CKD ABSODEX AX9000XS-U2 User manual

SMF-2008-A
Instruction Manual
ABSODEX
AX Series
XS Type
CC-Link specification
Before using this product, be sure to
read this Instruction Manual.
In particular, read the descriptions on
safety carefully.
Store this Instruction Manual so that it
can be taken out and read quickly as
necessary.

Contents
ABSODEX
AX series [XS type CC-Link specification]
Instruction Manual No. SMF-2008-A
Introduction ···························································································1
1. Specifications
1.1 Product Configuration ··································································1-1
1.2 General Specifications of Driver ·····················································1-2
1.3 Performance Specifications of Driver···············································1-3
2. Wiring
2.1 Panel Description········································································2-1
2.2 Communication Connector····························································2-2
2.3 Connecting the Communication Cable·············································2-3
2.4 IO interface················································································2-5
2.4.1 Wiring of emergency stop input (TB3) ·······································2-5
3. CC-Link Communication Function
3.1 Communication Specifications ·······················································3-1
3.2 I/O Device··················································································3-2
3.3 Data Communication Timing Chart··················································3-7
3.3.1 Monitor code········································································3-7
3.3.2 Command code····································································3-8
3.3.3 Response code ····································································3-9
3.4 Defining the CC-Link Register························································3-10
3.5 Connection with CC-Link Unit ························································3-12
3.6 Monitoring the CC-Link Communication State···································3-15
3.7 LED Indication············································································3-16
3.8 7-segment LED Indication·····························································3-17
4. Network Operation Mode
4.1 Point Table Operation···································································4-1
4.1.1 Operation method ·································································4-1
4.1.2 Point table data ····································································4-2
4.1.3 Point table setting example ·····················································4-5
4.2 Data Input Operation····································································4-8
4.2.1 Operation method ·································································4-8
4.2.2 Input data············································································4-9
4.2.3 Input data setting examples ····················································4-11
Created on June 1, 2016

Introduction
[SMF-2008-A] – 1 –
Introduction
Thank you for choosing our ABSODEX.
ABSODEX is a direct-drive index unit developed to drive intermittently operated turntables or the likes of
general industrial assembling machines, inspection machines, etc. flexibly at a superior precision.
This Instruction Manual is dedicated to the ABSODEX AX series XS type driver CC-Link specification.
It is not applied to other types.
For the operation method, precautions on operation, maintenance and inspection items and so on, refer
to "Instruction Manual for AX Series TS/TH/XS type" (SMF-2006) contained in the attached CD-ROM.
The descriptions, specifications and appearances written in this Instruction Manual may be changed
without notice in the future.

1. Specifications
[SMF-2008-A] – 1-1 –
1. Specifications
1.1. Product Configuration
Name
Quantity
1
Driver unit
1
2 Accessories
CN5 motor power connector:
PC4/3-ST-7.62 (Phoenix Contact)
1
CN4 power supply connector:
PC4/5-ST-7.62 (Phoenix Contact)
1
CN3 communication connector (CC-Link):
BLZ5.08/FAU (Weidmüller)
1

1. Specifications
[SMF-2008-A]
– 1-2 –
1.2. General Specifications of Driver
Item AX9000XS-U2 (CC-Link specification)
Power
Main Single-phase or three-phase: 200V AC ± 10% to 230V AC ±
10% (standard)
1-100V AC - 10% to 115V AC + 10% (J1:option)
Control 1-200V AC - 10% to 230VAC + 10% (standard)
1-100V AC - 10% to 115V AC + 10% (J1:option)
Frequency 50/60 Hz
Rated input current 1.8 A
Input: Phase number Single-phase or three-phase
Output voltage 0~230 V
Output frequency 0~50 Hz
Rated output current 1.9 A
Output: Phase number Three-phase
Power system TN, TT, IT
Mass About 1.6 kg
Outside diameter size W75 * H220 * D160
Configuration Open modular type (driver, and controller)
Operating Ambient
Temperature Range 0 to 50°C
Operating Relative
Humidity Range 20 to 90%RH (No condensation allowed)
Storage Ambient
Temperature Range -20~65ºC
Storage Relative Humidity
Range 20 to 90%RH (No condensation allowed)
Atmosphere Free from corrosive gases, and dust
Anti-noise 1,000V (P-P), pulse width 1µsec, startup 1nsec
Anti-vibration 4.9m/s2
Altitude Altitude: 1,000 m or less
Protection IP2X (CN4 and CN5 are excluded)

