Eaton ELC-MC01 User manual

IL05003023E.pdf
5011641701-MC01
2007-05-08
ELC-MC01 Motion Control Unit
Instruction Sheet
1 WARNING
•This Instruction Sheet only provides descriptions for installation, wiring and trial run. For further
infromation, please refer to special module of ELC Application Manual.
•Do NOT touch terminals when power on. Please must power OFF before wiring.
•This is an OPEN TYPE ELC. The ELC should be kept in an enclosure away from airborne dust, humidity,
electric shock risk and vibration. Also, it is equipped with protective methods such as some special tools
or keys to open the enclosure in order to prevent hazard to users or damage the ELC.
•Do NOT connect the AC input power to any of the input/output terminals, or it may damage the ELC.
Check all the wiring prior to power up.
•Warning – Do not disconnect while circuit is live unless area is known to be non-hazardous.
•Power, input and output (I/O) wiring must be in accordance with Class 1, Div. 2 wiring methods - Article
501-10(B)(1) of the National Electrical Code.
•Suitable for use in Class 1, Division 2, GroupsA, B, C, D or Non-Hazardous locations only.
•Warning – Explosion hazard - Substitution of components may impair suitability for Class 1, Division 2.
•Warning – Explosion hazard - Do not disconnect equipment unless power has been switched off or the
area is known to be Non-Hazardous.
2 INTRODUCTION
2.1 Model Description and Peripherals
MC01 (positioning unit) is mainly applied to the speed/position control of step/servo driven system. The
maximum output pulse can be up to 200 KPPS, and built-in various route control modes. The EATON ELC
PB/PC/PH/PA series can read/write MC01 via FROM/TO instrucitons. There are 49 CRs (Control Register) with
16-bit for each register in MC01. The 32-bits data is composed of 2 continuous CR number.
2.2 Product Profile and Outline (LED Indicator and Terminal Block)
¡´
RP
FP
CLR
¡´
¡´
¡´
¡´
START
PG0
A
B
LSN
LSP
DOG
STOP
ERROR
L.V
ss
POWER
3.0090.00
3.00
25.20 60.00 3.40
1
2
3
14
456
810
3
7
912
11
13
ELC-MC01
15
16
Unit: mm
1. Status Indicator (Power, L.V. and ERROR) 2. Model name Upper Row Lower Row
3. DIN rail clip 4. Terminal S/S A-
5. Terminal layout 6. Mounting hole START B+
7. Nameplate 8. Extension port to connect extension module STOP B-
9. Extension unit/module clip 10. DIN rail track (35mm) DOG CLR+
11. RS-485 communication port 12. Clip for combining extension modules LSP CLR-
13. Power input 14. Extension port to connect extension module LSN FP+
15. Upper row terminals 16. Lower row terminals PG0+ FP-
PG0- RP+
A+ RP-
2.3 LED Display
POWER : Power indicator, +5V internal power START : Start input
LV : Low voltage indicator STOP : Stop input
lit when external input power is lower than 19.5V DOG : DOG (near point signal) input
ERROR : Error indicator (ON/OFF blinking). FP : CW pulse output
It will blink when CR#39 is not 0. RP : CCW pulse output
LSP : Right limit input indicator ΦA : A-phase input of manual pulse generator
LSN : Left limit input indicator ΦB : B-phase input of manual pulse generator
PG0 : Zero signal input indicator CLR : Output clear signal
2.4 Input/Output Terminal
Description Terminal name Content Response
Power supply +24V, 0V Power input/DC24V (-15~+20%)
±Current consumption 70 10mA; Startup peak current 1.3A -
Input START Start input terminal 4ms/12ms
STOP Stop input terminal 4ms
LSP / LSN Limit Stroke of right/left limit 1ms
ΦA+, ΦA- A-phase terminal (+, -) of manual pulse generator input (line driver input) 200KHz
ΦB+, ΦB- B-phase terminal (+, -) of manual pulse generator input (line driver input) 200KHz
PG0+, PG0- Zero signal input terminal +, - (line driver input) 4ms
Input DOG Offers two different functions depending on operation mode.
(1) It is near-point signal in zero return mode.
