Autonics AiC-CL Series Use and care manual

Communication Manual
Closed-Loop Stepper System
AiC-CL Series
MMD-AiC-CLC1-V1.0-2002KR
Thank you for purchasing an Autonicsproduct.
This manual contains information aboutthe product and its proper use,
and should bekept ina placewhere itwill beeasy to access.
www.autonics.com

Preface
© Copyright Reserved Autonics Co., Ltd. v
Preface
Thank you for purchasing an Autonics product.
Please familiarize yourself with the information contained in the Safety Considerations
section before using this product.
This manual contains information about the product and its proper use, and should be kept
in a place where it will be easy to access
.

1 Communication Specification
vi © Copyright Reserved Autonics Co., Ltd.
Communication Manual Guide
Please familiarize yourself with the information in this manual before using the product.
This manual provides detailed information on the product's features. It does not offer any
guarantee concerning matters beyond the scope of this manual.
This manual may not be edited or reproduced in either part or whole without permission.
This manual is not provided as part of the product package.
Visit our website (www.autonics.com) to download a copy.
The manual's content may vary depending on changes to the product's software and other
unforeseen developments within Autonics, and is subject to change without prior notice.
Upgrade notice is provided through out website.
We contrived to describe this manual more easily and correctly. However, if there are any
corrections or questions, please notify us these on our website.

Communication Manual Symbols
© Copyright Reserved Autonics Co., Ltd. vii
Communication Manual Symbols
Symbol Description
Supplementary information for a particular feature.
Failure to follow instructions can result in serious injury or death.
Failure to follow instructions can lead to a minor injury or product damage.
An example of the concerned feature’s use.
※1 Annotation mark

1 Communication Specification
viii © Copyright Reserved Autonics Co., Ltd.
Safety Considerations
Following these safety precautions will ensure the safe and proper use of the product and
help prevent accidents, as well as minimizing possible hazards.
Safety precautions are categorized as Warnings and Cautions, as defined below:
Warning Failure to follow these instructions may result in serious
injury or death.
Caution Failure to follow these instructions may result in
personal injury or product damage.
Fail-safe device must be installed when using the unit with machinery that may cause serious
injury or substantial economic loss. (e.g. nuclear power control, medical equipment, ships,
vehicles, railways, aircraft, combustion apparatus, safety equipment, crime/disaster
prevention devices, etc.)
Failure to follow this instruction may result in personal injury, economic loss or fire.
Do not use the unit in the place where flammable/explosive/corrosive gas, high humidity,
direct sunlight, radiant heat, vibration, impact, or salinity may be present.
Failure to follow this instruction may result in explosion or fire.
Do not connect, repair, or inspect the unit while connected to a power source.
Failure to follow this instruction may result in fire or electric shock.
Install the unit after considering counter plan against power failure.
Failure to follow this instruction may result in personal injury, or economic loss or fire.
Check 'Connections' before wiring.
Failure to follow this instruction may result in fire.
Do not disassemble or modify the unit.
Failure to follow this instruction may result in fire or electrical shock.
Install the driver in the grounded housing or ground it directly.
Failure to follow this instruction may result in personal injury, fire or electric shock.
Do not touch the unit during or after operation for a while.
Failure to follow this instruction may result in burn or electric shock due to high temperature
of the surface.
Emergency stop directly when error occurs.
Failure to follow this instruction may result in personal injury or fire.