1. Specifications
[SMF-2008-A] – 1-3 –
1.3. Performance Specifications of Driver
Item Description
Number of Controlled
Axes
1 axis, 4,194,304 pulses/rotation
Angle Setting Unit ° (degree), pulse, and number of indexes
Angle Setting Minimum
Unit
0.001°, 1 pulse (= about 0.31 sec [0.000086 deg.])
Speed Setting Unit sec, rpm
Speed Setting Range 0.01 to 100 sec/0.11 to 240 rpm
Number of Indexes 1 to 255
Maximum Instruction
Value
8 digit input ±99,999,999
Timer 0.01 to 99.99sec
Programming Language NC language
Programming Method Data setting through RS-232C port using PC
Operation Mode Auto, single block, MDI, jog, servo OFF
Pulse string input, network operation mode
Coordinate Absolute and incremental
Acceleration Curve
<Five types>
Modified sine (MS), Modified constant velocity (MC, MC2)
Modified trapezoid (MT), Trapecloid (TR)
Status Display LED power lamp display
Motion Display
7-segment LED (2 digits)
Communication
Interface
Meets RS-232C specification
CC-Link Communication
Function
(Ver. 1.10, 2 stations
occupied, remote device
station)
<Input>
Home positioning instruction, reset, start, stop, continuous rotation
stop, emergency stop, answer, position deviation counter clear,
program number selection, brake release, servo ON, program
number setting, ready return
<Output>
Alarm 1 and 2, positioning completion, in-position, standby for start
input, M code 8 points, output during indexing 1/2, home position
output, M code strobe, segment position strobe, servo status,
ready output
Program Capacity
<NC program>
About 6,000 characters (256 pcs.)
<Point table>
64 points
Electronic Thermal
Protects the actuator from being overheated.

1. Specifications
[SMF-2008-A]
– 1-4 –
--- MEMO ---

2. Wiring
[SMF-2008-A] – 2-1 –
2.Wiring
2.1. Panel Description
A terminal strip and connectors, etc. are located on the front panel of the driver.
Fig. 2.1 XS type CC-link specification, Driver panel
Note *1: The safety function (TB1) of this product does not correspond to the accreditation of the safety
standards.
CN2 Encoder cable connector
Control power
LED
Main power
LED
Main
power
Control
power
Actuator output
terminal
Nameplate
Ground terminal
(2
-M4)
Motion display
7
-segment LED (2 digits)
Gain 1 adjustment DIP switch
(convergence time)
Gain 2 adjustment DIP switch
(load)
CN1 RS-232C connector
TB1 Safety function
terminal
*1
CC-Link LED
CN3 CC-Link connector
TB3 Emergency stop
terminal
TB2 Brake terminal

2. Wiring
[SMF-2008-A]
– 2-2 –
2.2. Communication Connector
The pin layout of CC-Link communication connector CN3 is shown below.
Fig. 2.2 Communication connector, Pin layout
Table 2.1 Pin layout of CN3
Pin
Signal
name
Function Description
1
DA
Data A
Connect the data A cable.
2
DB
Data B
Connect the data B cable.
3
DG
Data ground
Connect the data ground cable.
4
SLD
Shield
Connect the shielding cable. *1
5
FG
Frame ground
Connect the frame ground cable. *1 *2
*1 The SLD and FG terminals are connected inside.
*2 Be sure to connect the grounding terminal (heat sink section) of the driver to operate.
Do not tie the frame ground cable together with the protective ground cable, power cable or the
like.
(Otherwise noise will intrude, possibly making communications unstable.)
For details, refer to the CC-Link Laying Manual and so on.
Connect a terminator across terminals "DA" and "DB" if the module is connected at the end of the
network.
Fig. 2.3 Terminator, Connection example
5
4
3
2
1
SLD (Bare)
DG (Yellow)
DB (White)
DA (Blue)
Up
FG

