Closed loop stepping motor and driver package αSTEP AR Series FLEX DC power input Built-in ...

212 Pages·2014·3.34 MB·English

HM-60190-7
Closed Loop Stepping Motor and Driver Package
AR
Series
DC power input Built-in Controller Type
USER MANUAL
Thank you for purchasing an Oriental Motor product.
This Operating 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.
1 Introduction 3 Operation type and setting
1 Introduction ...................................................8 1 Adjustment and setting ..............................60
2 Operating Manuals for the AR Series ..........9 1.1 Resolution....................................................60
1.2 Operating current.........................................61
3 Overview of the product .............................10
1.3 Standstill current ..........................................61
4 System configuration ..................................12
1.4 Acceleration/deceleration rate and
5 Safety precautions ......................................13 acceleration/deceleration time .....................61
1.5 Smooth drive ...............................................62
6 Precautions for use .....................................16
1.6 Speed filter ..................................................62
7 General specifications ................................18
1.7 Moving average filter ...................................63
8 CE Marking ...................................................19 1.8 Speed error gain ..........................................63
9 Preparation ..................................................20 1.9 Control mode ...............................................63
9.1 Checking the product...................................20 1.10 Position loop gain, speed loop gain,
speed loop integral time constant ................64
9.2 How to identify the product model ...............20
1.11 Absolute-position backup system ................64
9.3 Combinations of motors and drivers ............21
2 Operation .....................................................65
9.4 Names and functions of parts ......................22
2.1 Positioning operation ...................................66
„ Operation data ...................................................66
2 Installation and
„ Starting method of positioning operation ...........67
connection
„ Operation function; Single-motion .....................71
„ Operation function; Linked-motion operation .....72
1 Installation ...................................................26 „ Operation function; Linked-motion operation2 ...73
1.1 Location for installation ................................26 „ Operation function; Push-motion operation .......75
2.2 Return-to-home operation ...........................79
1.2 Installing the motor ......................................26
„ Additional function .............................................79
1.3 Installing a load............................................27
„ Parameters related to return-to-home
1.4 Permissible radial load and
operation ............................................................80
permissible axial load ..................................28
„ Operation sequence ..........................................81
1.5 Installing the driver ......................................29
„ Position preset ...................................................86
1.6 Installing the battery ....................................30
2.3 Continuous operation ..................................86
1.7 Installing and wiring in compliance with
„ Operation data ...................................................86
EMC Directive..............................................30
„ Starting method of continuous operation ...........87
2 Connection ...................................................32 „ Variable speed operation ...................................89
2.1 Connection example 2.4 Other operation............................................91
(electromagnetic brake motor).....................32
„ JOG operation ...................................................91
2.2 Grounding the motor and driver...................36 „ Test operation ....................................................92
2.3 Connecting the data setter ..........................36 „ Automatic return operation ................................92
2.4 Connecting the RS-485 communication „ Stop operation ...................................................93
cable ............................................................37 „ Position coordinate management ......................93
2.5 Connecting and charging the battery...........38 „ Wrap function ....................................................94
3 Explanation of I/O signals ..........................39 3 Operation data .............................................96
3.1 Assignment of direct I/O ..............................39
4 Parameter .....................................................97
„ Assignment to the input terminals .....................39
4.1 Parameter list ..............................................97
„ Changing the logic level setting of input
4.2 I/O parameter ..............................................98
signals ...............................................................40
„ Assignment to the output terminals ...................41 4.3 Motor parameter ..........................................99
3.2 Assignment of network I/O ..........................43 4.4 Operation parameter .................................100
„ Assignment of input signals ...............................43 4.5 Return-to-home parameter ........................100
„ Assignment to the output terminals ...................45 4.6 Alarm/warning parameter ..........................101
3.3 Input signals ................................................47 4.7 Coordination parameter .............................101
3.4 Output signals..............................................52 4.8 Common parameter...................................101
3.5 Sensor input ................................................56 4.9 I/O function parameter ...............................102
3.6 General signals (R0 to R15) ........................57 4.10 I/O function [RS-485] parameter...............103
4.11 Communication parameter ........................104
−2−
4 Method of control via I/O 10 Detection of communication errors ........160
10.1 Communication errors ..............................160
1 Guidance ....................................................106 10.2 Alarms and warnings ................................160
11 Timing charts ............................................161
2 Operation data ...........................................108
3 Parameter ...................................................109
6 Method of control via
3.1 Parameter list ............................................109
3.2 I/O parameter ............................................110 industrial network
3.3 Motor parameter ........................................110
3.4 Operation parameter ..................................111 1 Method of control via CC-Link
3.5 Return-to-home parameter .........................111 communication ..........................................164
3.6 Alarm/warning parameter ..........................112 1.1 Guidance ...................................................164