(2) It is start signal on interrupt 1st or interrupt 2nd speed mode. 1ms
S/S Signal common terminal of these Inputs (START, STOP, DOG, LSP, LSN) -
Output
CLR+, CLR- Clear signal (clear signal of internal error counter for Servo drive) 4ms
FP+, FP- FP/RP mode: CW pulse output I/O mode: Output pulse
AB-phase mode: A-phase output 200KHz
RP+, RP- FP/RP mode: CCW pulse output I/O mode: direction output
AB-phase mode: B-phase output 200KHz
Input/Output Circuit
ELC-MC01
START
STOP
LSP
LSN
DOG
S/S
+24V
5-24VDC
+24VDC IN
24V
0V
FP+
FP-
RP+
RP-
CLR+
CLR-
A-phase
Φ A+
Φ A-
Φ B+
PG0+
PG0-
5-24VDC
B-phase
Φ B-
Servo drive
Manual pulse generator
Shielded cable
Note:
1. Do NOT arrange the wiring of I/O signal wires or power supply in the same wiring duct.
2. Make sure the terminals of power module and ELC-MC01 are properly grounded or connects to machine
cover.
3. Do NOT wire to null terminal .
3 SPECIFICATIONS
3.1 Function Specifications
Item Content
Power supply DC24V(-15% ~ +20%)
Current consumption 70±10mA; Startup peak current 1.3A
Max. number of
connected axes 8 units; (PB/PC/PA/PH series MPU can connect up to 8 extension modules without occupying any I/O.)
Distance instruction Distance value is set by CR. 1. Setting range: -2, 147,483,648~+2,147,483,647; 2. Selectable unit: um, mdeg, 10-4 inch, Pulse
3. Selectable rate: 100, 101, 102, 103; 4. Selectable position: absolute and relative position instruction
Speed instruction Speed value is set by CR. 1. Setting range: -2,147,483,648~+2,147,483,647 (conversion value of 10~200KPPS pulse)
2. Selectable unit: pulse/s, cm/min, 10deg/min, inch/min
External output Photo coupler is for insulation and there are LED indications for all output/input signals. Outputs: FP and RP (line driver output 5V)
Output: CLR is the type of NPN open collector transistor output (5~24VDC, less than 20mA)
External input
Photo coupler is for insulation and there are LED indications for all output/input signals.
±Input point: START, STOP, LSP, LSN, DOG(contact or open collector transistor, 24VDC 10%, 5±1mA)
Φ ΦInputs: A, B(line driver or open collector transistor, 5~24VDC, 6~15mA)
Input: PG0 (line driver or open collector transistor, 5~24VDC, 6~15mA)
Pulse output format Three selectable modes: Pulse/Dir, FP (CW)/RP (CCW), A/B (all modes are line driver output)
Position program & data
transmission CR data can be read/write via FROM/TO intruction of ELC MPU. The 32-bit data is composed of 2 continuous CR number. The range of 16-bit CR is CR#0 ~ CR#48.
Connect to EATON ELC
series Modules are numbered from 0~7 with 0 closet and 7 farthest to the MPU. Up to 8 modules can be connected without occupying any digital I/O.
3.2 Other Specification
Environmental specifications
Operation/Storage 1. Operation: 0 ~55 (Temperature), 50~95%(Humidity), pollution degree 2
（ ）
℃ ℃
℃ ℃2. Storage: -25 ~70 (Temperature), 5~95% Humidity
Noise Immunity ESD(IEC 61131-2, IEC 61000-4-2): 8KV Air Discharge
EFT(IEC 61131-2, IEC 61000-4-4): Power Line: 2KV, Digital I/O: 1KV, Analog & Communication I/O: 1KV
RS(IEC 61131-2, IEC 61000-4-3): 26MHz~1GHz, 10V/m
Grounding The diameter of the grounding wire cannot be smaller than that of terminals 24V and 0V (if numerous
ELCs are used at the same time, make sure that each ELC is grounded respectively to the ground
poles)
AgencyApprovals UL508
UL1604, Class1,Div2 Operating temperature code: T5
European community EMC Directive 89/336/EEC and Low Voltage Directive 73/23/EEC
Vibration/Shock
immunity Standard: IEC61131-2, IEC 68-2-6 (TEST Fc)/ IEC61131-2 & IEC 68-2-27 (TEST Ea)
4 CR (Control Register)
ELC-MC01 Motion control Unit
CR No.
Content Setting Range
HW LW Address
Latched
Attribute
#0 H’4190 O R Model No. System setting, Read-only (The model number of ELC-MC01 is H’0110.)