2. Wiring
[SMF-2008-A] – 2-3 –
2.3. Connecting the Communication Cable
Follow the procedure below to connect the special CC-Link cable to the module.
(1) Peel the sheath of the cable off without causing a broken wire (length of peeled cable sheath:
7mm). Do not solder the bare cable. Otherwise poor continuity may be caused. The solderless
terminals specified below are recommended. Note that the peeling size of the cable sheath
varies according to the type of the solderless terminal (see the figures below).
Fig. 2.4 Peeling size of communication cable
(2) Insert the DA (blue), DB (white), DG (yellow) and SLD (bare) cables of the CC-Link cable into
the corresponding holes while taking care of the orientation of the accessory connection
connector (BLZ5.08/5FAU) (see the figure below), and tighten the cable fixing screw.
The recommended connector is BLZ5.08/FAU manufactured by Weidmüller.
Fig. 2.5 Connection example of communication cable
(3) After checking that the cable name is the same as the one indicated on the module, insert the
connection connector into the module and securely tighten the connector fixing screw to a
tightening torque of 0.3N·m.
If solderless terminals are not used
About 50mm
Cable
Insulating tube
If solderless terminals are used
To insert a single cable
Cable
Cable
To insert two cables
Wire 0.5mm2
(Do
not twist)
Wire 0.5mm2
(Do not twist)
Solderless terminal
Part name: Sleeve with
insulating cover
Model: H0.5/12
Manufacturer: Nihon
Weidmüller
Special tool for solderless terminal
Part name: Crimper
Model: PZ1.5 or PZ4
Manufacturer: Nihon Weidmüller
Solderless terminal
Part name: Sleeve with
insulating cover
Model: H0.5/15
Manufacturer: Nihon
Weidmüller
Special tool for solderless terminal
Part name: Crimper
Model: PZ1.5 or PZ4
Manufacturer: Nihon Weidmüller
Previous station
(Blue)
(White)
(Yellow)
(Bare)
(Blue)
(White)
(Yellow)
(Bare)
Next station

2. Wiring
[SMF-2008-A]
– 2-4 –
For details of the laying of the communication cable, refer to the CC-Link Laying Manual, etc.
CAUTION
Be sure to use special signal cables complying with the CC-Link specifications.
Before inserting the cable into the connector, loosen the cable fixing screw sufficiently
to avoid the cable entering the back side of the connector instead of the connector
tightening side.
For the shield wires for CC-Link special cables, connect to “SLD” of each unit via “FG”
and ground with class D (level III grounding resistance of 100 Ωor lower) SLD and
FG are connected inside the unit.
For those provided with a connector fixing screw, securely tighten the connector fixing
screw when inserting the connector. Otherwise the connector may be dislocated and
cause malfunction. For those not provided with a connector fixing screw, check that the
catch of the connector snaps in position.
Loosen the two fixing screws before removing the connector. The connector may be
damaged if excess force is applied to the connector without the two screws loosened.
Do not bend the communication cable forcibly. Assure a sufficient bending radius.
Remove the connector vertically to avoid excess force from being applied to the
connector.
Reserve a sufficient distance between the communication cable and power cable
(motor cable).
If the communication cable is routed near the power cable or if they are tied, noise will
enter to make communication unstable, possibly causing frequent communication
errors and/or communication retries.

2. Wiring
[SMF-2008-A] – 2-5 –
2.4. IO interface
Connect "emergency stop input (TB3)" in the following way.
2.4.1.Wiring of emergency stop input (TB3)
Rated voltage 24V ±10%, rated current within 5mA
Fig. 2.6 Connection example of emergency stop input (TB3)
The emergency stop input will be effective as default setting. Refer to the “AX Series TS, TH,
XS Type manual” (SMF-2006) for setting instructions.
Emergency stop is a “b” contact input. Thus it will take effect when emergency stop input (TB3)
becomes open. (Emergency stop using CC-Link will be effective when the input data is OFF)
Fig. 2.7 Specification of emergency stop input
Emergency stop can be inputted by TB3’s input terminal or CN3’s DeviceNet communications and
if one of the inputs becomes open (or off), it will be recognized as emergency stop.
→Input to TB3 is necessary to release the emergency stop.
Fig. 2.8 Applicable cable to TB3 and peeling size
The cable sheath peeling length should be 8 or 9mm.
The applicable cable is AWG20 to 24 (single cable) or AWG20 to 22 (stranded cable).
External power supply
24V DC
(Prepared by customer)
AWG20 to 24 (single cable)
AWG20 to 22 (stranded cable)
8~9mm
* The polarity of the
external power supply
can be inverse.
CN3: emergency stop
Input (serial)
TB3:emergency stop
input (I/O)
Serial communication
processing
Input processing
Emergency stops if either
input becomes open (or
off).
Emergency stop

