velocity actual value (606Ch)
Indicates the present feedback speed. (Hz)
Index Sub Name
606Ch 00h Velocity actual value [Hz]
Type Access
INT32 RO
PDO
TxPDO
Save
−
Range
−
Update
− z Target position (607Ah)
Sets the target position in the cyclic synchronous position mode and profile position mode.
Index Sub Name Type Access PDO Save
607Ah 00h Target position [step] INT32 RW RxPDO −
Range
−2,147,483,648 to
2,147,483,647
(Initial value: 0)
Update
A
174
Object dictionary z Home offset (607Ch)
Offsets the home after completing return-to-home operation in the homing mode. The command position and the actual position after completing return-to-home will be the value set in the home offset.
Since the offset value is written to the same register as the "Preset position (41C6h)," if the "Home offset (607Ch)" is changed, the "Preset position (41C6h)" will be the same value.
Index Sub Name Type Access PDO Save Update
607Ch 00h Home offset [step] INT32 RW No
Range
−2,147,483,648 to
2,147,483,647
(Initial value: 0)
A z Software position limit (607Dh)
Sets the software limit. The Min. position limit represents the limit of the reverse direction, and the Max. position limit represents the limit of the forward direction.
Index
607Dh
Sub Name
00h Number of entries
01h
02h
Min. position limit
[step]
Max. position limit
[step]
Type Access
U8 RO
INT32
INT32
RW
RW
PDO
No
No
No
Save
− 2
Range
−2,147,483,648 to
2,147,483,647
(Initial value:
−2,147,483,648)
−2,147,483,648 to
2,147,483,647
(Initial value:
2,147,483,647)
Update
−
A
A z Profile velocity (6081h)
Sets the operating speed of the profile position mode.
Index Sub Name Type Access
6081h 00h Profile velocity [Hz] U32 RW
PDO
RxPDO
Save
Range
0 to 4,000,000
(Initial value: 10,000)
Update
A z Profile acceleration (6083h)
Sets the acceleration for the profile position mode and profile velocity mode.
Index Sub Type Access PDO Save
6083h 00h
Name
Profile acceleration
[step/s 2 ]
U32 RW RxPDO
Range
1 to 1,000,000,000
(Initial value: 300,000)
Update
B z Profile deceleration (6084h)
Sets the deceleration for the profile position mode and profile velocity mode.
Index Sub Type Access PDO Save
6084h 00h
Name
Profile deceleration
[step/s 2 ]
U32 RW RxPDO
Range
1 to 1,000,000,000
(Initial value: 300,000)
Update
B z Quick stop deceleration (6085h)
Sets the deceleration for the quick stop. This is the deceleration for when the quick stop command of the drive state machine was enabled while the "Quick stop option code (605Ah)" was set to 2 or 6.
Index Sub Type Access PDO Save Range Update
6085h 00h
Name
Quick stop deceleration
[step/s 2 ]
U32 RW RxPDO
1 to 1,000,000,000
(Initial value: 1,000,000)
B
175
Object dictionary z Gear ratio (6091h)
Sets the electronic gear. The electronic gear A is the denominator of the electronic gear, and the electronic gear B is the numerator of the electronic gear.
Resolution" on p.137 for details.
Index
6091h
Sub Name
00h Number of entries
01h Electronic gear A
02h Electronic gear B
Type Access
U8 RO
U32
U32
RW
RW
PDO
No
No
No
Save Range
− 2
1 to 65,535
(Initial value: 1)
1 to 65,535
(Initial value: 1)
Update
−
C
C z Homing method (6098h)
Sets the return-to-home method for return-to-home operation. Refer to p.122 for details.
Index Sub Name Type Access PDO Save
6098h 00h Homing method INT8 RW No
Range
17, 18, 24 (Initial value),
28, 35, 37, −1
Update
B
Details of range
Setting value
17
18
24
28
35, 37 *
−1
Description
Return-to-home by the limit sensor (FW-LS/RV-LS), starts in the negative direction
Return-to-home by the limit sensor (FW-LS/RV-LS), starts in the positive direction
Return-to-home by the home sensor (HOMES), starts in the positive direction
Return-to-home by the home sensor (HOMES), starts in the negative direction
Home preset
Return-to-home operation of our specifications
* 35 and 37 perform the same action.
z Homing speed (6099h)
Sets the operating speed and feedback speed for return-to-home operation. The feedback speed is the operating speed for when aligning with the home finally.
Index
6099h
Sub Name
00h Number of entries
01h
02h
Speed during search for switch [Hz]
Speed during search for zero [Hz]
Type Access PDO Save
U8 RO No − 2
U32
U32
RW
RW
No
No
Range
1 to 4,000,000
(Initial value: 10,000)
1 to 10,000
(Initial value: 5,000)
Update
−
B
B z Homing acceleration (609Ah)
Sets the acceleration and deceleration for return-to-home operation.
Index Sub Type Access PDO Save
609Ah 00h
Name
Homing acceleration
[step/s 2 ]
U32 RW No
Range
1 to 1,000,000,000
(Initial value: 300,000)
Update
B
176
Object dictionary z Touch probe function (60B8h)
Sets the action of the touch probe. Refer to p.135 for details.
Index Sub Name Type Access
60B8h 00h Touch probe function U16 RW
PDO
RxPDO
Save
−
Range
0000h to FFFFh
(Initial value: 0000h)
Update
A
Details of range
Bit
0
1
2
3
8
9
10
11
Reserved
4 Touch probe 1 positive value action
5
6 Reserved
7 Reserved
13
Touch probe 1 negative value action
Reserved
Touch probe 2 negative value action
14 Reserved
15 Reserved
Name
Touch probe 1 permission
Touch probe 1 trigger action
Touch probe 1 trigger selection
Touch probe 2 permission
Touch probe 2 trigger action
Touch probe 2 trigger selection
12 Touch probe 2 positive value action
Value
0 Disables touch probe 1.
Definition
1 Enables touch probe 1.
0
1
First trigger action
Latches only once on the first trigger.
Continuous operation
Latches every time a trigger is input.
0 Sets the external latch input EXT1 as a trigger.
1 Sets the ZSG output or TIM output as a trigger.
0 Reserved
0 Disables the latch function at the positive value of a trigger.
1 Enables the latch function at the positive value of a trigger.
0 Disables the latch function at the negative value of a trigger.
1 Enables the latch function at the negative value of a trigger.
0 Reserved
0 Reserved
0 Disables touch probe 2.
1 Enables touch probe 2.
0
1
First trigger action
Latches only once on the first trigger.
Continuous operation
Latches every time a trigger is input.
0 Sets the external latch input EXT1 as a trigger.
1 Sets the ZSG output or TIM output as a trigger.
0 Reserved
0 Disables the latch function at the positive value of a trigger.
1 Enables the latch function at the positive value of a trigger.
0 Disables the latch function at the negative value of a trigger.
1 Enables the latch function at the negative value of a trigger.
0 Reserved
0 Reserved z Touch probe status (60B9h)
Indicates the status of the touch probe. Refer to p.136 for details.
Index Sub Name
60B9h 00h Touch probe status
Type
U16
Access
RO
PDO
TxPDO
Save
−
Range
−
Update
−
Details of range
Bit
0
1
Name
Touch probe 1 permission status
Touch probe 1 positive value latch
Value Definition
0 Touch probe 1 is disabled.
1 Touch probe 1 is enabled.
0 Has not latch on the positive value of the touch probe 1.
1 Latched on the positive value of the touch probe 1.
177
Object dictionary
Bit
2
3 to 7
8
9
10
11 to 15 Reserved
Name
Touch probe 1 negative value latch
Reserved
Touch probe 2 permission status
Touch probe 2 positive value latch
Touch probe 2 negative value latch
Value Definition
0 Has not latch on the negative value of the touch probe 1.
1 Latched on the negative value of the touch probe 1.
0 Reserved
0 Touch probe 2 is disabled.
1 Touch probe 2 is enabled.
0 Has not latch on the positive value of the touch probe 2.
1 Latched on the positive value of the touch probe 2.
0 Has not latch on the negative value of the touch probe 2.
1 Latched on the negative value of the touch probe 2.
0 Reserved z Touch probe position 1 positive value (60BAh)
Indicates the position latched at the positive value of the touch probe 1.
Index Sub Type Access
60BAh 00h
Name
Touch probe position 1 positive value [step]
INT32 RO
PDO
TxPDO
Save
−
Range
−
Update
− z Touch probe position 1 negative value (60BBh)
Indicates the position latched at the negative value of the touch probe 1.
Index Sub Type Access
60BBh 00h
Name
Touch probe position 1 negative value [step]
INT32 RO
PDO
TxPDO z Touch probe position 2 positive value (60BCh)
Indicates the position latched at the positive value of the touch probe 2.
Index Sub Type Access
60BCh 00h
Name
Touch probe position 2 positive value [step]
INT32 RO
PDO
TxPDO
Save
−
Save
−
Range
−
Range
− z Touch probe position 2 negative value (60BDh)
Indicates the position latched at the negative value of the touch probe 2.
Index Sub Type Access
60BDh 00h
Name
Touch probe position 2 negative value [step]
INT32 RO
PDO
TxPDO z Supported homing methods (60E3h)
Indicates the method of return-to-home supported by the driver.
Index
60E3h
Sub Name
00h Number of entries
01h 1st supported homing method
02h 2nd supported homing method
03h 3rd supported homing method
04h 4th supported homing method
05h 5th supported homing method
06h 6th supported homing method
Type
U8
U16
U16
U16
U16
U16
U16
Access
RO
RO
RO
RO
RO
RO
RO
No
No
No
No
PDO
No
No
No
Save
−
Range
−
−
−
−
−
Save Range
− 6
−
−
17
18
24
28
35
37
Update
−
Update
−
Update
−
Update
−
−
−
−
−
−
−
178
Object dictionary
Details of range
Setting value
17
18
24
28
35, 37 *
Description
Return-to-home by the limit sensor (FW-LS/RV-LS), starts in the negative direction
Return-to-home by the limit sensor (FW-LS/RV-LS), starts in the positive direction
Return-to-home by the home sensor (HOMES), starts in the positive direction
Return-to-home by the home sensor (HOMES), starts in the negative direction
Home preset
* 35 and 37 perform the same action.
z Following error actual value (60F4h)
Indicates the deviation between the command position and feedback position (actual position).
Index
60F4h
Sub
00h
Name
Following error actual value
[step]
Type
INT32
Access
RO
PDO
TxPDO
Save Range
− − z Digital inputs (60FDh)
Indicates the direct I/O status.
Index Sub
60FDh 00h Digital inputs
Name Type
U32
Access
RO
PDO
TxPDO
Save Range
− −
Update
−
Update
−
Details of range
20
21 to 23
24
25
26
27
28
29
30, 31
1
2
Bit
0
3 to 15
16
17
18, 19
ZSG
−
DIN0
DIN1
DIN2
DIN3
DIN4
DIN5
−
Name Description
RV-BLK *1 Status of the RV-BLK input (0: OFF, 1: ON) *2
FW-BLK *1 Status of the FW-BLK input (0: OFF, 1: ON) *2
HOMES *1 Status of the HOMES input (0: OFF, 1: ON) *2
−
EXT1 *1
EXT2 *1
−
Reserved
Status of the EXT1 input (0: OFF, 1: ON) *2
Status of the EXT2 input (0: OFF, 1: ON) *2
Reserved
Status of the ZSG output (0: OFF, 1: ON) *2
Reserved
Status of the DIN0 input (0: Not carrying current, 1: Carrying current) *3
Status of the DIN1 input (0: Not carrying current, 1: Carrying current) *3
Status of the DIN2 input (0: Not carrying current, 1: Carrying current) *3
Status of the DIN3 input (0: Not carrying current, 1: Carrying current) *3
Status of the DIN4 input (0: Not carrying current, 1: Carrying current) *3
Status of the DIN5 input (0: Not carrying current, 1: Carrying current) *3
Reserved
*1 To acquire the status, input signals are required to assign to the input terminals IN0 to IN5 of the input signal connector (CN7). Assign using the "DIN0 input function (4840h)" to "DIN5 input function (4845h)."
*2 Normally open; ON: Carrying current, OFF: Not carrying current
Normally closed; ON: Not carrying current, OFF: Carrying current
*3 Carrying current or "Not carrying current" state of the internal photocoupler is represented.
179
Object dictionary z Digital outputs (60FEh)
Controls the electromagnetic brake.
Index Sub Name
00h Number of entries
60FEh
01h Physical outputs
02h Bit mask
Type Access
U8 RO
U32 RW
U32 RW
PDO Save
No − 2
RxPDO
No
−
−
Range
0000 0000h to FFFF FFFFh
(Initial value: 0000 0000h)
0000 0000h to FFFF FFFFh
(Initial value: 0000 0000h)
Update
−
A
A
Details of the physical outputs
Bit Name
0
1 to 31
Electromagnetic brake control
−
Details of the bit mask
Bit Name
0
1 to 31
Mask of bit0
−
Description
0: Electromagnetic brake release
1: Electromagnetic brake hold
Reserved
Description
0: Brake control of physical outputs disable
1: Brake control of physical outputs enable
Reserved z Target velocity (60FFh)
Sets the operating speed for the cyclic synchronous velocity mode and the profile velocity mode.
Index Sub Name Type Access PDO Save
60FFh 00h Target velocity [Hz] INT32 RW RxPDO −
Range
−4,000,000 to 4,000,000
(Initial value: 0)
Update
A z Supported drive modes (6502h)
Indicates the operation mode supported by the product.
