Autonics AiC-D-20MA User manual

User Manual
Closed-Loop Stepper System
AiC-D Series
MMD-AiCU1-V1.5-2009US
Thank you for purchasing an Autonics product.
This user manual contains information about the product and its proper use,
and should be kept in a place where it will be easy to access.
www.autonics.com

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

User Manual Guide
iv © Copyright Reserved Autonics Co., Ltd.
User 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.
A user 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.

User Manual Symbols
© Copyright Reserved Autonics Co., Ltd. v
User 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.

Safety Considerations
vi © Copyright Reserved Autonics Co., Ltd.
Safety Considerations
Following these safety considerations will ensure the safe and proper use of the
product and help prevent accidents, as well as minimizing possible hazards.
Safety considerations 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. vii
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).

Cautions during Use
viii © Copyright Reserved Autonics Co., Ltd.
Cautions during Use
Follow instructions in 'Cautions during Use'.
Otherwise, it may cause unexpected accidents.
24VDC power supply should be insulated and limited voltage/current or Class 2, SELV
power supply device.
Re-supply power after min. 1 sec from disconnected power.
In case communication is unstable due to the noise generated by supplied power or
peripheral device, use ferrite core at communication line.
It is recommended to use 485 converter with the separate power.
(Autonics product, SCM-38I, recommended)
The thickness of cable should be same or thicker than the motor cable's when
extending the motor cable.
① CN1 (power connector): AWG18
② CN2 (motor+encoder connector): AWG22, AWG24
③ CN3 (I/O connector): AWG28
Keep the distance between power cable and signal cable more than 10cm.
Motor vibration and noise can occur in specific frequency period
① Change motor installation method or attach the damper.
② Use the unit out of the dedicated frequency range when vibration and noise occurs
due to changing motor RUN speed.
For using motor, it is recommended to maintenance and inspection regularly.
① Unwinding bolts and connection parts for the unit installation and load connection
② Strange sound from ball bearing of the unit
③ Damage and stress of lead cable of the unit
④ Connection error with motor
⑤ Inconsistency between the axis of motor output and the center, concentric
(eccentric, declination) of the load, etc.
This product does not prepare protection function for a motor.
This unit may be used in the following environments.
① Indoors (in the environment condition rated in 'Specifications')
② Altitude max. 2,000m
③ Pollution degree 2
④ Installation category II

Table of Contents
© Copyright Reserved Autonics Co., Ltd. ix
Table of Contents
Preface ............................................................................................................................iii
User Manual Guide.........................................................................................................iv
User Manual Symbols .....................................................................................................v
Safety Considerations....................................................................................................vi
Cautions during Use.....................................................................................................viii
Table of Contents...........................................................................................................ix
1Product Overview ................................................................................... 12
1.1 Features............................................................................................................ 12
1.2 Configuration Diagram and Components...................................................... 13
1.2.1 Configuration Diagram .............................................................................13
1.2.2 Components..............................................................................................13
1.3 Ordering Information ...................................................................................... 14
1.3.1 Driver .........................................................................................................14
1.3.2 Motor .........................................................................................................16
1.4 Models.............................................................................................................. 18
1.4.1 Standard Type...........................................................................................18
1.4.2 Built-in Brake Type....................................................................................18
2Specifications .......................................................................................... 20
2.1 Driver................................................................................................................ 20
2.1.1 Factory Default..........................................................................................21
2.2 Motor ................................................................................................................ 22
2.2.1 Frame Size 20mm......................................................................................22
2.2.2 Frame Size 28mm......................................................................................22
2.2.3 Frame Size 35mm......................................................................................22
2.2.4 Frame Size 42mm......................................................................................23
2.2.5 Frame Size 56mm......................................................................................23
2.2.6 Frame Size 60mm......................................................................................23
2.2.7 Common Specifications ...........................................................................24
2.2.8 Brake..........................................................................................................25
2.2.9 Encoder......................................................................................................26
3Dimensions .............................................................................................. 27
3.1 Driver................................................................................................................ 27
3.2 Motor ................................................................................................................ 28
3.2.1 Standard Type...........................................................................................28
3.2.2 Built-in Brake Type....................................................................................32
4Installation of Motor ............................................................................... 35
4.1 Mounting Direction of Motor........................................................................... 35
4.2 Mounting of Motor........................................................................................... 36
4.2.1 Frame Size 20mm......................................................................................36
4.2.2 Frame Size 28mm......................................................................................36
4.2.3 Frame Size 35mm......................................................................................36
4.2.4 Frame Size 42mm......................................................................................37
4.2.5 Frame Size 56mm / Frame Size 60mm.....................................................37