2. Wiring
[SMF-2008-A]
– 2-6 –
--- MEMO ---

3. CC-Link Communication Function
[SMF-2008-A] – 3-1 –
3. CC-Link Communication Function
3.1. Communication Specifications
Table 3.1. Communication specifications
Item
Specification
Power supply
Supply 5V DC from the servo amplifier.
CC-Link version
Ver.1.10
Number of stations
occupied (station type)
2 (remote device station)
Number of remote input
points
48
Number of remote output
points
48
Remote register I/O
8 input words, 8 output words
Communication speed 10M/5M/2.5M/625k/156kbps
(Selected with a parameter setting)
Communication method
Broadcast polling
Synchronization method
Frame synchronization method
Coding method
NRZI
Transmission path type
Bus type (compliant with EIA RS-485)
Error control method
CRC (X16+X12+X6+1)
Connection cable Cable compatible with CC-Link Ver. 1.10
(3-conductor twisted pair cable with shield)
Transmission format
Compliant with HDLC
Remote station number
1 to 63 (parameter setting)
Number of connected
modules
Max. 32 remote device stations, 2 stations
occupied

3. CC-Link Communication Function
[SMF-2008-A]
– 3-2 –
3.2. I/O Device
2 stations occupied (Ryn/RXn: 48 points each. RWrn/RWwn: 8 points each)
Table 3.2. RYn/RXn device list
PLC →AX (RYn)
AX →PLC (RXn)
Device No.
Signal name
Logic
Judgment
Device No.
Signal name
Logic
RYn0
Program number selection input (bit 0)
Positive
Level
RXn0
M code output (bit 0)
Positive
RYn1
Program number selection input (bit 1)
Positive
Level
RXn1
M code output (bit 1)
Positive
RYn2
Program number selection input (bit 2)
Positive
Level
RXn2
M code output (bit 2)
Positive
RYn3
Program number selection input (bit 3)
Positive
Level
RXn3
M code output (bit 3)
Positive
RYn4
Program number selection input (bit 4) /
Program number setting input, second digit
Positive
Level /
Edge
RXn4 M code output (bit 4) Positive
RYn5
Program number setting input, first digit /
Program number selection input (bit 5)
Positive
Level /
Edge
RXn5 M code output (bit 5) Positive
RYn6
Reset input
Positive
Edge
RXn6
M code output (bit 6)
Positive
RYn7
Home return command input
Positive
Edge
RXn7
M code output (bit 7)
Positive
RYn8
Start input
Positive
Edge
RXn8
In-position output
Positive
RYn9
Servo-on input /
Program stop input
Positive
Level /
Edge
RXn9 Positioning completion output
Positive
RYnA
Ready return input /
Continuous rotation stop input
Positive Edge RXnA Start input wait output Positive
RYnB
Answer input /
Position deviation counter reset
Positive Edge RXnB Alarm output 1 Negative
RYnC
Emergency stop input
Negative
Level
RXnC
Alarm output 2
Negative
RYnD Brake release input Positive Level RXnD
Indexing-in-progress output 1
/ Home position output
Positive
RYnE Jog operation input (CW direction) *1 Positive Edge RXnE
Indexing-in-progress output 2
/ Servo state output
Positive
RYnF
Jog operation input (CCW direction) *1
Positive
Edge
RXnF
Ready state output
Positive
RY(n+1)0
Reserved *2
/ Movement unit selection input (bit 0)
*3
Positive Level RX(n+1)0
Segment position strobe
output Positive
RY(n+1)1
Reserved *2
/ Movement unit selection input (bit 1)
*3
Positive Level RX(n+1)1 M code strobe output Positive
RYn+1)2
Reserved *2
/ Movement speed unit selection input
*3
Positive Level
RX(n+1)2
to
RX(n+1)F Reserved -
RY(n+1)3
Table operation, data input operation
Switching input
Positive Level
RY(n+1)4
to
RY(n+1)F
Reserved - -
RY(n+2)0 Monitor output execution request Positive Level
RX(n+2)0
Monitoring
Positive
RY(n+2)1 Command code execution request
Positive
Edge RX(n+2)1
Command code execution
complete
Positive
RY(n+2)2
to
RY(n+2)F
Reserved - -
RX(n+2)2
to
RX(n+2)F Reserved -
RY(n+3)0
to
RY(n+3)F Reserved - -
RX(n+3)0
to
RX(n+3)A
Reserved -
RX(n+3)B
Remote ready
Positive
RX(n+3)C
to
RX(n+3)F
Reserved -
Note *1: Only the network operation mode can be used.
*2: Selected in the case of a table operation (RY (n+1) 3 = OFF).
*3: Selected in the case of a data input operation (RY (n+1) 3 = ON).