Index Sub Type Access
6502h 00h
Name
Supported drive modes
U32 RO
Details of range
5
6
3
4
1
2
Bit
0
Name
PP (Profile position mode)
VL (Velocity mode)
PV (Profile velocity mode)
TQ (Torque profile mode)
Reserved
HM (Homing mode)
IP (Interpolated position mode)
7
8
CSP (Cyclic synchronous position mode)
CSV (Cyclic synchronous velocity mode)
9 CST (Cyclic synchronous torque mode)
10 to 31 Reserved
1
0
0
0
Value
1
0
1
0
0
1
1
PDO
No
Save Range
− 0000 01A5h
Description
1: Supported
0: Not supported
1: Supported
0: Not supported
Reserved
1: Supported
0: Not supported
1: Supported
1: Supported
0: Not supported
Reserved
Update
−
180
Object dictionary z Device profile number (67FFh)
Indicates the device type and profile number.
Index
67FFh
Sub Name
00h Device profile number
Type
U32
Details of range
Bit
0 to 15
16 to 31
Name
Device profile
Device type
Description
0192h: DS402
0004h: Stepping motor
Access
RO
PDO
No
Save Range
− 0004 0192h
Update
−
7-4 Objects of the manufacturer-specific area
These are our specific objects.
Refer to the AZ Series OPERATING MANUAL Function Edition for driver objects that are not described in this document.
z Operation voltage mode (40B7h)
Indicates the voltage mode of the actual main power supply. Sets the voltage mode of the main power supply using the "Main power mode (41FAh)."
Index Sub Name
40B7h 00h Operation voltage mode
Type Access
U8 RO
PDO
No
Save
−
Range
−
Update
−
Details of range
Setting value
0
24
48
Description
The main power supply is not turned on.
[When the "Main power mode (41FAh)" is set to −1 (automatic discrimination)]
Operates in the 24 VDC mode.
Operates in the 48 VDC mode.
z Current setting during push-motion (413Ch)
Setting method of the current of push-motion operation is selected.
When “0: Push current“ is selected, set with the "Push current (4121h)." Set the current value other than push-motion operation with the "Operating current (4120h)."
When “1: Operating current” is selected, set the current value for all operation with the "Operating current (4120h)."
Index Sub Type Access PDO Save Range Update
413Ch 00h
Name
Current setting during push-motion
U8 RW No 0 (initial vlaue), 1 A
Details of range
Setting value
0
1
Description
Push current
Operating current
181
Object dictionary z Non-excitation mode selection (413Dh)
Selects whether to enable the dynamic brake status or the free-run status when the motor is in a non-excitation state.
In the dynamic brake status, the motor windings will be in a state of being short-circuited inside the driver, and the braking torque will generate. In the free-run status, the dynamic brake will be disabled, and the braking torque will not generate.
Index Sub Type Access PDO Save Range Update
413Dh 00h
Name
Non-excitation mode selection
U8 RW No 0 (Initial value), 1 A
Details of range
Setting value
0
1
Description
Dynamic brake status
Free-run status z Wrap positioning mode (414Fh)
Sets the operation mode for wrap positioning operation.
For details about operation mode, refer to "Operation mode of the profile position mode" on p.109.
Index Sub Name Type Access PDO Save
414Fh 00h Wrap positioning mode U8 RW RxPDO
Range
0 (Initial value), 1, 2,
3
Update
B
Details of range
Setting value
0
1
2
3
Description
Wrap absolute positioning
Wrap proximity
Wrap forward direction
Wrap reverse direction z Main power mode (41FAh)
Sets the voltage mode of the main power supply. (DC power input driver only)
Index
41FAh
Sub Name
00h Main power mode
Type Access
INT8 RW
PDO
No
Save Range
−1 (Initial value), 0, 1
Update
D
Details of range
Setting value
−1
0
1
Description
Automatic discrimination (discriminates the input power supply voltage automatically.)
24 VDC mode
48 VDC mode
• The optimal values in the motor control parameters are set in the driver according to the voltage mode. Unless the voltage mode is set correctly, the torque may decrease or vibration may increase.
• If −1 is set, after the control power supply is supplied, the voltage value is automatically discriminated when the main power supply is turned on first. Be sure to shut off the control power supply before changing the voltage of the main power supply.
• When 48 VDC is used, if the rise time of 50 ms or more is needed while the driver input voltage rises to 32 V from 10 V, set the value to 1 instead of −1 (automatic discrimination). If the rise time is slow, the voltage mode may wrongly be recognized as 24 VDC, resulting in torque deterioration or vibration.
• The voltage mode actually operated can be checked by the "Operation voltage mode (40B7h)."
182
Object dictionary z Touch probe 1 latch position (44B0h)
Sets the position to latch by the external latch input (EXT1). The changed value is updated when the "Touch probe 1 permission (60B8h: bit0)" is changed from 0 to 1.
Index Sub Type Access PDO Save Range Update
44B0h 00h
Name
Touch probe 1 latch position
U8 RW No 0 (Initial value), 1 A
Details of range
Setting value
0
1
Description
Latches the feedback position (actual position).
Latches the command position.
z Touch probe 2 latch position (44B1h)
Sets the position to latch by the external latch input (EXT2). The changed value is updated when the "Touch probe 2 permission (60B8h: bit8)" is changed from 0 to 1.
Index Sub Type Access PDO Save Range Update
44B1h 00h
Name
Touch probe 2 latch position
U8 RW No 0 (Initial value), 1 A
Details of range
Setting value
0
1
Description
Latches the feedback position (actual position).
Latches the command position.
z Touch probe 1 TIM/ZSG signal select (44B2h)
Sets the TIM output or ZSG output as a trigger. The changed value is updated when the "Touch probe 1 permission
(60B8h: bit0)" is changed from 0 to 1.
Index Sub Type Access PDO Save Range Update
44B2h 00h
Name
Touch probe 1 TIM/ZSG signal select
U8 RW No 0 (Initial value), 1 A
Details of range
Setting value
0
1
Description
Latches by the ZSG output.
Latches by the TIM output.
z Touch probe 2 TIM/ZSG signal select (44B3h)
Sets the TIM output or ZSG output as a trigger. The changed value is updated when the "Touch probe 2 permission
(60B8h: bit8)" is changed from 0 to 1.
Index Sub Type Access PDO Save Range Update
44B3h 00h
Name
Touch probe 2 TIM/ZSG signal select
U8 RW No 0 (Initial value), 1 A
Details of range
Setting value
0
1
Description
Latches by the ZSG output.
Latches by the TIM output.
183
Object dictionary z Driver CPU number (4642h)
Indicates the CPU number of the software of the driver.
Index
4642h
Sub Name
00h Driver CPU number
Type Access
U16 RO
PDO
No
Save
− z Driver software version (4643h)
Indicates the software version of the driver. 0100h is indicated when the version is 1.00.
Index
4643h
Sub Name
00h Driver software version
Type Access
U16 RO
PDO
No
Save
−
Range
−
Range
−
Update
−
Update
−
184
This part describes the lists of the objects supported by the driver.
Table of contents
1 Objects of the CoE communication area .........................................................187
2 Objects of the profile area .................189
Notation rules z Timing to update
In this part, each update timing is represented in an alphabet.
Notation Update timing
A
B
C
D
Update immediately
Update after operation stop
Update after executing Configuration
Update after turning on the control power supply again
Description
Recalculation and setup are immediately executed when the parameter is written.
Recalculation and setup are executed when the operation is stopped.
Recalculation and setup are executed after Configuration is executed or executing write batch non-volatile memory and turning on the control power supply again.
Recalculation and setup are executed after executing write batch non-volatile memory and turning on the control power supply again.
186
Objects of the CoE communication area
These are objects to set about EtherCAT communication or to indicate the status.
Index
1000h
1001h
1008h
1009h
100Ah
Sub
00h
00h
00h
Name
Device type
Error register
Manufacturer device name
00h
00h
Manufacturer hardware version
Manufacturer software version
Identity object
00h Number of entries
01h Vendor ID
1018h
02h Product code
1600h
1601h
1A00h
1A01h
03h
04h
Revision number
Serial number
Receive PDO mapping 1 (RxPDO1)
00h Number of entries
01h
02h
Mapping entry 1
Mapping entry 2
03h Mapping entry 3
04h to 10h Mapping entry 4-16
Receive PDO mapping 2 (RxPDO2)
00h Number of entries
01h
02h
Mapping entry 1
Mapping entry 2
03h
04h
Mapping entry 3
Mapping entry 4
05h Mapping entry 5
06h to 10h Mapping entry 6-16
Transmit PDO mapping 1 (TxPDO1)
00h Number of entries
01h
02h
Mapping entry 1
Mapping entry 2
03h Mapping entry 3
04h to 10h Mapping entry 4-16
Transmit PDO mapping 2 (TxPDO2)
00h Number of entries
01h
02h
03h
04h
Mapping entry 1
Mapping entry 2
Mapping entry 3
Mapping entry 4
05h
06h
07h
08h
Mapping entry 5
Mapping entry 6
Mapping entry 7
Mapping entry 8
09h to 10h Mapping entry 9-16
Type
U32
U8
STRING
STRING
STRING
U8
U32
U32
U32
U32
U32
U32
U32
U32
U8
U32
U32
U32
U32
U32
U8
U32
U32
U32
U32
U32
U32
U8
U32
U32
U32
U32
U8
U32
U32
U32
U32
Access
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
PDO
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
Save
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
− initial value
0004 0192h
0
AZD-AED , AZD-CED , AZD-KED
Range
−
−
Indicates the version number
Indicates the version number
−
−
4
0000 02BEh
AZD-AED : 0000 13E9h
AZD-CED : 0000 13EAh
AZD-KED : 0000 13E5h
0000 xxxxh
0
3
6040 0010h
607A 0020h
6060 0008h
0000 0000h
5
6040 0010h
607A 0020h
60FF 0020h
6060 0008h
60B8 0010h
0000 0000h
3
6041 0010h
6064 0020h
6061 0008h
0000 0000h
8
6041 0010h
6064 0020h
6061 0008h
60B9 0010h
60BA 0020h
60BC 0020h
603F 0010h
60FD 0020h
0000 0000h
−
−
−
−
0 to 16
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0 to 16
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0 to 16
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0 to 16
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
Update
−
−
−
−
−
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
−
−
−
−
−
187
Objects of the CoE communication area
Index
1C00h
1C12h
1C13h
Sub Name
Sync manager communication type
00h
01h
02h
Number of entries
Communication type sync manager 0
Communication type sync manager 1
03h
04h
Communication type sync manager 2
Communication type sync manager 3
Sync manager 2 PDO assignment
00h Number of entries
01h Index of assigned PDO 1
Sync manager 3 PDO assignment
00h
01h
Number of entries
Index of assigned PDO 1
Sync manager 2 synchronization
00h Number of entries
Type
U8
U8
U8
U8
U8
U8
U16
U8
U16
U8
1C32h
1C33h
01h
02h
03h
04h
05h
06h
07h
08h
09h Delay time [ns]
0Ah to 1Fh Reserved
20h Sync error
Sync manager 3 synchronization
00h Number of entries
01h
02h
03h
04h
05h
06h
07h
08h
Synchronization type
Cycle time [ns]
Shift time [ns]
Synchronization types supported
Minimum cycle time [ns]
Calc and copy time [ns]
Reserved
Reserved
Synchronization type
Cycle time [ns]
Shift time [ns]
Synchronization types supported
Minimum cycle time [ns]
Calc and copy time [ns]
Reserved
Reserved
09h Delay time [ns]
0Ah to 1Fh Reserved
20h Sync error
U16
U32
U32
U16
U32
U32
U32
U16
U32
U16
BOOL
U8
U16
U32
U32
U16
U32
U32
U32
U16
U32
U16
BOOL
Access PDO
RO
RO
RO
RO
RO
No
No
No
No
No
Save
−
−
−
−
− initial value Range
4 −
1: Mailbox output (EtherCAT master to driver)
2: Mailbox input (Driver to EtherCAT master)
3: Process data output (EtherCAT master to driver)
4: Process data input (Driver to EtherCAT master)
RW
RW
RW
RW
RO
RW
RO
RO
RW
RO
RO
RO
RO
−
−
−
RO
RO
RO
−
RO
−
−
RO
RO
RO
RO
RO
No
No
No
No
No
No
No
No
No
No
−
No
−
−
No
No
No
No
No
No
No
−
−
No
No
No
−
No
−
−
−
−
1
1600h
1
1A00h
0, 1
0 to FFFFh
0, 1
0 to FFFFh
−
−
−
−
−
−
−
−
−
−
−
−
20h
02h
−
0
0007h
0003 D090h (250,000 ns)
0001 86A0h (100,000 ns)
−
−
0
−
0
−
00h: Free run mode
(asynchronous)
01h: Sync manager 2 event synchronization mode
02h: DC mode (SYNC0 event synchronization)
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
20h
02h
−
0
0007h
0003 D090h (250,000 ns)
0002 49F0h (150,000 ns)
−
−
0
−
0
−
00h: Free run mode
(asynchronous)
02h: DC mode (SYNC0 event
synchronization)
22h: Sync manager 2 event synchronization mode
−
−
−
−
−
−
−
−
Update
−
−
−
−
−
A
A
−
−
−
−
−
−
−
−
−
−
A
A
A
A
−
−
−
−
−
−
−
−
−
−
−
−
188
Objects of the profile area
Index
603Fh
6040h
6041h
605Ah
605Bh
605Ch
605Dh
6060h
00h
00h
00h
00h
Sub
00h
00h
00h
Objects in the profile area are defined by the CiA402 drive profile. Operations of the driver are set, and the status is indicated.