Safety Considerations
© Copyright Reserved Autonics Co., Ltd. ix
When connecting the power input, use AWG 18(0.75mm2) cable or over.
Brake is non-polar. When connecting the brake, use AWG 24 (0.2mm2) cable or over.
Failure to follow this instruction may result in fire or malfunction due to contact failure.
To use the motor safely, do not apply external force to the motor.
It is recommended to use STOPPER for the vertical load.
Install over-current prevention device (e.g. the current breaker, etc.) to connect the driver with
power.
Failure to follow this instruction may result in fire.
Check the control input signal before supplying power to the driver.
Failure to follow this instruction may result in personal injury or product damage by
unexpected signal.
Install a safety device to maintain the vertical position after turn off the power of this driver.
Failure to follow this instruction may result in personal injury or product damage by releasing
holding torque of the motor.
Use the unit within the rated specifications.
Failure to follow this instruction may result in fire or product damage.
Use dry cloth to clean the unit, and do not use water or organic solvent.
Failure to follow this instruction may result in fire or electric shock.
The driver may overheat depending on the environment.
Install the unit in the well-ventilated place and forced cooling with a cooling fan.
Failure to follow this instruction may result in product damage or degradation by heat.
Keep the product away from metal chip, dust, and wire residue which flowing into the unit.
Failure to follow this instruction may result in fire or product damage.
Use the designated motor only.
Failure to follow this instruction may result in fire or product damage.
The above specifications are subject to change and somd models may be discontinued
without notice.
Be sure to follow cautions written in the instruction manual, user manual and the
technical descriptions (catalog, website).

1 Communication Specification
x © Copyright Reserved Autonics Co., Ltd.
Table of Contents
Preface .............................................................................................................................v
Communication Manual Guide .......................................................................................vi
Communication Manual Symbols.................................................................................. vii
Safety Considerations.................................................................................................... viii
Table of Contents ..............................................................................................................x
1Communication Specification ............................................................... 11
1.1 CC-Link Communication Overview .................................................................11
1.2 Communication Specification.........................................................................11
2Function.................................................................................................... 12
2.1 System Configuration.......................................................................................12
2.2 Remote I/O Specification .................................................................................13
2.2.1 Remote I/O in 1 station occupied.............................................................13
2.2.2 Remote Register in 1 station occupied.....................................................14
2.2.3 Remote I/O in 2 stations occupied ...........................................................15
2.2.4 Remote Register in 2 stations occupied...................................................16
2.2.5 RY Signal Specification .............................................................................17
2.2.6 RX Signal Specification .............................................................................21
3Driving operation .................................................................................... 22
3.1 Switch setting and LED indication ..................................................................22
3.1.1 Number of occupied stations ...................................................................23
3.1.2 Station number, Comm. speed setting ....................................................23
3.1.3 LED Indication ...........................................................................................24
3.1.4 FND Indication...........................................................................................24
3.2 Operation..........................................................................................................27
3.2.1 ±Direction Linear Accel/Deceleration Operation ...................................27
3.2.2 Relative Position Movement.....................................................................30
3.2.3 Absolute Position Movement ...................................................................33
3.2.4 Program Mode Operation .........................................................................34
3.2.5 Home Search Mode Operation .................................................................41
4Parameter Data Map ............................................................................... 45
4.1 Program Mode Group.......................................................................................45
4.2 Operating Mode Group(Command code: 11h) ...............................................46
4.3 Operating Group (Command Code: 12h)........................................................47
4.4 Parameter Group (Command Code: 13h) .......................................................48
4.5 Home Search Mode Group (Command Code: 14h)........................................50
4.6 Monitoring Group .............................................................................................51
4.7 Alarm Code .......................................................................................................52
4.8 Warning Code ...................................................................................................52