3. CC-Link Communication Function
[SMF-2008-A] – 3-3 –
Table 3.3. RWrn/RWwn device list
PLC →AX (RWwn) AX →PLC (RWrn)
Address
No.
Signal name
Address
No.
Signal name
RWwn Monitor 1 RWrn Monitor 1 data, lower 16 bits
RWwn+1 Monitor 2 RWrn+1 Monitor 1 data, upper 16 bits
RWwn+2 Command code RWrn+2 Response code
RWwn+3
Writing data, lower 16 bits *1
/ A code or P code, lower 16 bits
*2
RWrn+3 Loaded data, lower 16 bits
RWwn+4
Writing data, upper 16 bits *1
/ A code or P code, upper 16 bits
*2
RWrn+4 Loaded data, upper 16 bits
RWwn+5
Data designation *1
/ F code
*2
RWrn+5 Monitor 2 data, lower 16 bits
RWwn+6 Reserved RWrn+6 Monitor 2 data, upper 16 bits
RWwn+7 Reserved RWrn+7 Reserved
Note *1: Selected in the case of a table operation (RY (n+1) 3 = OFF).
*2: Selected in the case of a data input operation (RY (n+1) 3 = ON).
Table 3.4. Monitor code (RWwn, RWwn+1) list
Code
No.
Monitored item
Data
length
Unit Range
0001h
Current position in full rotation
(deg.)
32bit ×1000 [deg.] 0 to 359,999
0003h
Current position in full rotation
(pulse)
32bit [pulse] 0 to 4,194,303
0005h Position deviation amount 32bit [pulse] -2,147,483,648 to 2,147,483,647
0007h Program number 16bit [No.] 0 to 999
0008h Electronic thermal relay 16bit ×100 [°C] 0 to 65,535
0009h Rotation speed 16bit [rpm] -32,768 to 32,767
000Ah Point table number 16bit [No.] 0 to 63
Table 3.5. Response code (RWrn+2) list *3
Code No. Description Details
0 Normal The command code is executed normally.
1 Code error A code not listed is executed.
2
Parameter selection
error
A parameter number which cannot be read or set is
specified.
3 Error in writing range An excessive value is executed.
4 Timing error
The writing command code is executed during
processing of the CN1 communication function.
Note *3: The response code is shared in the monitor, load command and writing command.

3. CC-Link Communication Function
[SMF-2008-A]
– 3-4 –
Table 3.6. Load command code (RWwn+2) list
Code
No. Item/Function Loaded data
Loaded data
designation
RWwn+5
RWrn+3 RWrn+4
0010h
Current alarm
loading
Lower 8 bits:Alarm loading 1
Upper 8 bits: Alarm loading 2
Lower 8 bits:Alarm loading 3
Upper 8 bits: Alarm loading 4
-
0020h
Operation mode
loading
Current operation mode No. 0 (fixed) -
0025h
Parameter
loading
Lower 16 bits of parameter
set value
Upper 16 bits of parameter
set value
Parameter
number
Load current alarm (0010h)
The current alarm number is loaded.
It is set as loaded data. Each byte indicates the type, and up to four alarms are specified.
Alarm indication is consistent to the 7-segment LED indication. The first digit indicates details of
the alarm and the second digit indicates the alarm number. Alarms not expressed in 0 to F
Alarm H →"d"
Alarm L →"b"
Alarm P, U and others →"8"
Alarms are set in the order from "F" to "0."
In case of "no alarm," "00" is set.
Operation mode loading (0020h)
The current operation mode is loaded.
The number of the operation mode is set in the loaded data.
Table 3.7. Loadable operation mode list
Operation mode
Loaded data
set value
Automatic operation mode
1
Single block mode
2
MDI (manual data input) mode
3
Jog mode
4
Servo OFF mode
5
Pulse string input mode
6
Network operation mode
7
Parameter loading (0025h)
The set value of the parameter designated with the parameter number (RWwn+5) is loaded using
an integer value.
A parameter with a decimal value is loaded using a value multiplied by 100 or 10,000.
For details, refer to the “Parameter list” on page 3-6.