00h
Name
Error code
Controlword
Statusword
Quick stop option code
Shutdown option code
Disable operation option code
Halt option code
Modes of operation
6061h
6062h
6064h
6065h
6067h
606Bh
606Ch
607Ah
607Ch
607Dh
6081h
6083h
6084h
6085h
6091h
6098h
6099h
609Ah
60B8h
60B9h
60BAh
60BBh
60BCh
60BDh
00h
00h
00h
00h
00h
00h
00h
00h
Modes of operation display
Position demand value [step]
Position actual value [step]
Following error window [1=0.01 rev]
Position window [1=0.1°]
Velocity demand value [Hz]
Velocity actual value [Hz]
Target position [step]
00h Home offset [step]
Software position limit
00h
01h
Number of entries
Min. position limit [step]
02h
00h
00h
00h
00h
Gear ratio
Max. position limit [step]
Profile velocity [Hz]
Profile acceleration [step/s 2 ]
Profile deceleration [step/s 2 ]
Quick stop deceleration [step/s 2 ]
00h
01h
Number of entries
Electronic gear A
01h
02h
00h
00h
00h
02h
00h
Electronic gear B
Homing method
Homing speed
00h Number of entries
Speed during search for switch [Hz]
Speed during search for zero [Hz]
Homing acceleration [step/s 2 ]
00h
00h
00h
00h
Touch probe function
Touch probe status
Touch probe position 1 positive value [step]
Touch probe position 1 negative value [step]
Touch probe position 2 positive value [step]
Touch probe position 2 negative value [step]
Type Access
U16 RO
U16
U16
RW
RO
INT16
INT16
INT16
INT16
RW
RW
RW
RW
PDO
TxPDO
RxPDO
TxPDO
No
No
No
No
INT8
U8
INT32
INT32
U32
U32
U32
U32
INT8
INT32
INT32
U32
U32
INT32
INT32
INT32
INT32
U8
U32
U32
INT8
U8
U32
U32
U32
U16
U16
INT32
INT32
INT32
INT32
RW
RO
RW
RW
RW
RW
RO
RO
RO
RW
RW
RW
RW
RW
RW
RO
RW
RW
RW
RW
RO
RO
RW
RW
RO
RO
RO
RW
RO
RO
RO
RxPDO
No
No
No
RxPDO
RxPDO
RxPDO
RxPDO
TxPDO
TxPDO
TxPDO
No
No
TxPDO
TxPDO
RxPDO
No
No
No
No
No
No
No
No
No
RxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
−
−
−
−
Save
−
−
−
−
−
−
−
−
−
−
−
−
−
−
Initial value
−
0
−
1
1
2
1
0
2 −
−2,147,483,648 −2,147,483,648 to 2,147,483,647
2,147,483,647 −2,147,483,648 to 2,147,483,647
10,000 0 to 4,000,000
300,000
300,000
1,000,000
1 to 1,000,000,000
1 to 1,000,000,000
1 to 1,000,000,000
1
24
2
1
2
10,000
5,000
300,000
0000h
−
−
−
0
18
−
0
−
−
−
300
−
−
−
Range
−
0 to FFFFh
−
0, 1, 2, 3, 5, 6, 7
0, 1
0, 1
1 to 3
0: Operation function disable
1: Profile position mode (PP)
3: Profile velocity mode (PV)
6: Homing mode (HM)
8: Cyclic synchronous position
mode (CSP)
9: Cyclic synchronous velocity
mode (CSV)
−
−
−
1 to 30,000
0 to 180
−
−
−2,147,483,648 to 2,147,483,647
−2,147,483,648 to 2,147,483,647
−
1 to 65,535
1 to 65,535
−1, 17, 18, 24, 28, 35, 37
−
1 to 4,000,000
1 to 10,000
1 to 1,000,000,000
0000h to FFFFh
−
−
−
−
−
B
B
−
B
A
−
−
B
B
B
A
A
−
A
C
B
−
C
A
A
A
A
Update
−
A
−
B
−
A
A
−
A
−
A
−
−
−
−
−
189
Objects of the profile area
Index
60E3h
60F4h
60FDh
60FEh
60FFh
6502h
67FFh
Sub Name
Supported homing methods
00h
01h
Number of entries
1st supported homing method
02h
03h
04h
05h
06h
2nd supported homing method
3rd supported homing method
4th supported homing method
5th supported homing method
6th supported homing method
00h
00h
Following error actual value [step]
Digital inputs
Digital outputs
00h Number of entries
01h
02h
00h
00h
00h
Physical outputs
Bit mask
Target velocity [Hz]
Supported drive modes
Device profile number
Type
U8
U16
U16
U16
U16
U16
U16
INT32
U32
Access
RO
RO
RO
RO
RO
RO
RO
RO
RO
PDO
No
No
No
U8
U32
U32
INT32
U32
U32
RO
RW
RW
RW
RO
RO
No
RxPDO
No
RxPDO
No
No
No
No
No
No
TxPDO
TxPDO
Save
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
Initial value
28
35
37
6
17
18
24
0
−
2
0000 0000h
0000 0000h
0
0000 01A5h
0004 0192h
−
0000 0000h to FFFF FFFFh
0000 0000h to FFFF FFFFh
−4,000,000 to 4,000,000
−
−
Range
−
−
−
−
−
−
−
−
−
Update
−
−
−
−
−
−
−
−
−
A
A
−
A
−
−
190
Objects of the manufacturer-specific area
407Eh
407Fh
4090h
4091h
4092h
40A0h
40A1h
40A2h
4064h
4067h
406Ah
406Bh
406Dh
407Bh
407Ch
407Dh
4043h
4044h
4045h
4046h
4047h
4048h
4049h
404Ah
Index
4020h
4021h
403Eh
403Fh
4040h
4041h
4042h
40A3h
40A4h
40A9h
40B7h
40B8h
40B9h
40BAh
40BBh
40BCh
40BDh
40BEh
40BFh
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
Sub
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
These are our specific objects.
Refer to the AZ Series OPERATING MANUAL Function Edition for details of each object.
When checking the AZ Series OPERATING MANUAL Function Edition, use the object name instead of the Index.
Name
Backup DATA access key
Backup DATA write key
Driver input command
Driver output status
Present alarm
Alarm history 1
Alarm history 2
Alarm history 3
Alarm history 4
Alarm history 5
Alarm history 6
Alarm history 7
Alarm history 8
Alarm history 9
Alarm history 10
Command speed [r/min]
Feedback speed [r/min]
Direct I/O
Torque monitor [1=0.1 %]
Cumulative load monitor
Information
Driver temperature [1=0.1 °C]
Motor temperature [1=0.1 °C]
Odometer [1=0.1 kRev]
Tripmeter [1=0.1 kRev]
Feedback position 32-bit counter
Command position 32-bit counter
CST operating current [1=0.1 %]
Main power supply count
Main power supply time [min]
Control power supply count
Inverter voltage [1=0.1 V]
Main power voltage [1=0.1 V]
Elapsed time from BOOT [ms]
Operation voltage mode [V]
I/O status 1
I/O status 2
I/O status 3
I/O status 4
I/O status 5
I/O status 6
I/O status 7
I/O status 8
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
No
No
No
No
No
No
No
No
PDO
No
No
RxPDO
TxPDO
TxPDO
No
No
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
INT16
INT16
INT32
U8
U32
U32
U32
U32
U32
U32
U32
U32
INT32
INT32
INT32
INT32
INT16
INT32
INT32
INT32
INT32
INT32
U32
INT16
INT32
INT32
INT16
INT16
U16
U16
U16
U16
U16
U16
U16
U16
Type Access
INT32 RW
INT32
U16
RW
RW
U16
U16
U16
U16
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
Save
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
Initial value
0
0
0
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
Range
Key code: 20519253 (01391955h)
Key code: 1977326743 (75DB9C97h)
0000h to FFFFh
−
Update
A
A
A
−
191
Objects of the manufacturer-specific area
412Eh
412Fh
4130h
4131h
4132h
Index
40C0h
40C2h
40C5h
40D0h
40D1h
40D2h
40D3h
40D4h
4120h
4121h
4126h
4128h
40C6h
40C8h
40C9h
40CAh
40CBh
40CCh
40CDh
40CFh
4129h
412Ah
412Ch
412Dh
4133h
4134h
4135h
4136h
4137h
4138h
4139h
413Ch
413Dh
4142h
4148h
414Fh
4151h
4152h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
Sub
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
Name
Alarm reset
Clear alarm history
P-PRESET execution
Configuration
Read batch NV memory
Write batch NV memory
All data initialization
Read from backup
Write to backup
Clear latch information
Clear tripmeter
Execute ETO-CLR input
ZSG-PRESET
Clear ZSG-PRESET
Clear information
Clear information history
Operating current
Push current
Base current
Stop current
Command filter setting
Command filter time constant
Smooth drive function
Current control mode
Non-excitation mode selection
Starting speed
Permission of absolute positioning without setting absolute coordinates
Wrap positioning mode
(JOG) Operating speed
(JOG) Acceleration/deceleration
U8
Servo emulation (SVE) ratio
SVE position loop gain
SVE speed loop gain
SVE speed loop integral time constant
Automatic current cutback function
Automatic current cutback switching time
Operating current ramp up rate
Operating current ramp down rate
Electronic damper function
INT16
INT16
INT16
INT16
U8
Resonance suppression control frequency
INT16
Resonance suppression control gain INT16
Deviation acceleration suppressing gain
INT16
Current setting during push-motion U8
INT16
U8
U8
INT8
PDO
No
No
No
No
RxPDO
RxPDO
RxPDO
RxPDO
No
No
No
No
No
No
No
No
No
No
No
No
No
Type Access
U8 RW
U8
U8
RW
RW
U8
INT16
INT16
INT16
INT16
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
INT8 RW
INT16
U8
RW
RW
RxPDO
No
U8
INT32
U8
U8
INT32
INT32
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
RxPDO
No
No
−
−
−
−
−
−
−
−
−
−
−
−
−
Save
−
−
−
Initial value
0
0
0
0
1,000
200
1,000
500
0
0
0
0
0
0
0
0
0
0
0
0
1
1
1
0
1,000
10
180
Range
0: Not executed.
1: A command is executed when the
data changes from 0 to 1.
2: A command is executed.
It will automatically return to 1
after executing.
0 to 1,000 (1=0.1 %)
0 to 1,000 (1=0.1 %)
0 to 1,000 (1=0.1 %)
0 to 1,000 (1=0.1 %)
1: LPF (speed filter)
2: Moving average filter
0 to 200 ms
0: Disable
1: Enable
0: The setting of the CCM input is
followed
1: α control mode (CST)
2: Servo emulation mode (SVE)
0 to 1,000 (1=0.1 %)
1 to 50
10 to 200
1,000
1
100
100 to 2,000 (1=0.1 ms)
0: Disable
1: Enable
0 to 1,000 ms
0
0
1
0 to 100 (ms/100 %)
0 to 100 (ms/100 %)
0: Disable
1: Enable
100 to 2,000 Hz 1,000
0
45
0
0
5,000
−500 to 500
0 to 500
0: Push current
1: Operating current
0: Dynamic brake status
1: Free-run status
0 to 4,000,000 Hz
0
0
10,000
300,000
0: Disable
1: Enable
0: Wrap absolute positioning
1: Wrap proximity
2: Wrap forward direction
3: Wrap reverse direction
1 to 4,000,000 Hz
1 to 1,000,000,000 kHz/s
Update
−
A
B
B
B
B
C
A *
A *
A *
A *
B
A
A
A
A
A
A
A
A
A
A
A
A
A
A
B
B
192
Index
4153h
4154h
4158h
4159h
415Ah
415Eh
415Fh
Sub
00h
00h
00h
00h
00h
00h
00h
Name
(JOG) Starting speed
(JOG) Operating speed (high)
(ZHOME) Operating speed
(ZHOME) Acceleration/deceleration
(ZHOME) Starting speed
JOG/HOME/ZHOME command filter time constant
JOG/HOME/ZHOME operating current
INT16
Type Access
INT32 RW
INT32
INT32
RW
RW
INT32
INT32
RW
RW
INT16 RW
RW
PDO
No
No
No
No
No
No
No
4160h 00h (HOME) Home-seeking mode U8 RW No
4161h
4163h
4166h
00h
00h
00h
(HOME) Starting direction
(HOME) Starting speed
(HOME) SLIT detection
U8
INT32
U8
RW
RW
RW
No
No
No
4167h 00h (HOME) TIM/ZSG signal detection U8 RW No
4168h
4169h
416Ah
416Bh
416Ch
416Dh
416Eh
4180h
4190h
4191h
4198h
4199h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
(HOME) Position offset
(HOME) Backward steps in 2 sensor home-seeking
(HOME) Operating amount in uni-directional home-seeking
(HOME) Operating current for push-home-seeking
(HOME) Backward steps after first entry in push-home-seeking
(HOME) Pushing time in pushhome-seeking
(HOME) Backward steps in pushhome-seeking
Overload alarm
HWTO mode selection
HWTO delay time of checking dual system
ETO reset ineffective period
ETO reset action (ETO-CLR)
INT32
INT32
INT32
INT16
INT32
U16
INT32
INT16
U8
U8
U8
U8
419Ah
419Ch
41A0h
41A1h
41A2h
41A5h
41A8h
41A9h
41AAh
00h
00h
00h
00h
00h
00h
00h
00h
00h
ETO reset action (ALM-RST)
ETO reset action (STOP)
Driver temperature information
(INFO-DRVTMP)
Overload time information
(INFO-OLTIME)
Overspeed information (INFO-SPD)
Position deviation information
(INFO-POSERR)
Motor temperature information
(INFO-MTRTMP)