Table of Contents
x© Copyright Reserved Autonics Co., Ltd.
4.3 Connection with Load......................................................................................38
4.3.1 Direct Load Connection with Coupling....................................................38
4.3.2 Load Connection with Pulley, Belt, and Wire ..........................................38
4.3.3 Load Connection with Gear ......................................................................38
4.4Installation Conditions.....................................................................................39
5Connection...............................................................................................40
5.1 Standard Type ..................................................................................................40
5.2 Built-in Brake Type ...........................................................................................41
6Characteristics.........................................................................................42
6.1 Standard Type ..................................................................................................42
6.1.1 Frame Size 20mm......................................................................................42
6.1.2 Frame Size 28mm......................................................................................42
6.1.3 Frame Size 35mm......................................................................................42
6.1.4 Frame Size 42mm......................................................................................43
6.1.5 Frame Size 56mm......................................................................................43
6.1.6 Frame Size 60mm......................................................................................43
6.2 Built-in Brake Type ...........................................................................................44
6.2.1 Frame Size 42mm......................................................................................44
6.2.2 Frame Size 56mm......................................................................................44
6.2.3 Frame Size 60mm......................................................................................44
7Driver Unit Descriptions .........................................................................46
7.1 Connectors........................................................................................................47
7.1.1 CN1: Power Connector..............................................................................47
7.1.2 CN2: Motor+Encoder Connector ..............................................................47
7.1.3 CN3: I/O Connector ...................................................................................48
7.1.4 CN4: RS485 Communication Cable Connector .......................................49
7.2 Connector Specifications.................................................................................50
7.3 Switches............................................................................................................50
7.3.1 SW1: ID Setting Switch..............................................................................50
7.3.2 SW2: ID Setting/Terminating Resistance DIP Switch ..............................51
7.4 Driver Status Indicator .....................................................................................51
7.5 Sold Separately.................................................................................................52
7.5.1 I/O Cable (CO50-MP□-R, standard: AiC TAG)...........................................52
7.5.2 Power Cable (CJ-PW-□)...........................................................................53
7.5.3 Motor+Encoder Cable (normal: C1D14M-□/moving: C1DF14M-□).......53
8Control Input/Output..............................................................................54
8.1 Input..................................................................................................................54
8.1.1 Exclusive Input (20) ...................................................................................54
8.1.2 General Input (9) .......................................................................................60
8.1.3 Example of Input Circuit Connection.......................................................60
8.2 Output...............................................................................................................61
8.2.1 Exclusive Output (AiC-D: 4, AiC-D-B: 6).....................................................61
8.2.2 General Output (AiC-D: 10, AiC-D-B: 9).....................................................63
8.2.3 Example of Output Circuit Connection....................................................63
8.2.4 Brake Output .............................................................................................63
9Drive..........................................................................................................64

Table of Contents
© Copyright Reserved Autonics Co., Ltd. xi
9.1 I/O Signal Control Drive .................................................................................. 64
9.1.1 Index Drive.................................................................................................64
9.1.2 Jog Drive....................................................................................................66
9.1.3 Continuous Drive ......................................................................................68
9.1.4 Program Drive ...........................................................................................70
9.1.5 Home Search.............................................................................................70
9.2 atMotion Control Drive.................................................................................... 76
9.2.1 Jog Mode ...................................................................................................80
9.2.2 Continuous Mode......................................................................................81
9.2.3 Position Mode ...........................................................................................82
9.2.4 Program Mode...........................................................................................84
9.2.5 Home Search Mode...................................................................................85
10 Program Instructions.............................................................................. 90
10.1 Drive Instruction.............................................................................................. 91
10.1.1 ABS (absolute position move)..................................................................91
10.1.2 INC (relative position move).....................................................................93
10.1.3 HOM (home search) ..................................................................................94
10.2 Input/Output Instruction ................................................................................ 95
10.2.1 ICJ (input condition jump) .......................................................................95
10.2.2 IRD (input wait) .........................................................................................95
10.2.3 OPC (output port ON/OFF) .......................................................................95
10.2.4 OPT (output port ON pulse) .....................................................................96
10.2.5 CMP (compare output) .............................................................................96
10.3 Program Control Instruction........................................................................... 97
10.3.1 JMP (jump)................................................................................................97
10.3.2 REP (repeat start) ......................................................................................97
10.3.3 RPE (repeat end) .......................................................................................98
10.3.4 END (program end) ...................................................................................98
10.3.5 POS (position set) .....................................................................................98
10.3.6 TIM (ready).................................................................................................98
11 Driver Function........................................................................................ 99
11.1 General Drive ................................................................................................... 99
11.1.1 Fixed Pulse and Continuous Pulse Drive .................................................99
11.1.2 Speed Curve ............................................................................................101
11.2 Other Functions............................................................................................. 106
11.2.1 Limit Operation .......................................................................................106
11.2.2 Position Control Gain Setting.................................................................107
11.2.3 Stop Current ............................................................................................108
11.2.4 Stop Current Fix ......................................................................................108
11.2.5 Speed Filter .............................................................................................108
11.2.6 In-Position ...............................................................................................109
11.2.7 Servo Off..................................................................................................110
11.2.8 Motor Direction .......................................................................................110
11.2.9 Position Override ....................................................................................110
12 Protection Function...............................................................................111
12.1 Alarm ...............................................................................................................111
12.2 Warning ...........................................................................................................114
13 Troubleshooting.....................................................................................115