3. CC-Link Communication Function
[SMF-2008-A] – 3-5 –
Table 3.8. Writing command code (RWwn+2) list
Code
No. Item/Function Written data
Written data
designation
RWwn+5
RWwn+3 RWwn+4
0021h
Operation mode
switching
Automatic operation
number
0 (fixed) -
0029h Parameter setting
Lower 16 bits of parameter
set value
Upper 16 bits of parameter
set value
Parameter
number
0030h Point table initialization Table number initialized 0 (fixed) -
0031h Parameter initialization 999 0 (fixed) -
Operation mode switching (0021h)
The mode is switched to the operation mode designated with written data.
The switchable modes and set values are as shown in the following.
Table 3.9. Switchable operation mode list
Operation mode
Written data
Set value
Automatic operation mode
1
Single block mode
2
Servo OFF mode
5
Network operation mode
7
Parameter setting (0029h)
The set value of the parameter designated with the parameter number (RWwn+5) is rewritten to
the value of written data.
Written data are integer values only.
As for a parameter with a decimal value, set a value multiplied by 100 or 10,000.
For details, refer to the “Parameter list” on page 3-6.
Point table initialization (0030h)
Point tables designated with written data are initialized.
When the written data are 999, all point tables including shared tables are initialized.
The value after initialization is as shown in the following.
Table 3.10. Point tables after initialization
Type Instruction
Movement
unit
Movement
speed unit
A code/P code F code
Shared table
Absolute
x 1,000 [deg.]
x 1,000 [rpm]
-
-
Table number 0 to 63
Shared table
Shared table
Shared table
0
2,000
Parameter initialization (0031h)
The set values of all parameters are initialized.
Parameter 61 (station number and baud rate setting) is not targeted.

3. CC-Link Communication Function
[SMF-2008-A]
– 3-6 –
Table 3.11. Parameter list *1
PRM
number
Name Set range Initial value Unit
1
Cam curve
1~5
1
-
2
Acceleration/Deceleration time of MC2 curve
1~5,000
100
x 100 [sec]
3
Home position offset amount
-2,097,152~2,097,151
0
[Pulse]
4
Home positioning direction
1~3
1
-
5
Home positioning speed
100~2,000
200
x 100 [rpm]
6
Acceleration/Deceleration time of home
positioning
10~200 100 x 100 [sec]
7
Home positioning stop
1, 2
2
-
8
Soft limit, Coordinate A (+ direction)
-99,999,998~99,999,999
99,999,999
[Pulse]
9
Soft limit, Coordinate B (− direction)
-99,999,999~99,999,998
-99,999,999
[Pulse]
10
Effective/Ineffective of soft limit
1, 2
2
-
11
No answer time
1 to 100, 999
999
[sec]
12
Necessity/Unnecessity of M answer
1, 2
2
-
13
Answer input at time of positioning and home
positioning completion
1, 2 2 -
14
Jog speed
1~10,000
200
x 100 [rpm]
15
Jog acceleration/deceleration time
10~200
100
x 100 [sec]
16
In-position range
1~80,000
15,000
[Pulse]
17
Number of times of in-position sampling
1~2,000
1
[Times]
18
Position deviation amount
Cannot be set
-
[Pulse]
19
Upper limit value of position deviation amount
1~4,194,304
30,000
[Pulse]
20
Speed over limit
1~37,749
37,749
[rpm]
21
Deceleration rate during emergency stop
1 to 1,396, 9,999
9,999
[Pulse/2 msec2]
22
Delay time of emergency stop servo OFF
0~2,000
1,000
[msec]
23
Emergency stop input
1~3
3
-
24
Actuator temperature increase
Cannot be set
-
x 100 [°C]
25
Upper limit value of actuator temperature
Cannot be set
7,000
x 100 [°C]
27
Delay time after brake output
0~1,000
100
[msec]
28
Initial state of brake
1, 2
2
-
29
Mode when power is turned ON
1, 2, 6, 7
1
-
33
Indexing-in-progress output 1
0~99
0
[%]
34
Indexing-in-progress output 2
0~99
0
[%]
36
Switching of I/O program number selection
method
1~5 1 -
37
Segment position range width of designation of
indexes
1~2,097,152 10,000 [Pulse]
38
Rotation direction at time of designation of
indexes
1~4 3 -
39
Torque limitation
1~100
100
[%]
45
Coordinate recognition range when power is
turned ON
0~4,194,303 2,097,151 [Pulse]
46
Home position output range
0~80,000
15,000
[Pulse]
47
Positioning completion output time
0~1,000
100
[msec]
48
Alarm deceleration stop
1, 2
2
-
51
In-position signal output mode
0, 1
0
-
52
I/O input signal, Function selection of CN3-14
(bit 9)
0, 1 0 -
53
I/O input signal, Function selection of CN3-15
(bit 10)
0, 1 0 -
54
I/O input signal, Function selection of CN3-16
(bit 11)
0, 1 0 -
56
I/O output signal, Function selection of CN3-46
(bit 13)
0, 1 0 -
57
I/O output signal, Function selection of CN3-47
(bit 14)
0, 1 0 -
62
Cut OFF frequency of low-pass filter 1
1,000~100,000
20,000
x 100 [Hz]
63
Cut OFF frequency of low-pass filter 2
1,000~100,000
50,000
x 100 [Hz]
64
Cut OFF frequency of notch filter 1
1,000~100,000
50,000
x 100 [Hz]
65
Cut OFF frequency of notch filter 2
1,000~100,000
50,000
x 100 [Hz]
66
Filter switch
0~15
1
-
67
Integration limiter
1~4,194,304
770,000
[Pulse]
70
Value Q for notch filter 1
10~990
100
x 100 [–]
71
Value Q for notch filter 2
10~990
100
x 100 [–]
72
Integration gain magnification
10~1,000
100
x 100 [–]
80
Integration gain
0~320,000
0
x 10,000 [–]
81
Proportion gain
0~5,120,000
0
x 10,000 [–]
82
Differentiation gain
0~20,480,000
0
x 10,000 [–]
83
Auto tuning command
1~32
0
-
87
Auto tuning torque
0~8,192
1,000
-
88
Auto tuning measurement start speed
0~8,000
800
[Pulse/msec]
89
Auto tuning measurement completion speed
0~8,000
5,500
[Pulse/msec]
Note *1: Refer to the “AX Series TS, TH, XS Type manual” (SMF-2006) for the function of each parameter.