1 Communication Specification
© Copyright Reserved Autonics Co., Ltd. 11
1Communication Specification
1.1 CC-Link Communication Overview
CC-Link is an industrial network consisting of a RS475 topology. This network is one of the
high speed / timely fieldbuses and supports 100m transmission distance and 64 stations at
maximum communication speed of 10Mbps.
CC-Link simplifies the system, reduces the cost of wiring components, reduces component
costs, and plays a major role in reducing wiring air and improving maintainability.
It also enables flexible response to expanding multi-vendors.
1.2 Communication Specification
Item Specification
CC-Link
Communication
standard CC-Link Ver.1.10
Station type Remote Device station
Connection cable CC-Link dedicated cable
Comm.
speed
Speed 156k, 625k, 2.5M, 5M, 10M [bps]
Setting 10 bit rotary switch (0 to 9)
Station
number
Number 01 to 64
Setting 10 bit rotary switch (0 to 9) × 2
Number
of
occupied
stations
Occupied 1 station occupied, 2 stations occupied
Setting 1 bit DIP switch
Max. transmit
distance Depend on comm. speed
Remote I/O 1 station occupied: Ryn/RXn 32 points each
2 stations occupied: Ryn/RXn 64 points each
Remote Register 1 station occupied: RWrn/RWwn 4 words each
2 stations occupied: RWrn/RWwn 8 words each
Command
Point table read/write, parameter read/write, read only,
special command monitor only, network connection,
drive control, motion control, drive status
LED indicators Status LED indicators × 2 (L.ERR: Red, L.RUN: Green)

2 Function
12 © Copyright Reserved Autonics Co., Ltd.
2Function
2.1 System Configuration
* 485

2 Function
© Copyright Reserved Autonics Co., Ltd. 13
2.2 Remote I/O Specification
2.2.1 Remote I/O in 1 station occupied
n indicates the address assigned to the master station by the station number setting.
RY(M→S) Signal Description RX(S→M) Signal Description
RYn0 Servo On/Off Servo On/Off RXn0 Servo On/Off Servo On/Off
RYn1 EMG Emergency stop RXn1 EMG Emergency stop
RYn2 Home Home search RXn2 Home End Home search end
RYn3 Reset Reset RXn3 Alarm Alarm
RYn4 Alarm Reset Alarm reset RXn4 In-Position In-Position
RYn5 +Run + direction running RXn5 Warning Warning
RYn6 -Run - direction running RXn6 Running Running
RYn7 PR Start Program running RXn7 PR Running Program running
RYn8 PR Single
Start
Program single
step running RXn8 PR Single Running
Program single step
running
RYn9 PR Pause Program pause RXn9
- Disable
RYnA PR Stop Program running
stop RXnA
RYnB ABS Absolute position
running RXnB ABS Running Absolute position running
RYnC INC Relative position
running RXnC INC Running Relative position running
RYnD Position Reset Position reset RXnD Position Reset
Success Position reset success
RYnE Read Request Read request RXnE Read Success Read success
RYnF Write Request Write request RXnF Write Success Write success
RYn0 STOP Stop RX(n+1)0 Read Error Read error
RY(n+1)1 to
RY(n+1)F - Disable
RX(n+1)1 Write Error Write error
RX(n+1)2 to
RX(n+1)F - Disable

2 Function
14 © Copyright Reserved Autonics Co., Ltd.
2.2.2 Remote Register in 1 station occupied
m, n indicates the address assigned to the master station by the station number setting.
RWw Description RWr Description
RWwm+0
Upper: Read request code
Lower: Read request data
number
RWrn+0 Running step number
RWwm+1
Upper: Write request code,
Program single step running
number
Lower: Write data number
RWrn+1 Upper: Alarm Code
Lower: Warning Code
RWwm+2 Write Data (lower) RWrn+2 Read Data (lower)
RWwm+3 Write Data (upper) RWr3 Read Data (upper)