1 Product Overview
12 © Copyright Reserved Autonics Co., Ltd.
1Product Overview
1.1 Features
AiC Series is 2-phase closed-loop stepper motor drivers feature integrated controllers, which
allow direct control via network connection with master control devices, offering easy
programming, connection, and installation. The drivers offer a low cost closed-loop system
compared to servo motros, with quick response rates for better continuouse operation.
This series also features encoder resolution upto 16,000 pulses per revolution, offering high
precision control down to 0.0225°. 17 alarm outputs are available for safe and stable
operation.
Motor+driver integrated controller type
Low cost closed loop system compared to servo motors with quick response rates for
better continuous drive operation
Brakes are applied during sudden power outages, allowing safe control of vertical loads
(built-in brake type)
Control up to 31 axes with RS485 communication
14 control commands and up to 256 steps of operation programming
4 operation modes: jog mode, continuous mode, index mode, program mode
50-pin I/O offers flexible wiring options
C language library provided (32-bit, 64-bit)
Windows-based motion control software (atMotion) provided
Low vibration during low speed drive and high torque during high speed drive
No tuning required (easy gain setting using adjuster)
Holding torque and no vibration (hunting) during position hold make it ideal for
precision machines including optical inspection
10-stage resolution setting
Various alarm outputs: overcurrent, overspeed, overheating, motor connection error,
encoder connection error, etc. (17 alarms)
Supported motor frame sizes: 20 mm, 28 mm, 35 mm, 42 mm, 56 mm, 60 mm

1 Product Overview
ⓒ Copyright Reserved Autonics Co., Ltd. 13
1.2 Configuration Diagram and Components
1.2.1 Configuration Diagram
※I/O cable, motor+encoder cable and power cable are sold separately.
For more information, refer to the ‘7.5 Sold Separately’.
1.2.2 Components
1.2.2.1 Driver
AiC-D Series Instruction manual
1.2.2.2 Motor
Ai-M Series Instruction manual
Make sure all of the above components are included with your product package before use.
If a component is missing or damaged, please contact Autonics or your distributor.

1 Product Overview
14 © Copyright Reserved Autonics Co., Ltd.
1.3 Ordering Information
1.3.1 Driver
(1) Frame size 20 / 28 / 35mm
Ai
C
-
D
-
60
L
A
-
①
②
③
④
⑤
⑥
⑦
Item
Description
① Series
Ai
Artificial intelligent
② Category
C
Controller
③ Item
D
Driver
④ Motor frame size
20
20×20mm
28
28×28mm
35
35×35mm
⑤ Motor length
S
Short - Frame size 28mm: 46mm,
Frame size 35mm: 41.5mm
M
Middle - Frame size 20mm: 41.2mm,
Frame size 28mm: 59mm,
Frame size 35mm: 52mm
L
Long - Frame size 20mm: 53.1mm,
Frame size 28mm: 65mm,
Frame size 35mm: 68.5mm
⑥ Encoder resolution
A
4,000PPR (1,000PPRⅹ4-multiply)
B
16,000PPR (4,000PPRⅹ4-multiply)

