CKD AXD Series User manual

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AXD SERIES
DRIVERFOR DIRECT DRIVE ACTUATOR
Parallel I/O Specifications
INSTRUCTION MANUAL
Before operating the product, read this instruction manual without fail.
Among all, carefully read the description related to safety.
Keep this instruction manual in a safe place so that you can read it at any time when necessary.

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INTRODUCTION
Thank you for selecting our ABSODEX.
ABSODEX is a direct drive indexing unit developed to drive intermittently operated turntables or
the like of general industrial assembling machines and testing machines flexibly and accurately.
This instruction manual is exclusively for ABSODEX AXD Series. It is inapplicable to other
types.
If your use method or handling method is not appropriate, its functions cannot be performed
fully, an unexpected accident may occur and the product life may be shortened.
Before starting operation of our product, read through this instruction manual to keep the initial
performance and operate without failures.
The matters, specifications and appearance given in this instruction manual are subject to
change without notice.

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FOR SAFETY OPERATION
When designing or manufacturing equipment incorporating this product, you are obligated to
manufacture safe equipment. To do so, check that the mechanism of the equipment and the
electric control for controlling the mechanism assure the safety of the system.
For safety of the design or management of the equipment, strictly observe the organization
standards and the regulations.
To operate our product safely, selection, operation and handling of the product, and adequate
maintenance procedures are important.
Be sure to observe the description given under WARNING and precautions to assure safety of
the equipment.
Various safety measures are taken for the product, however, handling that is not described in
this instruction manual could lead to an accident. Before using the product, read this instruction
manual carefully and gain full understanding of the contents.
To clearly indicate the degree of harm and damage and the possibility of their occurrence,
precautions are divided into three categories: “DANGER,” “WARNING,” and “CAUTION.”
DANGER
A case where if handling is wrong, it is assumed that an
imminent dangerous situation due to which a death or serious
injury may be caused will occur.
WARNING
A case where if handling is wrong, it is assumed that a
dangerous situation due to which a death or serious injury
may be caused will occur.
CAUTION A case where if handling is wrong, it is assumed that a risk
due to which an injury or physical damage may be caused will
occur.
Even items described under “CAUTION” may cause serious results.
Observe each item without fail because these safety precautions are important.

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<Type of WARNING symbols>
A general mark that indicates
prohibited acts (what not to do).
A mark that prohibits the act of
touching the device.
A mark that prohibits the act of
inserting a finger.
A general mark that indicates the
danger of electric shock or burn.
A mark that indicates the danger
that occurs when an automated
device is activated.
A general mark that instructs what
you must do.
A mark that instructs you to
carefully read the instruction
manual.
A mark that instructs you to
connect a ground cable.

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Precautions for the Product
DANGER
Do not attach or remove connectors with the power on.
A malfunction, failure, or electric shock may be caused.
Do not operate in explosive or fire atmosphere.
Do not use the product for the following purposes:
Medical appliances for maintaining or managing human life or body
Mechanism or machine equipment intended for travel or transportation of people
Important security parts of machine equipment
WARNING
Do not alter or additionally process the product.
Alteration or additional processing not only lead to the risk of fire or electric
shock but also to non-compliance with the specification described in the
instruction manual.
Do not handle the product, attach or remove devices until the safety is
confirmed.
Inspect or maintain machines or equipment after confirming that the safety of all
systems in which the product involves is ensured. Power off the equipment and
the applicable facilities, and be careful not to get electric shock.
Even after the operation stopped, there may be hot areas or energized parts. Be
careful when handling the product, or attaching or removing devices.