2 Function
© Copyright Reserved Autonics Co., Ltd. 15
2.2.3 Remote I/O in 2 stations occupied
n indicates the address assigned to the master station by the station number setting.
RY(M→S) Signal Description RX(S→M) Signal Description
RY(n+2)0 OUT0
Output port ON/OFF
RX(n+2)0 ORG
I/O port status
RY(n+2)1 OUT1 RX(n+2)1 +Limit
RY(n+2)2 OUT2 RX(n+2)2 -Limit
RY(n+2)3 OUT3 RX(n+2)3 IN0
RY(n+2)4 OUT4 RX(n+2)4 IN1
RY(n+2)5 OUT5 RX(n+2)5 IN2
RY(n+2)6 OUT6 RX(n+2)6 IN3
RY(n+2)7 Step0
Index running step
select
RX(n+2)7 IN4
RY(n+2)8 Step1 RX(n+2)8 IN5
RY(n+2)9 Step2 RX(n+2)9 IN6
RY(n+2)A Step3 RX(n+2)A IN7
RY(n+2)B Step4 RX(n+2)B OUT0
RY(n+2)C Step5 RX(n+2)C OUT1
RY(n+2)D Monitor
Request Monitor request RX(n+2)D OUT2
RY(n+2)E
RY(n+2)F
- Disable
RX(n+2)E OUT3
RX(n+2)F OUT4
RY(n+3)0
to
RY(n+3)F
RX(n+3)0 OUT5
RX(n+3)1 OUT6
RX(n+3)2 Monitoring Monitoring
RX(n+3)3
to
RX(n+3)F
- Disable

2 Function
16 © Copyright Reserved Autonics Co., Ltd.
2.2.4 Remote Register in 2 stations occupied
m, n indicates the address assigned to the master station by the station number setting.
RWw Description RWr Description
RWwm+4 - RWrn+4 Monitor 1 Data (lower)
RWwm+5 - RWrn+5 Monitor 1 Data (upper)
RWwm+6 Monitor 1 RWrn+6 Monitor 2 Data (lower)
RWwm+7 Monitor 2 RWrn+7 Monitor 2 Data (upper)

2 Function
© Copyright Reserved Autonics Co., Ltd. 17
2.2.5 RY Signal Specification
Servo On/Off [RYn0]
It is used to rotate the shaft of the motor with external force or to adjust the position
manually.
When Servo On/Off[RYn0] is ON
: it is recognized as Servo Off signal and Servo On/Off[RXn0] is OFF and torque is
released due to phase current cutoff from the motor.
Servo indicator, In-Position output and indicator turn OFF.
Due to the hazard of safety, please use the motor after completely stopped.
EMG [RYn1]
Motor stops immediately and occurs the emergency stop alarm.
It does not cutoff the current through the motor.
EMG signal is not available in case of the motor is stopped.
When EMG[RYn1] is ON, EMG[RXn1] is ON.
Home [RYn2]
Execute the home search mode.
Home search mode type can be set in parameters and can be set the start speed, max
speed, acceleration time and deceleration time through the parameters.
During the home search mode operation, Running[RYn6] is ON, when home search is
completed, Home End[Rxn2] is ON.
Reset [RYn3]
Driver reset operates same as power resupply.
When the motor is running, it stops immediately and resets the driver.

2 Function
18 © Copyright Reserved Autonics Co., Ltd.
Alarm Reset [RYn4]
Reset the Alarm.
Only available when Alarm[RXn3] is ON.
+RUN [RYn5]
Rotate to CW(+direction).
Stop when +RUN[RYn5] is OFF or STOP[RY(n+1)0] is ON.
-RUN [RYn6]
Rotate to CCW(-direction).
Stop when -RUN[RYn6] is OFF or STOP[RY(n+1)0] is ON.
PR Start [RYn7]
Start program running.
While program is running, Running[RXn6] and PR Running[RXn7] is ON.
PR Single Start [RYn8]
Start program single step running.
Execute program single step running depend on index mode step selection [RY(n+2)7 to
RY(n+2)C].
While program is running, Running[RXn6] and PR Running[RXn8] is ON.
PR Pause [RYn9]
Pause the program running.
When the pause signal is applied during the program mode running, it stops after
completing the current step.
“PR Start[RYn7]” command is applied after pause, program running restarts from the
next step after the stopped step.