1 Product Overview
ⓒ Copyright Reserved Autonics Co., Ltd. 15
(2) Frame size 42 / 56 / 60mm
Ai
C
-
D
-
60
L
A
-
①
②
③
④
⑤
⑥
⑦
Item
Description
① Series
Ai
Artificial intelligent
② Category
C
Controller
③ Item
D
Driver
④ Motor frame size
42
42×42mm
56
57.2×57.2mm
60
60×60mm
⑤ Motor
length
Standard
Type
S
Short - Frame size 42mm: 67.5mm,
Frame size 56mm: 77.3mm,
Frame size 60mm: 81.9mm
M
Middle - Frame size 42mm: 73.5mm,
Frame size 56mm: 90.3mm,
Frame size 60mm: 102.8mm
L
Long - Frame size 42mm: 81.5mm,
Frame size 56mm: 111.3mm,
Frame size 60mm: 119.8mm
Built-in
Brake
type
S
Short - Frame size 42mm: 102.3mm,
Frame size 56mm: 112.1mm,
Frame size 60mm: 116.7mm
M
Middle - Frame size 42mm: 108.3mm,
Frame size 56mm: 125.1mm,
Frame size 60mm: 137.6mm
L
Long - Frame size 42mm: 116.3mm,
Frame size 56mm: 146.1mm,
Frame size 60mm: 154.6mm
⑥ Encoder resolution
A
10,000PPR (2,500PPRⅹ4-multiply)
⑦ Brake
No
mark
Standard Type
B
Built-in Brake type

1 Product Overview
16 © Copyright Reserved Autonics Co., Ltd.
1.3.2 Motor
(1) Frame size 20 / 28 / 35mm
Ai
-
M
-
20
L
A
-
①
②
③
④
⑤
⑥
Item
Description
① Series
Ai
Artificial intelligent
② Item
M
Motor
③ Motor frame size
20
20×20mm
28
28×28mm
35
35×35mm
④ Motor length
S
Short - Frame size 28mm: 46mm,
Frame size 35mm: 41.5mm
M
Middle - Frame size 20mm: 41.2mm,
Frame size 28mm: 59mm
Frame size 35mm: 52mm
L
Long - Frame size 20mm: 53.1mm,
Frame size 28mm: 65mm,
Frame size 35mm: 68.5mm
⑤ Encoder resolution
A
4,000PPR (1,000PPRⅹ4-multiply)
B
16,000PPR (4,000PPRⅹ4-multiply)

1 Product Overview
ⓒ Copyright Reserved Autonics Co., Ltd. 17
(2) Frame size 42 / 56 / 60mm
Ai
-
M
-
60
L
A
-
①
②
③
④
⑤
⑥
Item
Description
① Series
Ai
Artificial intelligent
② Item
M
Motor
③ Motor frame size
42
42×42mm
56
57.2×57.2mm
60
60×60mm
④ Motor
length
Standard
Type
S
Short - Frame size 42mm: 67.5mm,
Frame size 56mm: 77.3mm,
Frame size 60mm: 81.9mm
M
Middle - Frame size 42mm: 73.5mm,
Frame size 56mm: 90.3mm,
Frame size 60mm: 102.8mm
L
Long - Frame size 42mm: 81.5mm,
Frame size 56mm: 111.3mm,
Frame size 60mm: 119.8mm
Built-in
Brake
type
S
Short - Frame size 42mm: 102.3mm,
Frame size 56mm: 112.1mm,
Frame size 60mm: 116.7mm
M
Middle - Frame size 42mm: 108.3mm,
Frame size 56mm: 125.1mm,
Frame size 60mm: 137.6mm
L
Long - Frame size 42mm: 116.3mm,
Frame size 56mm: 146.1mm,
Frame size 60mm: 154.6mm
⑤ Encoder resolution
A
10,000PPR (2,500PPRⅹ4-multiply)
⑥ Brake
No
mark
Standard Type
B
Built-in Brake type

1 Product Overview
18 © Copyright Reserved Autonics Co., Ltd.
1.4 Models
1.4.1 Standard Type
(1) Frame size 20 / 28 / 35mm
Set
Driver
Motor
AiC-20MA
AiC-D-20MA
Ai-M-20MA
AiC-20LA
AiC-D-20LA
Ai-M-20LA
AiC-28SB
AiC-D-28SB
Ai-M-28SB
AiC-28MB
AiC-D-28MB
Ai-M-28MB
AiC-28LB
AiC-D-28LB
Ai-M-28LB
AiC-35SB
AiC-D-35SB
Ai-M-35SB
AiC-35MB
AiC-D-35MB
Ai-M-35MB
AiC-35LB
AiC-D-35LB
Ai-M-35LB
(2) Frame size 42 / 56 / 60mm
Set
Driver
Motor
AiC-42SA
AiC-D-42SA
Ai-M-42SA
AiC-42MA
AiC-D-42MA
Ai-M-42MA
AiC-42LA
AiC-D-42LA
Ai-M-42LA
AiC-56SA
AiC-D-56SA
Ai-M-56SA
AiC-56MA
AiC-D-56MA
Ai-M-56MA
AiC-56LA
AiC-D-56LA
Ai-M-56LA
AiC-60SA
AiC-D-60SA
Ai-M-60SA
AiC-60MA
AiC-D-60MA
Ai-M-60MA
AiC-60LA
AiC-D-60LA
Ai-M-60LA
1.4.2 Built-in Brake Type
Set
Driver
Motor
AiC-42SA-B
AiC-D-42SA-B
Ai-M-42SA-B
AiC-42MA-B
AiC-D-42MA-B
Ai-M-42MA-B
AiC-42LA-B
AiC-D-42LA-B
Ai-M-42LA-B
AiC-56SA-B
AiC-D-56SA-B
Ai-M-56SA-B
AiC-56MA-B
AiC-D-56MA-B
Ai-M-56MA-B
AiC-56LA-B
AiC-D-56LA-B
Ai-M-56LA-B
AiC-60SA-B
AiC-D-60SA-B
Ai-M-60SA-B
AiC-60MA-B
AiC-D-60MA-B
Ai-M-60MA-B
AiC-60LA-B
AiC-D-60LA-B
Ai-M-60LA-B