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WARNING
A person with sufficient knowledge and experience should handle the
product.
The product is designed and manufactured as equipment/component for general
industrial machinery.
Observe the use of the product within the specification.
The products cannot be used out of its intrinsic specification.
As this product is intended for use in equipment/component for general industrial
machinery, the uses under the following conditions or environments are not
covered. If you consulted with our company for adoption and understood the
specification of our product, such use is covered. However, in such cases, take
safety measures to avoid dangers in case of failure.
◎Use in conditions or environments other than those specified in the
specification, or outside.
◎Use in nuke, railways, aviation, ships, vehicles, medical appliances, and
equipment or applications that come in direct contact with beverages, food,
etc.
◎Use in applications that require safety, such as entertainment devices,
emergency shut-off circuit, press machine, braking circuit, and safety
measures.
◎Use in applications where significant impact on people and property are
expected and safety is particularly required.
For safety related to equipment design, observe the organization standards,
law, etc.

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CONTENTS
INTRODUCTION.................................................................................................... 2
FOR SAFETY OPERATION .................................................................................. 3
Precautions for the Product............................................................................................5
CONTENTS ........................................................................................................... 7
1. PRODUCT CONFIGURATION .............................................................. 12
System Configuration ..................................................................................12
Instruction Manual for the Product..........................................................14
2. OPERATION FLOW ................................................................................ 15
Installation and Connection Check ..........................................................17
Creation of Test Operation Program ........................................................19
Gain Adjustment ...........................................................................................20
Home Position Determination....................................................................26
Test Operation................................................................................................26
Wiring...............................................................................................................27
3. INSTALLATION ...................................................................................... 29
Driver Installation.........................................................................................31
About Cable ....................................................................................................33
Unpacking .......................................................................................................33
Wiring Method................................................................................................35

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4. HOW TO USE .......................................................................................... 56
Pin Arrangement and Signal Name..........................................................57
How to Use General I/O Signals ...............................................................62
Pulse String Input Signals ..........................................................................82
Encoder Output Function ............................................................................86
Application Example of I/O Signal ...........................................................87
Operation Panel ...........................................................................................100
5. PARAMETER SETTING ....................................................................... 102
Parameters and Contents .........................................................................102
Types and Characteristics of Cam Curve...............................................116
Amount of Home Position Offset and Home Positioning Motion ...118
Precautions for Software Limit................................................................119
Judgment of In-position ...........................................................................121
Judgment of Positioning Completion.....................................................122
Correct Setting Of PRM16 (In-Position Range) ..................................123
G101 (Equal Segment Designation) and Parameter .........................125

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Using Filters..................................................................................................129
Positioning Completion Signal Outputting Time.................................132
Controlled Stop upon Alarm Valid/Invalid ...........................................132
In-position Signal Output Mode..............................................................133
Mode Selection of I/O Signal ...................................................................133
Integral Limiter ...........................................................................................134
6. PROGRAM ............................................................................................. 135
General Description ....................................................................................135
Operation Mode ...........................................................................................137
NC Program Format....................................................................................138
Code List ........................................................................................................140
ABSODEX Status at Power-on Start.......................................................148
NC Program Example .................................................................................150
7. COMMUNICATION FUNCTIONS (CN1: USB)........................................ 154
Communication Codes ...............................................................................154
Communication Code List .........................................................................158
Communication Methods ..........................................................................163
8. GAIN ADJUSTMENT............................................................................ 164
What is Gain Adjustment? ........................................................................165
Gain Adjustment Method ..........................................................................167

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9. APPLICATION EXAMPLES ................................................................. 174
Product Type Change .................................................................................174
Shortest Route Indexing...........................................................................176
Crimping ........................................................................................................179
Pick and Place (Oscillation)......................................................................181
Indexing Table .............................................................................................184
Continuous Rotation...................................................................................186
10. MAINTENANCE AND TROUBLESHOOTING ........................................ 188
Maintenance Inspection ............................................................................190
Troubleshooting...........................................................................................191
System Initializing ......................................................................................195
11. ALARMS ................................................................................................. 196
Alarm Display and Description ................................................................196
Servo Status for Alarms ............................................................................201
12. SUPPORT FOR UL STANDARD.......................................................... 202
Precautions for Using the Driver ............................................................203
13. SUPPORT FOR EUROPEAN STANDARDS........................................... 209
EU Directive / European Standards .......................................................209
Precautions on Operation in EU Member Countries and U. K.........210