2 Function
© Copyright Reserved Autonics Co., Ltd. 19
PR Stop [RYnA]
Stop the program mode after completing currently operating step.
ABS [RYnB]7
Execute absolute position move.
For more information, refer to ‘3.2.3 절대 위치 이동’.
INC [RYnC]
Execute relative position move.
For more information, refer to ‘3.2.2 상대 위치 이동’.
Position Reset [RYnD]
Set the current position to ‘0’.
Read Request [RYnE]
If the command code and command data number are written in the read request code
[Rwwm+0] and the data read is requested, the read data is displayed in the Remote
Register [Rwrn+2 to 3].
When the Read Request Success[RXnE] is not ON and the Read Error[RX(n+1)0] is ON, this
is the case that the command was incorrectly input. Please check the entered command.
Write Request [RYnF]
Request write.
Enter the upper write command[Rwwm+1] and write data number, and enter write data
in [RWwm+2 to 3] to request data write execution.
When the Write Request Success[RXnF] is not ON and the Write Error[RX(n+1)1] is ON,
this is the case that the command was incorrectly input or the allowable input data
range is exceeded. Please check the entered command and data.

2 Function
20 © Copyright Reserved Autonics Co., Ltd.
Stop [RY(n+1]0]
Stop operation.
OUT0 to 6 [RY(n+2]0 to 6]
Used for output port ON/OFF.
STEP0 to 5 [RY(n+2]7 to C]
Set 1 step for index mode running.
The steps can be set 0 to 63 with the combination of 6 bit.
STEP No. Step5 Step4 Step3 Step2 Step1 Step0
STEP 0 0 0 0 0 0 0
STEP 1 0 0 0 0 0 1
STEP 2 0 0 0 0 1 0
…
STEP 61 1 1 1 1 0 1
STEP 62 1 1 1 1 1 0
STEP 63 1 1 1 1 1 1
Monitor Request [RY(n+2]D]
Request monitoring execution.
When entering the Monitoring group’s command code write data number on [Rwwm+6
to 7]Monitor1 to 2. The data will be displayed on [Rwrn+4 to 5]Monitor1, [Rwrn+6 to
7]Monitor2

2 Function
© Copyright Reserved Autonics Co., Ltd. 21
2.2.6 RX Signal Specification
Servo On/Off [RXn0]
1: Servo On, 0: Servo Off
EMG [RXn1]
Emergency stop status display
Home End [RXn2]
Home search operation complete
Alarm [RXn3]
Alarm occur
In-Position [RXn4]
Operation completed signal
Warning [RXn5]
Warning occur
Running [RXn6]
In operation
Program running, +-direction operation, absolute position, relative position operation ON
PR Running [RXn7]
Program running
PR Single Running [RXn8]
Program single step running
ABS Running [RXnB]
Absolute position movement running
INC Running [RXnC]
Relative position movement running
Position Reset Success [RXnD]
Current position reset success
Read Success [RXnE]
Read execution request complete
Write Success [RXnF]
Write execution request complete
Read Error [RX(n+1)0]
Read execution request error
Write Error [RX(n+1)1]
Write execution request error
ORG [RX(n+2)0 to RX(n+3)1]
I/O port status ORG, +Limit, -Limit, IN0 to 7, OUT0 to 6 signal
Monitoring [RX(n+3)2]
Monitoring

3 Driving operation
22 © Copyright Reserved Autonics Co., Ltd.
3Driving operation
3.1 Switch setting and LED indication
1: Power connector (CN1: PWR)
2: Motor+Encoder connector (CN2: Motor)
3: I/O connector (CN3: Signal I/O)
4-1: RS485 communication connector (CN4: RS485)
4-2: Brake connector (CN5: BRAKE)
5-1: Servo On/Off indicator (SERVO, Orange)
5-2: In-Position indicator (INP., Yellow)
5-3: Power/Alarm indicator (PWR/AL, Green/Red)
6: Alarm/Warning status indicator (7 Segment, Red)
7: CC-Link status indicator (L.ERR/L.RUN, Red/Green)
8. CC-Link station setting DIP switch (SW1)
9: CC-Link comm. speed setting rotary switch (B-RATE)
10: CC-Link comm. station setting rotary switch (STATION NO.)
11. CC-Link connector (CN6: DA DB DG SH FG)