1 Product Overview
ⓒ Copyright Reserved Autonics Co., Ltd. 19

2 Specifications
20 © Copyright Reserved Autonics Co., Ltd.
2Specifications
2.1 Driver
Model※1
-
AiC-D-28SB
AiC-D-35SB
AiC-D-42SA(-B)
AiC-D-56SA(-B)
AiC-D-60SA(-B)
AiC-D-20MA
AiC-D-28MB
AiC-D-35MB
AiC-D-42MA(-B)
AiC-D-56MA(-B)
AiC-D-60MA(-B)
AiC-D-20LA
AiC-D-28LB
AiC-D-35LB
AiC-D-42LA(-B)
AiC-D-56LA(-B)
AiC-D-60LA(-B)
Power supply
24VDCᜡ
Allowable voltage
range
90 to 110% of the rated voltage
Power
consu
mption
STOP ※2
Max. 10W
Max. 10W
Max. 12W
Max. 15W
Max. during
operation
※3
Max. 60W
Max. 60W
Max. 120W
Max. 240W
Max. RUN current ※4
0.6A/Phase
1.0A/Phase
1.2A/Phase
1.7A/Phase
3.5A/Phase
STOP current※4
20 to 100% of max. RUN current (factory default: 50%)
Rotation speed
0 to 3000rpm
Resolution※5
500, 1000, 1600,
2000, 3600,
4000, 5000,
6400, 7200,
10000 PPR
500, 1000, 1600, 2000, 3600,
5000, 6400,7200, 10000, 16000
PPR
500, 1000, 1600, 2000, 3200, 3600, 5000, 6400,
7200, 10000 PPR
Speed filter ※5
0 (disable), 2, 4, 6, 8, 10, 20, 40, 60, 80, 100, 120, 140, 160, 180, 200 ms
Positioning gain ※5
(P Gain, I Gain) = (1, 1), (2, 1), (3, 1), (4, 1), (5, 1), (1, 2), (2, 2), (3, 2), (4, 2), (5, 2), (1, 3), (2, 3),
(3, 3), (4, 3), (5, 3), user setting
Positioning range
-2,147,483,648 to +2,147,483,647
In-Position
Fast Response: 0 to 7 or Accurate Response: setting range among 0 to 7
Motor rotation
direction※5
CW, CCW
Status indicator
● Power/Warning indicator: green LED ● Alarm indicator: red LED
● In-Position indicator: yellow LED ● Servo On/Off indicator: orange LED
● RS485 DATA IN/OUT indicator: green/yellow LED
I/O voltage level
[H]: 5-30VDCᜡ, [L]: 0-2VDCᜡ
I/O
Input※6
Exclusive input: 20, general input: 9
Output
● Standard type - exclusive output: 4, general output: 10
● Built-in brake type - exclusive output: 6, general output: 9
External power
supply
VEX (recommended: 24VDCᜡ): 2, GEX (GND): 2
Operation mode
Jog / Continuous / Index / Program mode
Index step numbers
64 steps
Progra
m
functio
n
Steps
256 steps
Control
command
ABS (move absolute position), INC (move incremental position), HOM (home search),
ICJ (jump input condition), IRD (waiting input), OPC (on/off of output port),
OPT (on pulse from output port), JMP (jump), REP (start repetition), RPE (end repetition),
END (end program), POS (position set), TIM (timer), CMP (compare output)
Start
Power ON program start function
Home
search
Power ON home search function
Home search mode
Home, limit home, zero home, torque home