3. CC-Link Communication Function
[SMF-2008-A] – 3-7 –
3.3. Data Communication Timing Chart
3.3.1. Monitor code
Fig. 3.1. Timing chart for monitor code execution
Enter monitor 1 (RWwn) and monitor 2 (RWwn+1) as monitor codes and turn the monitor output
execution request (RY (n+2) 0) on.
Obtained 32-bit data pieces are divided into the upper 16 bits and lower 16 bits when they are
stored in remote registers.
All data is in hexadecimals. At the time, the monitoring signal (RX (n+2) 0) is turned on
simultaneously.
Monitor data 1, lower 16 bits (RWrn): Lower 16 bits of data requested with monitor 1 (RWwn)
Monitor data 1, upper 16 bits (RWrn+1): Upper 16 bits of data requested with monitor 1 (RWwn)
Monitor data 2, lower 16 bits (RWrn+5): Lower 16 bits of data requested with monitor 2 (RWwn+1)
Monitor data 2, upper 16 bits (RWrn+6): Upper 16 bits of data requested with monitor 2 (RWwn+1)
If there is no data at RWrn+1 and RWrn+6, the sign is acquired.
The sign is "0000" in case of "+" while it is "FFFF" in case of "-."
The monitor data acquired in remote registers are always updated while the monitoring signal (RS
(n+2) 0) remains turned on.
If the monitoring signal (RX (n+2) 0) is turned off, monitor data RWrn, RWrn+1, RWrn+5 and
RWrn+6 is held.
If a monitor code not included in specifications is either monitor 1 (RWwn) or monitor 2 (RWwn+1),
an error code (1) is set in the response code.
Monitor 2 data, upper 16 bits
(RWrn+6)
Response code
(RWrn+2)
Monitor 2 data, lower 16 bits
(RWrn+5)
Monitor 1 data, upper 16 bits
(RWrn+1)
Monitor 1 data, lower 16 bits
(RWrn)
Monitoring
(RX(n+2)0)
Monitor output execution request
(RY(n+2)0)
Monitor 2
(RWwn+1)
Monitor 1
(RWwn)
OFF
ON
ON
OFF
OFF
OFF
ON
ON
Data hold