3.7 Coordination parameter .............................112 1.2 Setting the switches...................................167
3.8 Common parameter...................................112 1.3 Remote register list....................................168
3.9 Communication parameter ........................112 1.4 Assignment for remote I/O of 6 axes
3.10 I/O function parameter ...............................113 connection mode .......................................168
3.11 I/O function [RS-485] parameter................114 „ Assignment list of remote I/O ..........................168
„ Input/output of remote I/O ................................169
4 Timing charts .............................................115
„ Details of remote I/O assignment ....................170
1.5 Assignment for remote I/O of 12 axes
5 Method of control via connection mode .......................................171
Modbus RTU (RS-485 „ Assignment list of remote I/O ..........................171
„ Input/output of remote I/O ................................172
communication)
„ Details of remote I/O assignment ....................174
2 Method of control via MECHATROLINK
1 Guidance ....................................................128
communication ..........................................176
2 Communication specifications ................130 2.1 Guidance ...................................................176
3 Setting the switches ..................................131 2.2 Setting the switches...................................179
2.3 I/O field map for the NETC01-M2 .............180
4 Setting the RS-485 communication .........133
2.4 I/O field map for the NETC01-M3 .............181
5 Communication mode and
2.5 Communication format ..............................182
communication timing ..............................134
„ Remote I/O input .............................................182
5.1 Communication mode................................134 „ Remote I/O output ...........................................182
5.2 Communication timing ...............................134 „ Remote register input ......................................182
6 Message .....................................................135 „ Remote register output ....................................183
6.1 Query .........................................................135 3 Details of remote I/O .................................184
6.2 Response ..................................................137 3.1 Input signals to the driver ..........................184
7 Function code ............................................139 3.2 Output signals from the driver ...................185
7.1 Reading from a holding register(s) ............139 4 Command code list ...................................186
7.2 Writing to a holding register .......................140 4.1 Group function ...........................................186
7.3 Diagnosis ...................................................141 4.2 Maintenance command .............................187
7.4 Writing to multiple holding registers ...........142 4.3 Monitor command ......................................188
8 Register address list .................................143 4.4 Operation data ...........................................189
8.1 Operation commands ................................143 4.5 User parameters ........................................190
8.2 Maintenance commands ...........................144 „ I/O parameter ..................................................190
„ Motor parameter ..............................................191
8.3 Monitor commands ....................................145
„ Operation parameter .......................................191
8.4 Parameter R/W commands .......................148
„ Return-to-home parameter ..............................192
„ Operation data .................................................148
„ Alarm/warning parameter ................................192
„ User parameters ..............................................149
„ Coordination parameter ...................................192
9 Group send ................................................158
„ Common parameter .........................................193
„ I/O function parameter .....................................193
„ I/O function [RS-485] parameter ......................194
„ Communication parameter ..............................195
−3−
7 Inspection,
troubleshooting and
remedial actions
1 Inspection ..................................................198
2 Alarms and warnings ................................199
2.1 Alarms .......................................................199
„ Alarm reset ......................................................199
„ Alarm records ..................................................199
„ Alarm list ..........................................................200
2.2 Warnings ...................................................204
„ Warning records ..............................................204
„ Warning list ......................................................204
2.3 Communication errors ...............................205
„ Communication error records ..........................205
„ Communication error list ..................................205
3 Troubleshooting and remedial actions ...206
8 Appendix
1 Accessories (sold separately) ..................208
„ Motor cable ......................................................208
„ Data setter .......................................................210
„ Communication cable for the data setting
software ...........................................................210
„ RS-485 communication cable ..........................210
„ Battery set .......................................................210
−4−
Specification Change of Driver
Some specifications have been changed in this product. There are differences in data setting range, etc. between the
product after the change and before the change. For the driver before the specification change, contact your nearest
Oriental Motor sales office.
This manual describes contents of the driver which is after the specification change.
When using the driver which is before the specification change, take note of the following points.
1. Some setting items have been changed
„ Push current
Before the specification change  After the specification change
0 to 500 (1=0.1%) 0 to 1000 (1=0.1%)
„ NET-IN input function
The following input signals can be assigned in the product after the specification change.
• 24: ALM-RST
• 25: P-PRESET
• 26: P-CLR
„ Pay attention to the data update
• When the data is set using the MEXE02, use the MEXE02 which software version is 3.00 or later
If the MEXE02 is older version than 3.00, the value after the specification change can not be set.
• When the following data passing is performed, the most recent value will not be effective
1) When the MEXE02 data which has set the value after the specification change is opened
using the older MEXE02 than the Version 3.00
If the data is opened by the older MEXE02 than the Version 3.00, the data will be changed to the initial value.
MEXE02 Version 3.00 or later MEXE02 older than Version 3.00
Data file
Saves the data Opens the data