Overvoltage information
(INFO-OVOLT)
[AC power input type driver]
Undervoltage information
(INFO-UVOLT)
[AC power input type driver]
U8
U8
INT16
INT16
INT16
INT16
INT16
INT16
INT16
RW RxPDO
RW RxPDO
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
No
No
RxPDO
RxPDO
RW
RW
RxPDO
RxPDO
RW RxPDO
No
No
No
No
No
No
No
No
No
No
No
No
0
300
85
85
50
0
1
435
0 to 8,388,607 steps
0 to 1,000 (1=0.1 %)
0 to 8,388,607 steps
1 to 65,535 ms
0 to 8,388,607 steps
1 to 300 (1=0.1 s)
0: Alarm is not present
1: Alarm is present
0 to 10 (disable), 11 to 100 ms
0 to 100 ms
1: Activate at ON edge
2: Activate at ON level
0: Disable
1: Activate at ON edge
0: Disable
1: Activate at ON edge
40 to 85 °C
1 to 300 (1=0.1 s)
0: Disable
1 to 12,000 r/min
1 to 30,000 (1=0.01 rev)
40 to 120 °C
120 to 450 V
120 120 to 280 V
Objects of the manufacturer-specific area
Update
B
B
B
B
B
B
B
B
B
A
A
A
B
A
A
B
B
B
B
B
B
A
A
A
A
A
A
A
A
B
B
B
A
193
Objects of the manufacturer-specific area
41B0h
41B1h
41B2h
41B3h
41B4h
41BCh
41BDh
41BEh
Index
41ABh
41ACh
41AFh
Sub
00h
00h
00h
Name
Overvoltage information
(INFO-OVOLT)
[DC power input type driver]
Undervoltage information
(INFO-UVOLT)
[DC power input type driver]
Tripmeter information (INFO-TRIP)
41BFh
41C2h
41C3h
00h
00h
00h
00h
00h
00h
00h
Odometer information (INFO-ODO)
Cumulative load 0 information
(INFO-CULD0)
Cumulative load 1 information
(INFO-CULD1)
Cumulative load value auto clear
Cumulative load value count divisor
INFO-USRIO output selection
INFO-USRIO output inversion
INT32
INT32
INT32
U8
U16
U8
U8
00h Information LED condition U8
00h Information auto clear
00h Motor rotation direction
00h Software overtravel
41F0h 00h PULSE-I/F mode selection
41FAh 00h Main power mode
41FFh 00h Drive simulation mode
Type Access PDO
INT16
INT16
INT32
U8
U8
INT8
41C6h
41C7h
41C9h
41CBh
41CCh
41CDh
00h Preset position INT32
00h
00h
00h
00h
00h
Wrap setting
Initial coordinate generation & wrap setting range
Initial coordinate generation & wrap range offset ratio
Initial coordinate generation & wrap range offset value
The number of the RND-ZERO output in wrap range
U8
INT32
U16
INT32
INT32
INT8
INT8
U8
RW RxPDO
RW RxPDO
RW RxPDO
RW RxPDO
RW RxPDO
RW RxPDO
RW
RW
RW
RW
RW
No
No
No
No
No
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
No
No
No
No
Save Initial value
630
Range
150 to 630 (1=0.1 V)
180
0
1
10
5,000
0
0
0
0
1
1
128
0
1
1
1
3
0
1
1
−1
0
150 to 630 (1=0.1 V)
0: Disable
1 to 2,147,483,647 (1=0.1 kRev)
0: Disable
1 to 2,147,483,647 (1=0.1 kRev)
0 to 2,147,483,647
0 to 2,147,483,647
0: Disable
1: Enable
1 to 32,767
Output signals list _
0: Not invert
1: Invert
0: Disable (LED does not blink)
1: Enable (LED blinks)
0: Disable (not turned OFF
automatically)
1: Enable (turned OFF
automatically)
0: Positive side=Counterclockwise
1: Positive side=Clockwise
2: Positive side=Counterclockwise
(the driver parameter is applied)
3: Positive side=Clockwise
(the driver parameter is applied)
−1: Disable
0: Immediate stop
1: Deceleration stop
2: Immediate stop with alarm
3: Deceleration stop with alarm
−2,147,483,648 to
2,147,483,647 steps
0: Disable
1: Enable
5 to 655,360 (1=0.1 rev)
0 to 10,000 (1=0.01 %)
−536,870,912 to 536,870,911 steps
1 to 536,870,911
−1: Disable
1: 2 pulse input mode
2: 1 pulse input mode
3: Phase-shifted pulses input mode
(×1)
4: Phase-shifted pulses input mode
(×2)
5: Phase-shifted pulses input mode
(×4)
−1: Automatic discrimination
0: 24 VDC
1: 48 VDC
0: Use real motor
1: Virtual motor (when ABZO not
connected=no ABZO information)
2: Virtual motor (when ABZO not
connected=1,800 rev wrap enable)
3: Virtual motor (when ABZO not
connected=900 rev wrap enable)
Update
A
A
A
C
A
C
C
D
D
D
A
A
A
A
A
A
A
A
A
C
C
A
C
194
Objects of the manufacturer-specific area
4702h
4704h
4707h
4708h
4709h
470Ah
470Ch
452Ch
452Dh
452Eh
452Fh
4642h
4643h
4524h
4525h
4526h
4527h
4528h
4529h
452Ah
452Bh
451Ch
451Dh
451Eh
451Fh
4520h
4521h
4522h
4523h
4514h
4515h
4516h
4517h
4518h
4519h
451Ah
451Bh
Index
44B0h
44B1h
44B2h
44B3h
4510h
4511h
4512h
4513h
4700h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
Sub
00h
00h
00h
00h
Name
Touch probe 1 latch position
Touch probe 2 latch position
Touch probe 1 TIM/ZSG signal select
Touch probe 2 TIM/ZSG signal select
Information history 1
Information history 2
Information history 3
Information history 4
Information history 5
Information history 6
Information history 7
Information history 8
Information history 9
Information history 10
Information history 11
Information history 12
Information history 13
Information history 14
Information history 15
Information history 16
Information time history 1
Information time history 2
Information time history 3
Information time history 4
Information time history 5
Information time history 6
Information time history 7
Information time history 8
Information time history 9
Information time history 10
Information time history 11
Information time history 12
Information time history 13
Information time history 14
Information time history 15
Information time history 16
Driver CPU number
Driver software version
STOP input action
INT32
INT32
INT32
INT32
U16
U16
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
Type Access
U8 RW
U8
U8
RW
RW
U8
INT32
INT32
INT32
INT32
RW
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
INT8 RW
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
PDO
No
No
No
No
4701h
470Dh
00h
00h
00h
00h
00h
00h
00h
00h
00h
FW-LS/RV-LS input action
FW-BLK/RV-BLK input action
IN-POS positioning completion signal offset
ZSG signal width
RND-ZERO signal width
RND-ZERO signal source
MOVE minimum ON time
PLS-XMODE pulse multiplying factor
CRNT-LMT operating current limit value
INT8
INT8
INT16
U16
U16
U8
U8
INT8
INT16
RW
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
No
Save
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
Initial value
0
0
0
−
−
0
−
−
3
2
0
Range
0: Latches the feedback position
1: Latches the command position
0: Latch on the ZSG output
1: Latch on the TIM output
−
−
−
−
0: Immediate stop
3: Deceleration stop
−1: Used as a return-to-home sensor
0: Immediate stop
1: Deceleration stop
2: Immediate stop with alarm
3: Deceleration stop with alarm
0: Immediate stop
1: Deceleration stop
0 −18 to 18 (1=0.1°)
18
10
0
0
10
1 to 1,800 (1=0.1°)
1 to 10,000 steps
0: Based on feedback position
1: Based on command position
0 to 255 ms
2 to 30 times
500 0 to 1,000 (1=0.1 %)
Update
A
A
−
−
−
−
A
A
A
A
A
A
A
A
A
A
195
Objects of the manufacturer-specific area
Index
470Eh
470Fh
4710h
4713h
Sub
00h
00h
00h
00h
Name
SPD-LMT speed limit type selection
SPD-LMT speed limit ratio
SPD-LMT speed limit value
PLS-LOST check algorithm
Type Access
INT8 RW
INT8
INT32
U8
RW
RW
RW
PDO
No
No
No
No
4718h 00h VA mode selection U8 RW No
4741h
4742h
4743h
4744h
4745h
4746h
4747h
4748h
4749h
474Ah
474Bh
474Ch
474Fh
4758h
4759h
475Ah
475Bh
475Ch
475Dh
475Eh
475Fh
4750h
4751h
4752h
4753h
4754h
4755h
4756h
4757h
4719h
4740h
474Eh
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
474Dh 00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
VA detection speed range
AREA0 positive direction position/ offset
AREA0 negative direction position/ detection range
AREA1 positive direction position/ offset
AREA1 negative direction position/ detection range
AREA2 positive direction position/ offset
AREA2 negative direction position/ detection range
AREA3 positive direction position/ offset
AREA3 negative direction position/ detection range
AREA4 positive direction position/ offset
AREA4 negative direction position/ detection range
AREA5 positive direction position/ offset
AREA5 negative direction position/ detection range
AREA6 positive direction position/ offset
AREA6 negative direction position/ detection range
AREA7 positive direction position/ offset
AREA7 negative direction position/ detection range
AREA0 range setting mode
AREA1 range setting mode
AREA2 range setting mode
AREA3 range setting mode
AREA4 range setting mode
AREA5 range setting mode
AREA6 range setting mode
AREA7 range setting mode
AREA0 positioning standard
AREA1 positioning standard
AREA2 positioning standard
AREA3 positioning standard
AREA4 positioning standard
AREA5 positioning standard
AREA6 positioning standard
AREA7 positioning standard
U8
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
INT32
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
196
A
B
Update
A
A
A
A
A
A
A
Objects of the manufacturer-specific area
47F1h
47F2h
47F3h
47F4h
47F5h
Index
47A0h
47A1h
47A2h
47A3h
47A4h
47A5h
47A6h
47A8h
47A9h
47AAh
47ABh
47ADh
47AEh
47B0h
47B1h
47B2h
47B3h
47B4h
47B5h
47BCh
47BDh
47BEh
47BFh
47F0h
Sub
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
Name
INFO action (Assigned I/O status information (INFO-USRIO))
INFO action (Position deviation information (INFO-POSERR))
INFO action (Driver temperature information (INFO-DRVTMP))
INFO action (Motor temperature information (INFO-MTRTMP))
INFO action (Overvoltage information (INFO-OVOLT))
INFO action (Undervoltage information (INFO-UVOLT))
INFO action (Overload time information (INFO-OLTIME))
INFO action (Speed information
(INFO-SPD))
INFO action (Start operation error information (INFO-START))
INFO action (Start ZHOME error information (INFO-ZHOME))
INFO action (PRESET request information (INFO-PR-REQ))
INFO action (Electronic gear setting error information (INFO-EGR-E))
INFO action (Wrap setting error information (INFO-RND-E))
INFO action (Forward operation prohibiton information
(INFO-FW-OT))
INFO action (Reverse operation prohibiton information
(INFO-RV-OT))
INFO action (Cumulative load 0 information (INFO-CULD0))
INFO action (Cumulative load 1 information (INFO-CULD1))
INFO action (Tripmeter information
(INFO-TRIP))
INFO action (Odometer information
(INFO-ODO))
INFO action (Start operation restricted mode information
(INFO-DSLMTD))
INFO action (I/O test mode information (INFO-IOTEST))
INFO action (Configuration request information (INFO-CFG))
INFO action (Reboot request information (INFO-RBT))
Mechanism settings
Type Access
U8 RW
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
PDO
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
00h
00h
00h
00h
00h
Gear ratio setting
Initial coordinate generation & wrap coordinate setting
Mechanism limit parameter setting
INT16
U8
U8
Mechanism protection parameter setting
JOG/HOME/ZHOME operation setting
U8
U8
RW
RW
RW
RW
RW
No
No
No
No
No
Save
Initial value
1
1
1
1
1
1
1
1
1
1
1
1
1
Range
0: No Info reflect
Only the bit output is ON.
1: Info reflect
The bit output and the INFO
output are ON and the LED blinks.