#2 #1 H’4191 O R/W Pulse rate (A) Range: 1 ~ +2,147,483,647 PPS/REV, factory setting: 2,000
Pulse/Revolution (PLS/REV)
#4 #3 H’4193 OR/W Feed rate (B) Range: 1 ~ +2,147,483,647 unit/REV,
Factory setting: 1,000 (unit*1/REV)
#5 H’4195
OR/W Parameter setting
Factory setting:
H’0000
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
STOP input polarity START input polarity START response time Acceleration curve options DOG polarity DOG trigger time Pulse direction Zero return direction LSN input polarity LSP input polarity Pulse output format Position rate setting Unit setting
b1 b0 Unit Motor
unit Combined unit Machine unit b3 b2 Position rate setting b5 b4 Pulse output format
0 0 Motor
Position
pulse um 0 0 1000 0 FP + RP
0 1 Machine pulse m deg 0 1 1010 1 Pulse + direction
1 0
Combined pulse 10-4inch 1 0 1021 0 A/B Phase pulse
1 1
Speed
pulse/sec cm/min 1 1 1031 1
pulse/sec 10deg/min
pulse/sec inch/min
bit # Content
6 When b[6]=0: positive logic. LSP input signal is ON and LPS signal is given.
When b[6]=1: negative logic. LSP input signal is OFF and LPS signal is given.
7 When b[7]=0: positive logic. LSN input signal is ON and LSN signal is given.
When b[7]=1: negative logic. LSN input signal is OFF and LSN signal is given.
8 When b[8]=0: zero return is executed to the direction of CP’s decreasing value. When b[8]=1, zero return is executed to the
direction of CP’s increasing value.
9 When CW running is executed, b[9]=0 is for increasing CP value, but [9]=1 for decreasing.
10 When b[10]=0: DOG rising-edge is triggered. When b[10]=1,DOG falling-edge is triggered. (available for Interrupt 1stand
interrupt 2nd speed position modes)
11 When b[11]=0: positive logic. When DOG input signal is ON, DOG near point signal is given.
When b[11]=1: negative logic. When DOG input signal is OFF, DOG near point signal is given.
12 When b[12]=0: trapezoid acceleration line is chosen. When b[12]=1, S acceleration line is chosen.
13 When b[13]=0: 4ms; when b[13]=1: 12ms(for noise filter).
14 When b[14]=0: positive logic. When START input signal is ON, START input.
When b[14]=1: negative logic When START input signal is OFF, START input.
15 When b[15]=0: positive logic. When STOP input signal is ON, STOP input.
When b[15]=1: negative logic. When STOP input signal is OFF, STOP input.
#7 #6 H’4196 OR/W Maximum speed Vmax Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS) *2
Factory setting: 200,000 unit*1
#9 #8 H’4198 OR/W Bias speed Vbias Range: 0 ~ +2,147,483,647 unit*1 (0 ~ 200K PPS pulse transfer value) *2
Factory setting: 0 unit*1
#11 #10 H’419A OR/W JOG speed VJOG Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse transfer value) *2
Factory setting: 5,000 unit*1
#13 #12 H’419C OR/W Zero return speed
VRT Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse transfer value) *2
Factory setting: 50,000 unit*1
#15 #14 H’419E OR/W Zero return
deceleration speed
VCR
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse transfer value) *2
Factory setting: 1,000 unit*1
#16 H’41A0
OR/W The number of PG0
in zero return mode N Range: 0~+32,767 PLS
Factory setting: 0 PLS
#17 H’41A1 OR/W The number of pulse
in zero return mode P Range: -32,768 ~+32,767 PLS
Factory setting: 0 PLS
#18 H’41A2 OR/W Zero return mode
H Mode b0: Zero return mode, b1: detect DOG falling-edge in zero return mode
bit # Content
0 b[0]=0: normal mode, b[0]=1: override mode
1 b[1]=0: DOG falling-edge detecting is on in zero return mode. b[1]=1: DOG falling-edge detecting is off in zero return mode.
#20 #19 H’41A3 OR/W Zero point setting (HP) Range: 0 ~ ±999,999 unit*1; factory setting: 0 unit*1
#21 H’41A5
OR/W Acceleration time Tacc Range: 10 ~ +32,767 ms; factory setting: 100 ms
#22 H’41A6
OR/W Deceleration time Tdec Range: 10 ~ +32,767 ms; factory setting: 100 ms
#24 #23 H’41A7 X R/W Target position (I) P(I) Range: -2,147,483,648 ~ +2,147,483,647 unit*1 (-2,147,483,648 ~
+2,147,483,647 pulse transfer value) *2; factory setting: 0 unit*1
#26 #25 H’41A9 XR/W Running speed (I) V(I) Range: -2,147,483,648 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse
transfer value) *2; factory setting: 1,000 unit*1
#28 #27 H’41AB XR/W Target position (II)P(II) Range: -2,147,483,648 ~ +2,147,483,647 unit*1 (-2,147,483,648 ~
+2,147,483,647 pulse transfer value) *2, factory setting: 0 unit*1
#30 #29 H’41AD XR/W Running speed (II) V(II) Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse transfer value)
*2, factory setting: 2,000 unit*1
.