Latest value Latest value Initial value
2) When the OPX-2A data which has set the value after the specification change is downloaded
to the driver that is before the specification change
The value which is after the specification change will not be updated to the driver which is before the specification
change, and the value presently set is kept.
Driver after the specification change Driver before the specification change
OPX-2A
Uploads the data Downloads the data

Latest value Latest value Value before the change
−5−
2. The upper limit of the alarm output has been changed
The maximum speed for push-motion operation has been changed. If push-motion operation is started after setting
higher speed than 30 r/min in the driver which is before the specification change, an operation data error alarm will
generate.
• Maximum speed for push-motion operation
Before the specification change  After the specification change
30 r/min 500 r/min
−6−
1 Introduction
This part explains the composition of the operating manuals, the product overview, specifications and safety
standards as well as the name and function of each part and others.
Table of contents

1 Introduction ........................................8
2 Operating Manuals for the
AR Series .............................................9
3 Overview of the product ..................10
4 System configuration .......................12
5 Safety precautions ...........................13
6 Precautions for use ..........................16
7 General specifications .....................18
8 CE Marking ........................................19
9 Preparation .......................................20
9.1 Checking the product ............................20
9.2 How to identify the product model .........20
9.3 Combinations of motors and drivers .....21
9.4 Names and functions of parts ...............22
Introduction
1 Introduction
„ Before use
Only qualified personnel should work with the product.
Use the product correctly after thoroughly reading the section "5 Safety precautions" on p.13.
The product described in this manual has been designed and manufactured for use in general industrial equipment.
Do not use for any other purpose. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure
to observe this warning.
„ Hazardous substances
The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).
„ Notation rules
The following term is used in explanation of this manual.
Term Description
This is a generic name for a programmable controller, master module,
Master controller
pulse generator and so on.
−8− 1 Introduction
Operating Manuals for the AR Series
AR
2 Operating Manuals for the Series
Operating manuals for the AR Series FLEX DC power input built-in controller type are listed below.
The "USER MANUAL" does not come with the product. For details, contact your nearest Oriental Motor sales office
or download from Oriental Motor website download page.
After reading these manuals, keep them in a convenient place so that you can reference them at any time.
Applicable product Type of operating manual Description of operating manual
Motor
This manual explains the functions as well as the
OPERATING MANUAL
installation method and others for the motor.
(Supplied with motor)
Driver
AR Series FLEX This manual explains the functions as well as the
OPERATING MANUAL
DC power input installation method and others for the driver.
(Supplied with driver)
Built-in controller type
This manual explains the functions, installation/
connection method and data setting method as well
USER MANUAL (this document)
as the operating method and others for the motor and
driver.
Data setting software This manual explains how to set data using the
OPERATING MANUAL
MEXE02 accessory MEXE02.
This manual explains the functions and installation/
Data setter OPX-2A OPERATING MANUAL connection method as well as data setting method and
others for the accessory OPX-2A (sold separately).
CC-Link compatible
NETC01-CC
USER MANUAL
MECHATROLINK-Ⅱcompatible
NETC01-M2
This manual explains the functions and installation/
USER MANUAL
Network converter connection method as well as the operating method
MECHATROLINK-Ⅲcompatible
for the network converter.
NETC01-M3
USER MANUAL
EtherCAT compatible
NETC01-ECT
OPERATING MANUAL
With regard to the information required to be certified under the UL Standard, refer to the "APPENDIX UL Standards
for AR Series DC power input type" (the paper is supplied with the product).
1 Introduction −9−
Overview of the product
3 Overview of the product
This product is a motor and driver package product consisting of a high-efficiency stepping motor equipped with a
rotor position detection sensor, and a driver with built-in controller function.
This product can be controlled via I/O, Modbus RTU (RS-485 communication) or industrial network communication
using the network converter.
The operation data and parameters can be set using the accessory OPX-2A (sold separately) or MEXE02, or via RS-
485 communication.
„ Main features
• Introducing closed loop control
The AR Series can continue its operation even upon encountering quick acceleration or an abrupt change in load.
Monitoring the speed and amount of rotation while the motor is running, the AR Series performs the closed-loop
control under overload and similar conditions to continue its operation at the peak torque.
• Three operating patterns
You can perform positioning operation, return-to-home operation and continuous operation.
Up to 64 operation data points can be set, and multi-point positioning is also possible.
• Compatible with Modbus RTU (RS-485 communication)
You can set operation data and parameters or issue operation start/stop commands from the master controller.
Up to 31 drivers can be connected to one master.
• Absolute-position backup system
When connecting an accessory battery set BAT01B (sold separately), this product can be used in the absolute-position
backup system. Positions will be retained in the event of a power outage or after turning off the driver power.
• Automatic control of the electromagnetic brake
This driver controls the electromagnetic brake automatically. The control signal input or the troublesome ladder logic
design can be saved.
• Energy-saving
Motor and driver losses have been substantially reduced to achieve low heat generation and save energy.
Since the motor and driver generate much less heat, they can now be operated for longer hours at high speed, which
was not possible with conventional motors/drivers.
• Alarm and warning functions
The driver provides alarms that are designed to protect the driver from overheating, poor connection, error in
operation, etc. (protective functions), as well as warnings that are output before the corresponding alarms generate
(warning functions).
„ Accessories
The operation data and parameters can be set using the accessory OPX-2A (sold separately) or MEXE02, or via RS-
485 communication. Provide the OPX-2A or MEXE02 as necessary.
„ Related products
The AR Series FLEX DC power input built-in controller type can be used via various network when connecting to a
network converter.
Network converter Supported network
NETC01-CC CC-Link communication
NETC01-M2 MECHATROLINK-Ⅱcommunication
NETC01-M3 MECHATROLINK-Ⅲcommunication
NETC01-ECT EtherCAT communication
−10− 1 Introduction