1
1
1
1
1
1
1
1
1
1
1
0
0
0
0
0
0: Prioritize ABZO setting
1: Manual setting
0: Gear ratio setting disable
1 to 32,767: Gear ratio (1=0.01)
0: Prioritize ABZO setting
1: Manual setting
0: Follow ABZO setting
1: Disable
0: Follow ABZO setting
1: Disable
0: Prioritize ABZO setting
1: Manual setting
Update
A
D
D
D
D
C
D
197
Objects of the manufacturer-specific area
48B1h
48B2h
48B3h
48B4h
00h
00h
00h
00h
Name
DIN0 input function
DIN1 input function
DIN2 input function
DIN3 input function
DIN4 input function
DIN5 input function
DIN0 inverting mode
DIN1 inverting mode
DIN2 inverting mode
DIN3 inverting mode
DIN4 inverting mode
DIN5 inverting mode
DOUT0 (Normal) output function
DOUT1 (Normal) output function
DOUT2 (Normal) output function
DOUT3 (Normal) output function
DOUT4 (Normal) output function
DOUT5 (Normal) output function
DOUT0 inverting mode
DOUT1 inverting mode
DOUT2 inverting mode
DOUT3 inverting mode
DOUT4 inverting mode
DOUT5 inverting mode
DIN0 composite input function
DIN1 composite input function
DIN2 composite input function
DIN3 composite input function
DIN4 composite input function
DIN5 composite input function
DOUT0 composite output function
DOUT1 composite output function
DOUT2 composite output function
DOUT3 composite output function
DOUT4 composite output function
DOUT5 composite output function
DOUT0 composite inverting mode
DOUT1 composite inverting mode
DOUT2 composite inverting mode
DOUT3 composite inverting mode
DOUT4 composite inverting mode
DOUT5 composite inverting mode
DOUT0 composite logical combination
DOUT1 composite logical combination
DOUT2 composite logical combination
DOUT3 composite logical combination
DOUT4 composite logical combination
DOUT5 composite logical combination
DIN0 ON signal dead-time
DIN1 ON signal dead-time
DIN2 ON signal dead-time
DIN3 ON signal dead-time
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
Sub
00h
00h
00h
00h
00h
00h
00h
00h
00h
4892h
4893h
4894h
4895h
48A0h
48A1h
48A2h
48A3h
48A4h
48A5h
4880h
4881h
4882h
4883h
4884h
4885h
4890h
4891h
4864h
4865h
4870h
4871h
4872h
4873h
4874h
4875h
4852h
4853h
4854h
4855h
4860h
4861h
4862h
4863h
Index
4840h
4841h
4842h
4843h
4844h
4845h
4850h
4851h
48B0h
48B5h
48C0h
48C1h
48C2h
48C3h
U8
U8
U8
U8
U8
U8
U8
U8
U8
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
PDO
No
No
No
No
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
Type Access
U8 RW
U8
U8
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
U8 RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
No
1
1
1
0
0
0
0
1
1
Save
0
0
0
0
128
128
128
128
0
0
0
0
128
128
0
0
0
0
0
0
0
0
134
130
0
0
144
137
133
142
0
0
0
0
Initial value
30
1
12
104
28
29
0
0
Input signal list
0: Non invert
1: Invert
Range
_
Output signal list
0: Non invert
1: Invert
Input signal list _
Output signal list
0: Non invert
1: Invert
_
_
1
0: AND
1: OR
0 to 250 ms
198
Update
C
C
C
C
C
C
C
C
C
Name
DIN4 ON signal dead-time
DIN5 ON signal dead-time
DIN0 1 shot signal
DIN1 1 shot signal
DIN2 1 shot signal
DIN3 1 shot signal
DIN4 1 shot signal
DIN5 1 shot signal
DOUT0 OFF delay time
DOUT1 OFF delay time
DOUT2 OFF delay time
DOUT3 OFF delay time
DOUT4 OFF delay time
DOUT5 OFF delay time
R-IN0 input function
R-IN1 input function
R-IN2 input function
R-IN3 input function
R-IN4 input function
R-IN5 input function
R-IN6 input function
R-IN7 input function
R-IN8 input function
R-IN9 input function
R-IN10 input function
R-IN11 input function
R-IN12 input function
R-IN13 input function
R-IN14 input function
R-IN15 input function
R-OUT0 output function
R-OUT1 output function
R-OUT2 output function
R-OUT3 output function
R-OUT4 output function
R-OUT5 output function
R-OUT6 output function
R-OUT7 output function
R-OUT8 output function
R-OUT9 output function
R-OUT10 output function
R-OUT11 output function
R-OUT12 output function
R-OUT13 output function
R-OUT14 output function
R-OUT15 output function
R-OUT0 OFF delay time
R-OUT1 OFF delay time
R-OUT2 OFF delay time
R-OUT3 OFF delay time
R-OUT4 OFF delay time
R-OUT5 OFF delay time
R-OUT6 OFF delay time
R-OUT7 OFF delay time
R-OUT8 OFF delay time
R-OUT9 OFF delay time
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
Sub
00h
00h
00h
4912h
4913h
4914h
4915h
4916h
4917h
4918h
4919h
490Ah
490Bh
490Ch
490Dh
490Eh
490Fh
4910h
4911h
4902h
4903h
4904h
4905h
4906h
4907h
4908h
4909h
48E0h
48E1h
48E2h
48E3h
48E4h
48E5h
4900h
4901h
4932h
4933h
4934h
4935h
4936h
4937h
4938h
4939h
491Ah
491Bh
491Ch
491Dh
491Eh
491Fh
4930h
4931h
Index
48C4h
48C5h
48D0h
48D1h
48D2h
48D3h
48D4h
48D5h
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
PDO
No
No
No
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
Type Access
U8 RW
U8
U8
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
Save
135
129
136
160
155
0
144
204
28
29
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
138
140
0
0
161
162
157
134
Initial value
0
0
0
0
0
0
0
0
Objects of the manufacturer-specific area
0 to 250 ms
0: Disable
1: Enable
0 to 250 ms
Input signal list
Output signal list
0 to 250 ms
Range
_
_
Update
C
C
C
C
C
C
199
Objects of the manufacturer-specific area
Index
493Ah
493Bh
493Ch
493Dh
493Eh
493Fh
4940h
4941h
4942h
4943h
4944h
4945h
4946h
4947h
4948h
4949h
494Ah
494Bh
494Ch
494Dh
494Eh
494Fh
4950h
4951h
4952h
4953h
4960h
4961h
4962h
4963h
4964h
4965h
4966h
4967h
4968h
4969h
4970h
00h
00h
00h
00h
Sub
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
Name
R-OUT10 OFF delay time
R-OUT11 OFF delay time
R-OUT12 OFF delay time
R-OUT13 OFF delay time
R-OUT14 OFF delay time
R-OUT15 OFF delay time
Virtual input (VIR-IN0) function
Virtual input (VIR-IN1) function
Virtual input (VIR-IN2) function
Virtual input (VIR-IN3) function
Virtual input (VIR-IN0) source selection
Virtual input (VIR-IN1) source selection
Virtual input (VIR-IN2) source selection
Virtual input (VIR-IN3) source selection
Virtual input (VIR-IN0) inverting mode
Virtual input (VIR-IN1) inverting mode
Virtual input (VIR-IN2) inverting mode
Virtual input (VIR-IN3) inverting mode
Virtual input (VIR-IN0) ON signal dead time [ms]
Virtual input (VIR-IN1) ON signal dead time [ms]
Virtual input (VIR-IN2) ON signal dead time [ms]
Virtual input (VIR-IN3) ON signal dead time [ms]
Virtual input (VIR-IN0) 1 shot signal mode
Virtual input (VIR-IN1) 1 shot signal mode
Virtual input (VIR-IN2) 1 shot signal mode
Virtual input (VIR-IN3) 1 shot signal mode
User output (USR-OUT0) source A function
User output (USR-OUT1) source A function
User output (USR-OUT0) source A inverting mode
User output (USR-OUT1) source A inverting mode
User output (USR-OUT0) source B function
User output (USR-OUT1) source B function
User output (USR-OUT0) source B inverting mode
User output (USR-OUT1) source B inverting mode
User output (USR-OUT0) logical operation
User output (USR-OUT1) logical operation
Extended input (EXT-IN) function
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
Type Access
U8 RW
U8
U8
RW
RW
U8
U8
RW
RW
RW
RW
RW
RW
U8 RW
U8 RW
No
No
No
No
PDO
No
No
No
No
No
No
No
RW
RW
RW
RW
No
No
No
No
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
No
No
No
No
No
No
No
No
No
No
No
No
No
No
Save
Initial value
0
0
0
0
0
0
0
0
0
0
0 to 250 ms
Input signal list
Range
_
128
0
128
0
0
0
0
0
0
0
0
0
0
128
128
128
0
0
1
1
9
128
0
128
0
0
128
Output signal list
0: Non invert
1: Invert
0 to 250 ms
0: Disable
1: Enable
Output signal list
0: Non invert
1: Invert
Output signal list
0: Non invert
1: Invert
0: AND
1: OR
_
_
_
Input signal list _
200
Update
C
C
C
C
C
C
C
C
C
C
C
C
Objects of the manufacturer-specific area
Index
4971h
4972h
4973h
4974h
49FAh
Sub
00h
00h
00h
00h
00h
Name
Extended input (EXT-IN) inverting mode
Extended input (EXT-IN) interlock releasing time
Extended input (EXT-IN) interlock releasing duration
Extended input (EXT-IN) ON monitor time
Current setting during motor standstill at T-MODE
Type
U8
INT8
INT8
INT8
INT32
Access
RW
RW
RW
PDO
No
No
No
Save
Initial value
0
10
0: Non invert
1: Invert
0: Disable
1 to 50 (1=0.1s)
Range
30 0 to 50 (1=0.1s)
Update
C
A
A
RW
RW
No
No
10
0
0 to 50 (1=0.1s)
0: Stop current
1: Operating current
A
A
* With the profile position mode, it will be update at start of operation.
Reference picture of ON signal dead-time [ms]
ON signal dead-time
Direct input (DIN)
ON
OFF
Internal signal
ON
OFF
Reference picture of OFF output-delay time [ms]
OFF output-delay time
Internal signal
ON
OFF
Direct output (DOUT)
ON
OFF
201
202
This part describes alarm and information functions.
Table of contents
1 Alarms ....................................................204
1-1 Alarm reset ......................................................204
1-2 Alarm history ..................................................204
1-3 Generation condition of alarms ..............204
1-4 Alarm list ..........................................................205
1-5 Timing chart ...................................................211
2 Information ...........................................213
2-1 Information history ......................................215
2-2 Information list ..............................................215
3 Troubleshooting and remedial actions ..................................219
Alarms
1-1
This driver has the alarm function to protect from temperature rise, poor connection, error in operation, and others.
If an alarm is generated, the ALM-A output is turned ON and the ALM-B output is turned OFF to stop the motor. At the same time, the PWR/ALM LED blinks in red.
Details of the alarm being generated can be checked by counting the number of times the PWR/ALM LED blinks, or using EtherCAT communication or the MEXE02 .
Alarm reset
Before resetting an alarm, always remove the cause of the alarm and ensure safety, and perform one of the reset operations specified next.
• Set the “Fault reset (6040h: bit7)” of the controlword to 1. (The alarm will be reset when changing from “0” to “1.”)
•
•
•
Turn the ALM-RST input ON. (The alarm will be reset at the ON edge of the input.)
Execute the alarm reset using the MEXE02
Turn on the control power supply again.
.
• Some alarms cannot be reset by other methods than turning on the control power supply again.
Check with "1-4 Alarm list" on p.205.
• An alarm of the absolute position error can be reset if the position preset (P-PRESET) or return-tohome operation is performed. If it cannot be reset by these methods, the ABZO sensor may be damaged.
1-2
1-3
Alarm history
Up to 10 generated alarms are saved in the non-volatile memory in order of the latest to oldest. The alarm history stored in the non-volatile memory can be read or cleared if one of the following is performed.
• Read the alarm history by the "Alarm history (4041h to 404Ah)" via EtherCAT communication.
• Clear the history by setting the "Clear alarm history (40C2h)" of EtherCAT communication to 1. (It is enabled when changing from 0 to 1.)
• Read and clear the alarm history using the MEXE02 .
Generation condition of alarms
Alarms shown in the table will be generated if the generation condition is exceeded.
Alarm code
21h
22h
26h
31h
34h
Alarm name
Main circuit overheat [°C (°F)]
Overvoltage (V)
Motor overheat [°C (°F)]
Overspeed (r/min)
Command pulse error (r/min)
Motor model
−
−
−
AZM14
AZM15
AZM24
AZM26
AZM46
AZM48
AZM66
AZM69
AZM98
AZM911
−
Generation condition
AC power input driver DC power input driver
85 (185)
430
85 (185)
85 (185)
63
85 (185)
−
8,000
8,000
5,000
38,400
8,000
4,500
2,500
−
38,400
204
Alarms
1-4 Alarm list
If an alarm is generated, the motor will put into a non-excitation state.
Alarm code
10h
20h
21h
22h
22h
23h
Number of times
LED blinks
4
5
2
3
3
3
Alarm type Cause Remedial action
How to reset
Excessive position deviation
Overcurrent
Main circuit overheat
Overvoltage
(AC power input driver)
Overvoltage
(DC power input driver)
Main power supply
OFF
• When the motor was in a state of current ON, the deviation between the command position and actual position exceeded the value set in the
"Following error window
(6065h)" in the motor shaft.
• A load is large, or the acceleration/deceleration time or the acceleration/ deceleration rate is too short against the load.
• The operating range of positioning push-motion operation was exceeded.
• Decrease the load.
• Increase the acceleration/ deceleration time or slow the acceleration/deceleration rate.
• Increase the operating current.
• Reconsider the operation data.
The motor, the cable, and the driver output circuit were shortcircuited.
Turn off the main power supply and the control power supply first, and check the motor, the cable, and the driver are not damaged. After that, turn on the main power supply and the control power supply again. If the alarm is still not reset, the motor, the cable, or the driver may be damaged. Contact your nearest Oriental Motor sales office.
The internal temperature of the driver reached the upper limit of the specification value.
Reconsider the ventilation condition.
• The main power supply voltage exceeded the permissible value.
• A large load inertia was suddenly stopped.
• Vertical operation (elevating operation) was performed.
• Check the input voltage of the main power supply.
• Decrease the load.
• Increase the acceleration/ deceleration time or slow the acceleration/deceleration rate.
• Connect our regeneration resistor RGB100 .
• The main power supply voltage exceeded the permissible value.
• A large load inertia was suddenly stopped.
• Vertical operation (elevating operation) was performed.
•
•
Check the input voltage of the main power supply.
Decrease the load.
• Increase the acceleration/ deceleration time or slow the acceleration/deceleration rate.
The main power supply was shut off during operation.
Check if the main power supply is applied properly.
Any of reset operations
Turn on the control power supply again
Any of reset operations
Turn on the control power supply again
Any of reset operations
Any of reset operations
205
Alarms
Alarm code
Number of times
LED blinks
25h
26h
28h
2Ah
30h
31h
33h
34h
41h
3
8
8
8
2
2
7
2
9
ABZO sensor communication error
Command pulse error
Alarm type
Undervoltage
Motor overheat
Sensor error
Overload
Overspeed
Absolute position error
EEPROM error
Cause Remedial action
How to reset
The main power supply was shut off momentarily or a voltage shortage was generated.
The detection temperature of the ABZO sensor reached the upper limit of the specification value.
An error of the sensor was detected during operation.
An error occurred between the driver and the ABZO sensor.
A load exceeding the maximum torque was applied for the time exceeding the value set in the
"Overload alarm (4180h)."
The feedback speed of the motor output shaft exceeded the specification value.
Check the input voltage of the main power supply.
• Check the heat radiation condition of the motor.
• Reconsider the ventilation condition.
Turn off the main power supply and the control power supply, and check the connection of the motor. After that, turn on the main power supply and the control power supply again.
Turn off the main power supply and the control power supply, and check the connection of the
ABZO sensor. After that, turn on the main power supply and the control power supply again.
• Decrease the load.
• Increase the acceleration/ deceleration time or slow the acceleration/deceleration rate.
• Increase the operating current.
• Reconsider the "Electronic gear
(6091h-01h, 02h)” and set the speed of the motor output shaft to a value lower than the specification value.
• If an overshoot is occurred at the time of accelerating, increase the acceleration time or slow the acceleration rate.
Any of reset operations
Any of reset operations
Turn on the control power supply again
Turn on the control power supply again
Any of reset operations
Any of reset operations
The home information of the
ABZO sensor was damaged.
Perform the position preset
(P-PRESET) or return-to-home operation to set the home again.