IL05003023E.pdf
The ELC can be secured to a cabinet by using the DIN rail that is 35mm high with a depth of 7.5mm. When mounting the ELC on the
DIN rail, be sure to use the end bracket to stop any side-to-side motion of the ELC, thus to reduce the chance of the wires being
pulled loose. At the bottom of the ELC is a small retaining clip. To secure the ELC to the DIN rail, place it onto the rail and gently push
up the clip.
22-16AWG
<1.5mm
Notes:
1.Please use 22-16AWG (1.5mm) wiring (either single or multiple core) for I/O wiring terminals.
The specification for the terminals is as shown on the left. ELC terminal screws should be
tightened to 1.95 kg-cm (1.7 lb-in). Use Copper Conductor Only, 60/75 °C.
2. I/O signal wires or power supply should not run through the same multi-wire cable or
conduit.
#31 H’41AF X R/W Running instruction
factory setting: H’0000
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
- - CLR output (On/Off) CLR signal output mode
-
Current position = 0 - Software START ABS/REL Coordinate Zero return start JOG- JOG+ CCW pulse STOP CW pulse STOP Software STOP Error reset
bit # Content Action
0 When b[0]=1, Error reset. Error indicator is off and FLAG in CR (CR#38.b[5]) is cleared to 0. 0→1
1 When b[1]=0 1 ,this is the same function as external input signal that forces to stop. When external signal that
forces to stop is inputted or when b[1]=0 1, PU will decelerate to stop.
→
→0→1
2 When b[2]=1, CW running is forbidden. If CW running instruction is given, error will come up. 1
3 When b[3]=1, CCW running is forbidden. If CCW running instruction is given, error will come up. 1
4 When b[4]= 0 1, CW pulse is generated in JOG+ mode.→0→1
5 When b[5]= 0 1, CCW pulse is generated in JOG- mode.→0→1
6
When b[6]=0 1, zero return is performed. Zero return execution will differ based on current position (CP). There are
four situation as follows:
→
0→1
Position (1): Start position (as the right picture below [1] ) is at the right of zero point and DOG(near point signal),
DOG=Off.
Position (2): Start position (as the right picture below [2] ) is at the right of zero point, DOG=On.
Position (3): Start position (as the right picture below [3] ) is at the left of zero point and DOG(near point signal),
DOG=Off and LSN (hardware limit switch) signal=Off.
Position (4): Start position (as the left picture below [4] ) is at the left of zero point and DOG(near point signal),
DOG=Off and LSN (hardware limit switch) signal=On.
JOG operation mode
Speed Tacc Tdec
Vmax
Time
Vbias
JOG
Vjog
Zero return operation route
LSN DOG LSP
Hardware polarity switch Zeropoint returndirection
Zeropoint
[4] [3] [2] [1]
Hardware polarity switch
bit # Content Action
7 When b[7]=0, it is absolute position. When b[7]=1, it is relative position. 0/1
8 When b[8]=0 1, start running by the work mode of CR#32.→0t1
10 When b[10]=0 1, current position (CP) is cleared to 0.→0t1
12 When b[12]=0, CLR outputs 130ms to Servo when zero return is completed. It is the clear signal for servo internal error counter.
When b[12]=1, CLR is common output point and the status(On/Off) is controlled by b[13]. 0/1
13 When b[13]=0, CLR output is Off. When b[13]=1, CLR output is On. 0/1
#32 H’41B0
╳R/W Work mode
Factory setting:
H’0001
b15 b14 b13 b12 b11~b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
- -
Current position: CR34, 33; current speed: CR36, 35; display unit: 0 Æpulse, 1 Æunit Return to factory setting MASK setting LSP/LSN stop mode Manual pulse generator range limitation STOP mode Manual pulse generator input operation Variable speed operation mode start Interrupt 2nd-speed position mode start 2nd-speed position mode start Interrupt 1st-speed position mode start 1st-speed position mode start
bit # Content
0 When b[0] is triggered and START ON, it starts to execute 1st-speed position program. Step number and speed are decided
by P(I)& V(I).