Turn on the control power supply again
• The command pulse frequency exceeded the specification value.
• The position preset (P-PRESET) of the driver was executed in the cyclic synchronous position mode when the motor was in an excitation state.
• Decrease the frequency of the command pulse.
• Put the motor into a nonexcitation state before executing the position preset
(P-PRESET) of the driver in the cyclic synchronous position mode.
Any of reset operations
The data stored in the driver was damaged.
Initialize all parameters.
Turn on the control power supply again
206
Alarms
Alarm code
42h
43h
44h
45h
4Ah
4Ch
51h
Number of times
LED blinks
8
8
8
8
7
7
2
Alarm type Cause Remedial action
How to reset
Sensor error at power on
Rotation error at power on
Encoder EEPROM error
Motor combination error
Return-to-home incomplete
Network initialization error
Regeneration resistor overheat
(AC power input driver only)
An error of the ABZO sensor was detected when the control power supply was turned on.
The motor was being rotated when the control power supply was turned on.
The data stored in the ABZO sensor was damaged.
A motor not allowed to combine with the driver was
details.
Absolute positioning operation was started in a state where the position coordinate had not been set.
An error was detected during initialization of the EtherCAT module.
• The regeneration resistor
RGB100 is not connected properly.
• The regeneration resistor
RGB100 was overheated extraordinarily.
Turn off the main power supply and the control power supply, and check the connection of the
ABZO sensor. After that, turn on the main power supply and the control power supply again.
Reconsider the load conditions so that the motor output shaft does not rotate by an external force when the control power supply is turned on.
Execute either of the following operations. If the same alarm is still generated, the ABZO sensor has been damaged. Contact your nearest Oriental Motor sales office.
• Set Z-phase again with the
“ZSG-PRESET (40D1h)” of the maintenance command.
• Execute the “Clear tripmeter
(40CFh)” of the maintenance command.
Turn on the control power supply again
Turn on the control power supply again
Turn on the control power supply again
Check the motor model and the driver model, and connect them in the correct combination.
Turn on the control power supply again
• Reconsider the setting of the
“Permission of absolute positioning without setting absolute coordinates (4148h).”
• Execute the position preset
(P-PRESET) or return-to-home operation.
• If the regeneration resistor
RGB100 is not used, short the
TH1 and TH2 terminals of the
CN1.
• Connect the regeneration resistor RGB100 properly.
• The allowable regenerative power of the regeneration resistor RGB100 is exceeded.
Reconsider the load and operating conditions.
Any of reset operations
Turn on the control power supply again. If the alarm is still not reset, contact your nearest
Oriental Motor sales office.
Turn on the control power supply again
Turn on the control power supply again
207
Alarms
Alarm code
53h
60h
61h
62h
63h
Number of times
LED blinks
2
7
7
7
7
Alarm type Cause Remedial action
How to reset
HWTO input circuit error
±LS both sides active
Reverse ±LS connection
Return-to-home operation error
No HOMES
• The time after either the
HWTO1 input or the HWTO2 input is turned OFF until the other input is turned OFF exceeded the value set in the
"HWTO delay time of checking dual system (4191h).”
• An error of the circuit corresponding to the phenomenon above was detected.
• When the “FW-LS/RV-LS input action (4701h)” is set to “2:
Immediate stop with alarm” or
“3: Deceleration stop with alarm,” both the FW-LS input and the RV-LS input were detected.
• Return-to-home operation was executed in a state where both the FW-LS input and the
RV-LS input were detected.
The LS input opposite to the operating direction was detected while return-to-home operation in 2-sensor mode or
3-sensor mode was performed.
• An unanticipated load was applied while return-to-home operation was performed.
• The installation positions of the FW-LS and RV-LS sensors and the HOME sensor are near to each other.
• Position preset (P-PRESET) processing upon completion of return-to-home operation was failed.
• In return-to-home operation in one-way rotation mode, the motor passed by the HOME sensor during deceleration stop.
The HOMES input was not detected at a position between the FW-LS input and the RV-LS input while return-to-home operation in 3-sensor mode was performed.
• Increase the value set in the
"HWTO delay time of checking dual system (4191h)” parameter.
• Check the wiring of the HWTO1 and HWTO2 inputs.
Check the sensor logic installed and the “Inverting mode” parameter.
Check the wiring of the sensor.
• Check the load.
• Reconsider the sensor installation positions and the starting direction of motor operation.
• See that a load exceeding the maximum torque is not applied upon completion of return-tohome operation.
• Reconsider the specification of the HOME sensor and the
"Homing acceleration (609Ah).”
Install the HOME sensor at a position between the FW-LS and
RV-LS sensors.
Turn on the control power supply again
Any of reset operations
Any of reset operations
Any of reset operations
Any of reset operations
208
Alarms
Alarm code
64h
66h
67h
68h
6Ah
6Dh
Number of times
LED blinks
7
7
7
1
7
7
Alarm type Cause Remedial action
How to reset
TIM, ZSG, SLIT signal error
Hardware overtravel
Software overtravel
None of the TIM output, the
ZSG output, or the SLIT input could be detected during return-to-home operation.
When the “FW-LS/RV-LS input action (4701h)” is set to “2:
Immediate stop with alarm” or
“3: Deceleration stop with alarm,” the FW-LS input or the
RV-LS input was detected.
When the “Software overtravel
(41C3h)” is set to “2: Immediate stop with alarm” or “3:
Deceleration stop with alarm,” the motor position reached the set value of the software limit.
• Reconsider the connection status of the load and the position of the HOME sensor so that these signals should be ON while the HOMES input is ON.
• When a signal is not used, set the “(HOME) TIM/ZSG signal detection (4167h)” or the
“(HOME) SLIT detection (4166h)” to “0: Disable.”
• Reconsider the operation data.
• After resetting the alarm, operate the motor in the opposite direction to escape from the sensor. You can operate in any of operation modes.
• Reset the alarm and then escape from the sensor by manually.
• Reconsider the operation data.
• After resetting the alarm, operate the motor in the opposite direction to escape from the sensor. You can operate in any of operation modes.
• Reset the alarm and then escape from the sensor by manually.
Any of reset operations
Any of reset operations
Any of reset operations
HWTO input detection
Return-to-home operation offset error
When the "HWTO mode selection (4190h)" is set to ”1:
Alarm is present,” the HWTO1 input or the HWTO2 input was turned OFF.
When offset movement as part of return-to-home operation is performed, the FW-LS input or the RV-LS input was detected.
Turn the HWTO1 input and the
HWTO2 input ON.
Check the offset value.
Any of reset operations
Any of reset operations
Mechanical overtravel
The product having set the home reached the mechanism limit stored in the ABZO sensor.
• Check the travel amount
(position).
• Reset the alarm and then escape from the sensor by operating the motor or manually.
Any of reset operations
209
Alarms
Alarm code
70h
71h
72h
81h
82h
F0h
Number of times
LED blinks
7
7
7
7
7
Lit
Alarm type Cause Remedial action
How to reset
Operation data error
Electronic gear setting error
Wrap setting error
Network bus error
Network module error
CPU error
• Operation was performed at the operating speed or operating current exceeding the value set in the
"Mechanism protection parameter.”
• Wrap operation was executed when "Wrap setting (41C7h)" was disabled.
• Push-motion operation or push-motion return-to-home operation was performed with the DGII Series.
• Check the operation data.
• Check the value set in the
"Mechanism protection parameter” using the unit information monitor of the
MEXE02 .
• Check the setting of the wrap setting.
• Push-motion operation as well as push-motion return-to-home operation cannot be performed with the DGII Series.
Any of reset operations
The resolution set in the
“Electronic gear (6091h-01h,
02h)” was out of the specification.
Reconsider the “Electronic gear
(6091h-01h, 02h),” and set so that the resolution should be in the range of the specification.
Turn on the control power supply again
The control power supply was turned on with the value set in the "Wrap setting (41C7h)” that is inconsistent with the resolution set in the "Electronic gear (6091h-01h, 02h).”
• A communication error of
EtherCAT communication was detected during operation.
• The EtherCAT communication state machine (ESM) was moved to other than
"Operational" during operation.
Set the wrap setting properly, and turn on the control power supply again.
Check the conditions of the connector, cable, and the
EtherCAT master of EtherCAT communication.
An error was detected in the network module.
CPU malfunctioned.
Turn on the control power supply again
Any of reset operations
Turn on the control power supply again.
Turn on the control power supply again.
Turn on the control power supply again
Turn on the control power supply again
Related objects
Index Sub Name
4180h 00h Overload alarm
6065h 00h Following error window
Type
INT16
U32
Access PDO Save
RW
RW
No
No
Initial value
50
300
Range
1 to 300 (1=0.1 s)
1 to 30,000 (1=0.01 rev)
Update
A
A
About causes of the motor combination error (alarm code 45h)
An alarm of the motor combination error is generated in the following conditions.
• When the motor for a DC power supply was connected to the AC power input driver.
• When the motor for an AC power supply was connected to the DC power input driver.
• When the motor of frame size 20 mm (0.79 in.) or 28 mm (1.10 in.) was connected to the DC power input driver and
48 VDC was applied.
210
1-5
Alarms
Timing chart
1. If an error occurs, the ALM-B output, the MOVE output, and the DCMD-RDY output (PLS-RDY output in pulse-input operation) are turned OFF.
At the same time, the motor stops immediately and the motor excitation is cut off.
2. Check the following before resetting the alarm. The motor may suddenly start running, leading to injury or damage to equipment.
• When operating via EtherCAT communication
Execute the operation stop from the EtherCAT master. In the cyclic synchronous position mode (CSP), clear the
position deviation between the EtherCAT master and the driver after the operation is stopped.
• In pulse-input operation
Stop the pulse input.
3. Remove the cause of the alarm and then turn the ALM-RST input ON.
The alarm is reset, and the ALM-B output is turned ON. If the excitation command is input from the EtherCAT master, the motor puts into an excitation state at the same time as the alarm is reset, and the READY output and the DCMD-RDY output (PLS-RDY output in pulse-input operation) are turned ON.
4. Check the ALM-B output has been turned ON and then turn the ALM-RST input OFF.
Alarm factor
ALM-RST input
DCMD-RDY output
ON
OFF
ON
OFF
ON
OFF
PLS-RDY output
(In pulse-input operation)
ON
OFF
READY output
MOVE output
ALM-B output
ON
OFF
ON
OFF
ON
OFF
Motor excitation
Excitation
Non-excitation
Electromagnetic brake
Hold
Release
1
Error status
3
2
*
*
*
*
4
* It is the movement when the excitation command is input from the EtherCAT master while the ALM-RST input is turned ON.
211
Alarms
0 s or more
Alarm factor
ON
OFF
Error status
1 s or more 2 ms or more
ALM-RST input
ON
OFF
DCMD-RDY output
ON
OFF
2 ms or less
2 ms or less
250 ms or less
*
250 ms or less
PLS-RDY output
(In pulse-input operation)
ON
OFF
READY output
ON
OFF
250 ms or less
*
2 ms or less
MOVE output
ON
OFF
2 ms or less 100 ms or less
ALM-B output
ON
OFF
200 ms or less
Motor excitation
Excitation
Non-excitation
60 ms or less
Electromagnetic brake
Hold
Release
200 ms or less
*
250 ms or less
*
* It is the movement when the excitation command is input from the EtherCAT master while the ALM-RST input is turned ON.
212
Information
The driver is equipped with a function to generate information output before an alarm is generated.
This function can be utilized for periodic maintenance of equipment by setting a suitable value in the parameter of each information.
For example, utilizing the “Motor temperature information (41A8h)” can prevent equipment malfunction or production stoppage due to motor overheat. In addition, the “Tripmeter information (41AFh)” can be utilized as a reference to do maintenances every time a certain travel distance is reached.
Status when information is generated z Information bit output
If information is generated, a bit output (INFO** output) of the corresponding information is turned ON.
A desired output signal can be assigned to the INFO-USRIO output among bit outputs and used. If the assigned
z INFO output
If information is generated, the INFO output is turned ON.
z LED indicator
If information is generated, the PWR/ALM LED will simultaneously blink in red and green twice. (Red and green colors may overlap and it may be visible to orange.) z Motor operation
The motor continues to operate during information unlike in the case of an alarm.
z Parameter
Each information has a corresponding “INFO action” parameter. If the parameter is set to “0: No Info reflect,” only the bit output of information is turned ON, and the INFO output and LED are not changed.
Related objects
Index
41A0h
Sub
00h
Access
RW
PDO
RxPDO
Save
Initial value
40 to 85 °C
Range
85
Update
A
41A1h
41A2h
41A5h
41A8h
41A9h
41AAh
41ABh
41ACh
41AFh
41B0h
41B1h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
Name
Driver temperature information
(INFO-DRVTMP)
Overload time information
(INFO-OLTIME)
Overspeed information (INFO-SPD)
Type
INT16
INT16
INT16
Position deviation information
(INFO-POSERR)
Motor temperature information
(INFO-MTRTMP)
Overvoltage information (INFO-OVOLT)
[AC power input driver]
Undervoltage information (INFO-UVOLT)
[AC power input driver]
Overvoltage information (INFO-OVOLT)
[DC power input driver]
Undervoltage information (INFO-UVOLT)
[DC power input driver]
Tripmeter information (INFO-TRIP)
INT16
INT16
INT16
INT16
INT16
INT16
INT32
INT32
INT32
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
1 to 300 (1=0.1 s)
0: Disable
1 to 12,000 r/min
1 to 30,000 (1=0.01 rev)
40 to 120 °C
120 to 450 V
120 to 280 V
150 to 630 (1=0.1 V)
150 to 630 (1=0.1 V)
0: Disable
1 to 2,147,483,647 (1=0.1 kRev)
0: Disable
1 to 2,147,483,647 (1=0.1 kRev)
0 to 2,147,483,647
50
0
300
85
435
120
630
180
0
0
0
A
A
A
A
A
A
A
A
A
A
A
41B2h
41B3h
41B4h
41BCh
00h
00h
00h
00h
Odometer information (INFO-ODO)
Cumulative load 0 information
(INFO-CULD0)
Cumulative load 1 information
(INFO-CULD1)
Cumulative load value auto clear
Cumulative load value count divisor
INFO-USRIO output selection
INT32
U8
U16
U8
RW
RW
RW
RW
RxPDO
No
No
No
0 to 2,147,483,647
0: Disable
1: Enable
1 to 32,767
Output signals list _
0
1
1
128
A
A
A
A
213
Information
Index
41BDh
41BEh
41BFh
Sub
00h
00h
00h
Name
INFO-USRIO output inversion
Information LED condition
Information auto clear
47AEh
47B0h
47B1h
47B2h
47A9h
47AAh
47ABh
47ADh
47A4h
47A5h
47A6h
47A8h
47A0h
47A1h
47A2h
47A3h
47B3h
47B4h
47B5h
47BCh
47BDh
47BEh
47BFh
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
INFO action (Assigned I/O status information (INFO-USRIO))
INFO action (Position deviation information (INFO-POSERR))
INFO action (Driver temperature information (INFO-DRVTMP))
INFO action (Motor temperature information (INFO-MTRTMP))
INFO action (Overvoltage information
(INFO-OVOLT))
INFO action (Undervoltage information
(INFO-UVOLT))
INFO action (Overload time information
(INFO-OLTIME))
INFO action (Speed information
(INFO-SPD))
INFO action (Start operation error information (INFO-START))
INFO action (Start ZHOME error information (INFO-ZHOME))
INFO action (PRESET request information
(INFO-PR-REQ))
INFO action (Electronic gear setting error information (INFO-EGR-E))
INFO action (Wrap setting error information (INFO-RND-E))
INFO action (Forward operation prohibiton information (INFO-FW-OT))
INFO action (Reverse operation prohibiton information (INFO-RV-OT))
INFO action (Cumulative load 0 information (INFO-CULD0))
INFO action (Cumulative load 1 information (INFO-CULD1))
INFO action (Tripmeter information
(INFO-TRIP))
INFO action (Odometer information
(INFO-ODO))
INFO action (Start operation restricted mode information (INFO-DSLMTD))
INFO action (I/O test mode information
(INFO-IOTEST))
INFO action (Configuration request information (INFO-CFG))
INFO action (Reboot request information
(INFO-RBT))
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
Type
U8
U8
Access
RW
RW
U8 RW
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
PDO
No
No
No
Save
Initial value
0: Not invert
1: Invert
0: Disable (LED does not blink)
1: Enable (LED blinks)
0: Disable (not turned OFF
automatically)
1: Enable (turned OFF
automatically)
Range
0
1
1
0: No Info reflect
(Only the bit output is ON.)
1: Info reflect
(The bit output and the INFO
output are ON and the LED
blinks.)
1
Update
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
214
Information
2-1 Information history
Up to 16 generated information items are saved in the RAM in order of the latest to oldest. Information items stored as the information history are the information code, generation time, and contents of information.
The information history can be read or cleared when one of the following items is performed.
• Read the information history by the "Information history (4510h to 451Fh)" via EtherCAT communication.
• Clear the history by setting the "Clear information history (40D4h)" of EtherCAT communication to 1. (The information will be clear when changing from “0” to “1.”)
• Read and clear the information history using the MEXE02 .
Information history is saved in the RAM, so they are cleared when the control power supply of the driver is turned OFF.
2-2 Information list
Information item
Assigned I/O status
Position deviation
Driver temperature
Motor temperature
Overvoltage
Undervoltage
Overload time
Speed
Information bit output signal
INFO-USRIO
INFO-POSERR
INFO-DRVTMP
INFO-MTRTMP
INFO-OVOLT
INFO-UVOLT
INFO-OLTIME
INFO-SPD
Cause Reset condition
The I/O signal set in the "INFO-USRIO output selection (41BCh)" was turned ON.
The deviation between the command position and the actual position exceeded the value set in the "Position deviation information (41A5h)" in the motor output shaft.
The internal temperature of the driver exceeded the value set in the "Driver temperature information (41A0h)."
The detection temperature of the encoder exceeded the value set in the "Motor temperature information (41A8h)."
The I/O signal set in the "INFO-
USRIO output selection (41BCh)" was turned OFF.
The deviation between the command position and the actual position fell below the value set in the "Position deviation information
(41A5h)" in the motor output shaft.
The internal temperature of the driver fell below the setting value of the "Driver temperature information (41A0h)."
The detection temperature of the encoder fell about 5 °C (9 °F) below the value set in the "Motor temperature information (41A8h)."
• The voltage of the main power supply exceeded the value set in the “Overvoltage information (41A9h or 41ABh).”
• A large load inertia was suddenly stopped.
• Vertical operation (elevating operation) was performed.
• The voltage of the main power supply fell below the value set in the “Undervoltage information (41AAh or 41ACh).”
• The main power supply was shut off momentarily or a voltage shortage was generated.
A load exceeding the maximum torque was applied for a time period exceeding the value set in the "Overload time information (41A1h)."
The feedback speed of the motor exceeded the value set in the “Overspeed information
(41A2h).”
The voltage of the main power supply fell below the value set in the “Overvoltage information
(41A9h or 41ABh).”
The voltage of the main power supply exceeded the value set in the "Undervoltage information
(41AAh or 41ACh)."
The overload counter fell below the value set in the "Overload time information (41A1h)."
The feedback speed of the motor fell below the value set in the
"Overspeed information(41A2h)."
215
Information
Information item
Operation start error
ZHOME start error
Preset request
Electronic gear setting error
Wrap setting error
Forward operation prohibition
Reverse operation prohibition
Cumulative load 0
Cumulative load 1
Tripmeter
Odometer
Information bit output signal
INFO-START
INFO-ZHOME
INFO-PR-REQ
INFO-EGR-E
INFO-RND-E
INFO-FW-OT
INFO-RV-OT
INFO-CULD0
INFO-CULD1
INFO-TRIP
INFO-ODO
Cause Reset condition
• An operation in the direction being stopped by the FW-BLK input or the RV-BLK input was started.
• An operation in the direction being stopped by the FW-LS input or the RV-LS input was started.
• An operation in the direction being stopped by the software limit was started.
• When operation could not be executed (e.g., the READY output was OFF), the operation start signal was turned ON.
When the position coordinate was not set (the
ABSPEN output was OFF), the high-speed return-to-home operation was started.
Preset was executed by the position preset
(P-PRESET) or return-to-home operation.
The resolution set in the “Electronic gear
(6091h-01h, 02h)”was out of the specification.
The resolution and the “Initial coordinate generation & wrap setting range (41C9h)” were inconsistent.
Operation was started normally.
Operation was started normally.
Preset was complete.
•
• Either the FW-LS input or the FW-BLK input
•
The positive software limit was exceeded.
was turned ON.
The negative software limit was exceeded.
• Either the RV-LS input or the RV-BLK input was turned ON.
The cumulative load exceeded the value set in the "Cumulative load 0 information (41B1h).”
The cumulative load exceeded the value set in the "Cumulative load 1 information (41B2h).”
The travel distance of the motor exceeded the value set in the “Tripmeter information
(41AFh)”
The cumulative travel distance of the motor exceeded the value set in the "Odometer information (41B0h)."
The resolution was set in the range of the specification.
The “Initial coordinate generation & wrap setting range (41C9h)” was set in the range of the specification.
The position coordinate of the motor was in the range of the positive software limit, and in addition, both the FW-LS input and the FW-BLK input were turned OFF.
The position coordinate of the motor was in the range of the negative software limit, and in addition, both the RV-LS input and the RV-BLK input were turned OFF.
The cumulative load fell below the value set in the "Cumulative load 0 information (41B1h).”
The cumulative load fell below the value set in the "Cumulative load 1 information (41B2h).”
After one of the following operation was performed, the travel distance (tripmeter) of the motor fell below the value set in the "Tripmeter information
(41AFh).”
− The "Tripmeter information
(41AFh)" was set again.
− The “Clear tripmeter (40CFh)” of
the maintenance command was
executed.
After the following operation was performed, the cumulative travel distance (odometer) of the motor fell below the value set in the
"Odometer information (41B0h).”
− The "Odometer information
(41B0h)" was set again.
216
Information
Information item
Operation start restricted mode
I/O test mode
Configuration request
Reboot request
Information bit output signal
INFO-DSLMTD
INFO-IOTEST
INFO-CFG
Cause
• Configuration was executed.
• “Remote operation” was executed using the
MEXE02 .
• Data was written to the driver from the
MEXE02 .
• ”Restored to the factory setting” was executed with the MEXE02 .
• Configuration was executed.
• “I/O test” was executed with the MEXE02 .
Execution of configuration was requested.
INFO-RBT Reboot was requested.
Reset condition
• Configuration was complete.
• Remote operation was canceled.
• Writing data was complete.
• Data was restored to the factory setting.
• Configuration was complete.
• The I/O test mode was canceled.
Configuration was executed.
Reboot was executed.
If the "Preset request" information was generated for 100 ms or more in a state where the
"Information auto clear (41BFh)" was set to disable, the preset may have been failed. There are the following two possible reasons that the preset was failed.
• The ABZO sensor is not connected to the driver.
• The preset was executed in a state where the position deviation between the command position
and the actual position was 1.8° or more.
217
Information
Monitor of information
Information in details can be checked by the “Information (407Bh).”
The read information code is indicated in eight hexadecimal digits. It can also be read in 32 bits.
If multiple information items are generated, the logical sum (OR) of the information code is indicated.
Information code
00000001h
00000002h
00000004h
00000008h
00000010h
00000020h
00000040h
00000100h
00000200h
00000400h
00000800h
00002000h
00004000h
00010000h
00020000h
00040000h
00080000h
00100000h
00200000h
10000000h
20000000h
40000000h
80000000h
32 bits indication
0000 0000 0000 0000
0000 0000 0000 0001
0000 0000 0000 0000
0000 0000 0000 0010
0000 0000 0000 0000
0000 0000 0000 0100
0000 0000 0000 0000
0000 0000 0000 1000
0000 0000 0000 0000
0000 0000 0001 0000
0000 0000 0000 0000
0000 0000 0010 0000
0000 0000 0000 0000
0000 0000 0100 0000
0000 0000 0000 0000
0000 0001 0000 0000
0000 0000 0000 0000
0000 0010 0000 0000
0000 0000 0000 0000
0000 0100 0000 0000
0000 0000 0000 0000
0000 1000 0000 0000
0000 0000 0000 0000
0010 0000 0000 0000
0000 0000 0000 0000
0100 0000 0000 0000
0000 0000 0000 0001
0000 0000 0000 0000
0000 0000 0000 0010
0000 0000 0000 0000
0000 0000 0000 0100
0000 0000 0000 0000
0000 0000 0000 1000
0000 0000 0000 0000
0000 0000 0001 0000
0000 0000 0000 0000
0000 0000 0010 0000
0000 0000 0000 0000
0001 0000 0000 0000
0000 0000 0000 0000
0010 0000 0000 0000
0000 0000 0000 0000
0100 0000 0000 0000
0000 0000 0000 0000
1000 0000 0000 0000
0000 0000 0000 0000
Information name
Assigned I/O status
Position deviation
Driver temperature
Motor temperature
Overvoltage
Undervoltage
Overload time
Speed
Operation start error
ZHOME start error
Preset request
Electronic gear setting error
Wrap setting error
Forward operation prohibition
Reverse operation prohibition
Cumulative load 0
Cumulative load 1
Tripmeter
Odometer
Operation start restricted mode
I/O test mode
Configuration request
Reboot request
Output signal
INFO-USRIO
INFO-POSERR
INFO-DRVTMP
INFO-MTRTMP
INFO-OVOLT
INFO-UVOLT
INFO-OLTIME
INFO-SPD
INFO-START
INFO-ZHOME
INFO-PR-REQ
INFO-EGR-E
INFO-RND-E
INFO-FW-OT
INFO-RV-OT
INFO-CULD0
INFO-CULD1
INFO-TRIP
INFO-ODO
INFO-DSLMTD
INFO-IOTEST
INFO-CFG
INFO-RBT
218
Troubleshooting and remedial actions
In motor operation, the motor or driver may not function properly due to an improper setting or wrong connection.
When the motor cannot be operated properly, refer to the contents provided in this chapter and take an appropriate remedial action.
If the problem persists, contact your nearest Oriental Motor sales office.
This chapter describes problems that may occur in operation other than the initial settings.
Refer to the AZ Series OPERATING MANUAL Function Edition for these contents.
Phenomenon
• The motor is not excited.
• The motor output shaft can be moved by hand.
The motor has a holding torque even if it is put into a nonexcitation state.
Possible cause
Connection error of the motor cable.
The FREE input is being ON.
Effect of dynamic brake.
Remedial action
Check the motor connection.
Turn the FREE input OFF.
If the motor is put into a non-excitation state, the motor windings is brought into a state of being short-circuited inside the driver, generating a larger holding torque than when no current is supplied
(dynamic brake). To release the dynamic brake, shut off the control power supply or turn the FREE input
ON. With the “Non-excitation mode selection (413Dh),” you can select whether to enable the dynamic brake status or the free-run status when the motor is in a non-excitation state.
The motor does not operate.
When an electromagnetic brake motor is used, the electromagnetic brake is in a holding state.
The STOP input is being ON.
Check the connection of the electromagnetic brake.
Turn the STOP input OFF.
The motor rotates in the direction opposite to the specified direction.
The “Motor rotation direction
(41C2h)” is set wrongly.
Check the setting of the “Motor rotation direction
(41C2h).”
The gearhead output shaft rotates in the direction opposite to the motor.
Motor operation is unstable.
Motor vibration is too large.
The electromagnetic brake is not in a state of releasing.
The geared motor that rotates in the direction opposite to the motor output shaft is used.
Connection error in the motor cable or the power supply cable.
The value set in the "Base current
(4126h)" is too low.
The load is small.
• With TS geared type, the gear output shaft rotates in the direction opposite to the motor when the gear ratio is 20 or 30.
• With Harmonic geared type, the gear output shaft always rotates in the direction opposite to the motor.
Check the connections between the driver, the motor and the main power supply.
Check the setting of the "Base current (4126h)." If the motor current value is low with respect to a load, the torque will also be low and the operation will be unstable.
Lower the current with the "Base current (4126h)." If the motor output torque is too large relative to the load, vibration will increase.
The power is not supplied to the electromagnetic brake.
Check the connection of the electromagnetic brake.
When an alarm generates, check the alarm message using the EtherCAT communication or MEXE02 .
219
220
Table of contents
1 To execute operation by inputting pulses .....................................................222
1-1 Operation flow ...............................................222
To execute operation by inputting pulses
1-1
This part explains the flow to execute pulse-input operation.
Pulse-input operation can be used for test operation to check the motor movement.
The dedicated excitation signal (CON) is used to excite the motor.
Operation flow
1. Turn on the main power supply and the control power supply.
2. Check the excitation command of EtherCAT communication is in an OFF state (the state is other than “Operation enabled”).
3. Turn the CON input ON.
4. Check the PLS-RDY output has been turned ON and input pulses.
Control power supply
ON
OFF
Main power supply
CON input
ON
OFF
ON
OFF
250 ms or less
PLS-RDY output
Pulse input
ON
OFF
ON
OFF
250 ms or less
READY output
ON
OFF
MOVE output
ON
OFF
200 ms or less
Motor excitation
Excitation
Non-excitation
2 ms or less
2 ms or less
250 ms or less
Motor operation
• The test operation cannot be started because the PLS-RDY is not turned ON even if the CON input is turned ON while the motor is in an excitation state via EtherCAT communication.
• The motor excitation state cannot be controlled or the motor operation cannot be executed via
EtherCAT communication while pulse-input operation is performed.
222
Table of contents
1 Timing chart .........................................224
2 Specifications .......................................225
2-1 General specifications .................................225
2-2 Product specifications .................................226
3 Regulations and standards ................228
3-1 UL Standards ..................................................228
3-2 EU Directives...................................................228
(AC power input driver only) ....................229
3-4 Republic of Korea, Radio Waves Act .......229
3-5 RoHS Directive ...............................................229
Timing chart
Power ON
10 s or more
Control power supply
ON
OFF
2 s or less 1 s or less
SYS-RDY Ready
(ready to read output, ready to accept input) Not ready
3 s or less 1 s or less
EtherCAT communication preparation
Completed
Not completed
0 s or more
0 s or more 10 s or more
Main power supply
ON
OFF
1 s or less 1 s or less
MPS output
ON
OFF
*1
Excitation command reception
Possible
Not possible
1.25 s or less *2 1 s or less
READY output
ON
OFF
1.25 s or less *2 1 s or less
DCMD-RDY output
ON
OFF
1.2 s or less *2 1 s or less
Motor excitation
Excitation
Non-excitation
1.25 s or less *2 1 s or less
Electromagnetic brake
Hold
Release
*1 It varies depending on the timing when the command is transited from the EtherCAT master.
*2 It represents when the excitation command is received at the same time as the excitation command reception is changed to “Possible.”
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Specifications
2-1 General specifications
AC power input driver
Degree of protection
Ambient temperature
Operating environment
Humidity
Altitude
Storage environment
Shipping environment
Surrounding atmosphere
Ambient temperature
Humidity
Altitude
Surrounding atmosphere
IP10
0 to +55 °C (+32 to +131 °F) * (non-freezing)
85 % or less (non-condensing)
Up to 1,000 m (3,300 ft.) above sea level
No corrosive gas, dust, water, or oil.
−25 to +70 °C [−13 to +158 °F] (non-freezing)
85 % or less (non-condensing)
Up to 3,000 m (10,000 ft.) above sea level
No corrosive gas, dust, water, or oil.
Insulation resistance
Dielectric strength
100 MΩ or more when 500 VDC megger is applied between the following places:
· Protective Earth Terminal - Main power supply input terminal
· Encoder connector - Main power supply input terminal
· I/O signal connector - Main power supply input terminal
Sufficient to withstand the specified voltage applied between the following places for 1 minute:
· Protective Earth Terminal - Main power supply input terminal 1.5 kVAC 50/60 Hz
· Encoder connector - Main power supply input terminal 1.8 kVAC 50/60 Hz
· I/O signal connector - Main power supply input terminal 1.8 kVAC 50/60 Hz
* When installing a driver on a heat sink [material: aluminum, 200×200×2 mm (7.87×7.87×0.08 in.) or equivalent].
DC power input driver
Degree of protection
Ambient temperature
Operating environment
Humidity
Altitude
Storage environment
Shipping environment
Surrounding atmosphere
Ambient temperature
Humidity
Altitude
Surrounding atmosphere
IP10
0 to +50 °C (+32 to +122 °F) (non-freezing)
85 % or less (non-condensing)
Up to 1,000 m (3,300 ft.) above sea level
No corrosive gas, dust, water, or oil.
−25 to +70 °C (−13 to +158 °F) (non-freezing)
85 % or less (non-condensing)
Up to 3,000 m (10,000 ft.) above sea level
No corrosive gas, dust, water, or oil.
Insulation resistance
100 MΩ or more when 500 VDC megger is applied between the following places:
· Protective Earth Terminal - Power supply input terminal *
* The main power supply input terminals and the control power supply input terminals are not electrically insulated.
Check using either of terminals.
225
Specifications
2-2 Product specifications
AC power input driver
Driver model
Main power supply
Control power supply
Interface
Input voltage
Input current
Input voltage
Input current
Pulse input
AZD-AED
Single-phase 100-120 VAC
−15 to +6 % 50/60 Hz
2.7 to 6.4 A *1
AZD-CED
• Single-phase 200-240 VAC
−15 to +6 % 50/60 Hz
• Three-phase 200-240 VAC
−15 to +6 % 50/60 Hz
Single-phase: 1.6 to 3.9 A *1
Three-phase: 1.0 to 2.3 A *1
24 VDC±5 % *2
0.25 A (0.5 A) *3
• Number of input points: 2, photocoupler
• Maximum input pulse frequency
· Line driver output of the EtherCAT master
1 MHz (duty cycle 50 %)
· Open-collector output of the EtherCAT master
250 kHz (duty cycle 50 %)
Control input
Pulse output
Control output
Power removal signal input
Number of input points: 6, photocoupler
Number of output points: 2, line driver
Number of output points: 6, photocoupler/open collector
Number of input points: 2, photocoupler
Power removal monitor output Number of output point: 1, photocoupler/open collector
Field network EtherCAT
*1 The input current varies depending on the motor combined. Check on p.28.
*2 When an electromagnetic brake motor is used, the input voltage is 24 VDC±4 % if the wiring distance between the motor and the driver is extended to 20 m (65.6 ft.) using our cable.
*3 The value in parentheses ( ) is the one when the electromagnetic brake motor is connected. The AZM46 type is
0.33 A.
226
Specifications
DC power input driver
Driver model
Main power supply
Control power supply
Interface
Input voltage
Input current
Input voltage
Input current
Pulse input
AZD-KED
• 24 VDC±5 %
• 48 VDC±5 %
0.4 to 3.3 A *1
24 VDC±5 % *2
0.15 A (0.4 A) *3
• Number of input points: 2, photocoupler
• Maximum input pulse frequency
· Line driver output of the EtherCAT master
1 MHz (duty cycle 50 %)
· Open-collector output of the EtherCAT master
250 kHz (duty cycle 50 %)
Control input
Pulse output
Control output
Power removal signal input
Number of input points: 6, photocoupler
Number of output points: 2, line driver
Number of output points: 6, photocoupler/open collector
Number of input points: 2, photocoupler
Power removal monitor output Number of output point: 1, photocoupler/open collector
Field network EtherCAT
*1 The input current varies depending on the motor combined. Check on p.63.
*2 When an electromagnetic brake motor is used, the input voltage is 24 VDC±4 % if the wiring distance between the motor and the driver is extended to 20 m (65.6 ft.) using our cable.
*3 The value in parentheses ( ) is the one when the electromagnetic brake motor is connected. The AZM46 type is
0.23 A.
227
Regulations and standards
3-1
3-2
UL Standards
Check the APPENDIX UL Standards for AZ Series for recognition information about UL Standards.
EU Directives
CE Marking (AC power input driver)
This product is affixed with the CE Marking under the Low Voltage Directive, the Machinery Directive, and the EMC
Directive.
EU Declaration of Conformity can be downloaded from Download Page of the product in Oriental Motor Website
(https://www.orientalmotor.eu/).
z Low Voltage Directive
Applicable standard EN 61800-5-1
Installation conditions
(EN Standards)
To be incorporated in equipment.
Overvoltage category: II
Pollution degree: 2
Degree of protection: IP10
Protection against electric shock: Class I equipment
• This product cannot be used in IT power distribution systems.
• Install the product inside an enclosure in order to avoid contact with hands.
• Ensure protective grounding if a product can be touched with hands. Make sure to ground the Protective Earth
Terminals of the motor and the driver.
• To protect against electric shock using an earth leakage breaker (RCD), connect a type B earth leakage breaker to the power supply side of the driver.
• Use a molded case circuit breaker (MCCB) that conforms to EN standards or IEC Standards.
• Isolate the motor cable, the power supply cable and other drive cables from the signal cables by means of double insulation.
• The temperature of the driver's heat sink may exceed 90 °C (194 °F) depending on the driving condition. Observe the followings.
· Do not touch the driver while operating.
· Do not use the driver near combustibles.
· Be sure to perform a test operation and check the driver temperature.
z Machinery Directive
Applicable standards: EN ISO 12100, EN 61800-5-2, EN 62061, EN ISO 13849-1: 2015 z EMC Directive
as the configuration, wiring, and layout for other control system devices and electrical parts used with this product. It therefore must be verified through conducting EMC measures in a state where all parts including this product have been installed in the equipment.
Applicable Standards
EMI
EMS
EN 55011 Group1 Class A, EN 61000-6-4, EN 61800-3
EN 61000-6-2, EN 61800-3
This equipment is not intended for use in residential environments nor for use on a low-voltage public network supplied in residential premises, and it may not provide adequate protection to radio reception interference in such environments.
228
Regulations and standards
CE Marking (DC power input driver)
This product is affixed with the CE Marking under the EMC Directive.
z Low Voltage Directive
The input power supply voltage of this product is 24 VDC/48 VDC. Therefore this product is not subject to the Low
Voltage Directive, but install and connect it as follows.
• This product is designed and manufactured to be incorporated in equipment. Be sure to install the product inside an enclosure.
• For the driver power supply, use a DC power supply with reinforced insulation on its primary and secondary sides.
z EMC Directive
as the configuration, wiring, and layout for other control system devices and electrical parts used with this product. It therefore must be verified through conducting EMC measures in a state where all parts including this product have been installed in the equipment.
Applicable Standards
EMI
EMS
EN 55011 Group1 Class A
EN 61000-6-4
EN 61000-6-2
This equipment is not intended for use in residential environments nor for use on a low-voltage public network supplied in residential premises, and it may not provide adequate protection to radio reception interference in such environments.
3-3 Functional safety (AC power input driver only)
This product is certified by TÜV SÜD Product Service GmbH under the following standards and affixed with the TÜV
SÜD Mark. It is not a certified product if the TÜV SÜD Mark is not affixed.
Applicable standards
Functional safety
IEC 61800-5-2, EN 61800-5-2
IEC 61508-1, EN 61508-1
IEC 61508-2, EN 61508-2
IEC 62061, EN 62061
ISO 13849-1: 2015, EN ISO 13849-1: 2015
Electrical safety IEC 61800-5-1, EN 61800-5-1
EMC IEC 61000-6-7, EN 61000-6-7
Safety function STO (Safe Torque Off)
3-4
3-5
Republic of Korea, Radio Waves Act
This product is affixed with the KC Mark under the Radio Waves Act, the Republic of Korea.
RoHS Directive
The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).
229
230
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• Unauthorized reproduction or copying of all or part of this manual is prohibited.
If a new copy is required to replace an original manual that has been damaged or lost, please contact your nearest Oriental
Motor sales office.
• Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use of any information, circuit, equipment or device provided or referenced in this manual.
• Characteristics, specifications and dimensions are subject to change without notice.
• While we make every effort to offer accurate information in the manual, we welcome your input. Should you find unclear descriptions, errors or omissions, please contact your nearest Oriental Motor sales office.
• , , and ABZO sensor are registered trademarks or trademarks of Oriental Motor Co., Ltd., in Japan and other countries.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Other product names and company names mentioned in this manual may be registered trademarks or trademarks of their respective companies and are hereby acknowledged. The third-party products mentioned in this manual are recommended products, and references to their names shall not be construed as any form of performance guarantee. Oriental Motor is not liable whatsoever for the performance of these third-party products.
© Copyright ORIENTAL MOTOR CO., LTD. 2019
Published in March 2021
• Please contact your nearest Oriental Motor office for further information.
Technical Support Tel:800-468-3982
（ M-F ） www.orientalmotor.com
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Technical Support Tel:00 800/22 55 66 22 www.orientalmotor.de
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Tel:+39-02-93906347 www.orientalmotor.it
Singapore
Tel:1800-842-0280 www.orientalmotor.com.sg
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Tel:1800-888-881 www.orientalmotor.co.th
Tel:1800-120-1995 (For English)
1800-121-4149 (For Hindi) www.orientalmotor.co.in
Tel:0800-060708 www.orientalmotor.com.tw
Tel:400-820-6516 www.orientalmotor.com.cn
Korea
Tel:080-777-2042 www.inaom.co.kr
4-8-1 Higashiueno, Taito-ku, Tokyo
110-8536 Japan
Tel:+81-3-6744-0361 www.orientalmotor.co.jp
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