1 When b[1] is triggered, START ON, and DOG external near point signal is performed, it starts to reload the value of the target
position (I) P(I) as relative position.
1st-speed position operation
mode
Speed Tacc Tdec
Vmax
Time
Vbias
Start
V(I) P(I)
Interrupt 1st -speed position
operation mode
Speed Tacc Tdec
Vmax
Time
Vbias
Start
V(I) P(I)
DOG
2 When b[2] is triggered and START ON, it starts to execute 1st-speed position operation and then the 2nd-speed position
operation will be started immediately after 1st-speed operation is completed.
3 When b[3] is triggered and START ON, if the DOG external near point signal is executed during 1st-speed position operation,
the 2nd-speed position operation will be started immediately.
2nd -speed position
operation mode
Speed Tacc Tdec
Vmax
Time
Vbias
Start
V(I) V(II)P(II)
P(I)
Interrupt 2nd -speed position
operation mode
Speed Tacc Tdec
Vmax
Time
Vbias
Start
DOG
V(I) V(II)P(II)
4 When b[4] is triggered, it starts to execute variable speed operation and MC01 starts to send pulse as well. The pulse direction
is decided by the sign bit of V(I) value.
Variable speed operation mode
Speed Tacc
Vmax
Time
Vbias
Start
Stop
V(I)
Vbias
0
Tdec
Zero return operation mode
Description Chart: (1) DOG rising-edge is triggered in normal
mode. (2) DOG falling-edge detecting is On in zero return mode
(CR#18_b1, 0=00). (3) the number of PG0 in zero return mode
N(CR#16). (4) the number of pulse in zero return mode
P(CR#17).
Speed
(
PPS
)
VCR
VRT
VCR
DOG
IsolatefromDOGnearsi
g
nal
ContactDOG nearsignal
Zeroreturndirection
The no. of PG0 in zero return mode (N)
DOG falling-edge detecting
Theno.ofpulseinzeroreturnmode(P)
5 When b[5]= 0 1, manual pulse generator input is started. Please refer to the setting of CR#40~#46.→
6
b[6]=0: When STOP is input, motor will decelerate to stop under running mode. When rerun instruction is received, motor
will neglect the uncompleted distance and directly go executing the next position instruction.
b[6]=1: When STOP is input, motor will decelerate to stop under running mode. When rerun instruction is received, motor
will keep executing the uncompleted distance of previous instruction and then execute next position instruction.
7 b[7]=0:Theoutputpulseofmanualpulsegeneratorisunlimited. b[7]=1: The output pulse of manual pulse generator is limited between P(I) and P(II). When the output pulse is out of the
range, it will decelerate and then stop outputting.
8 b[8]=0: When motor is running, it will decelerate to stop if LSP/LSN signal is received.
b[8]=1: When motor is running, it will stop immediately if LSP/LSN signal is received.
9~11
MASK setting (1st-speed operation, 2nd-speed operation, interrupt 1st-speed operation, interrupt
2nd-speed operation)
b[11~9]=K0(000) or other value: NO MASK function.
b[11~9]=K1(001) : the rising-edge of input terminal A±will trigger MASK.Φ
Φ
Φ
Φ
b[11~9]=K2(010) : the falling-edge of input terminal A±will trigger MASK.
b[11~9]=K3(011) : the rising-edge of input terminal B±will trigger MASK.
b[11~9]=K4(100) : the falling-edge of input terminal B±will trigger MASK.
12 b[12]=1:All parameters return to factory setting.
13 b[13]=0: current position (CR34, 33) and current speed (CR36, 35). Display unit: pulse.
b[13]=1: current position (CR34, 33) and current speed (CR36, 35). Display unit: unit.
#34 #33 H’41B1 XR/W Current position CP
(PLS) Range display: -2,147,483,648~+2,147,483,647 PLS Factory setting: 0 PLS
#36 #35 H’41B3 XR/W Current speed CS
(PPS) Range display: 0 ~ +2,147,483,647 PPS Factory setting: 0 PPS
#37 H’41B5
XR/W Communication
address and Baud rate
setting
RS-485 communication address setting: setting range 01~225; factory
setting K1.
Baud rate setting: 4800, 9600,19200, 38400, 57600, and 115200 bps.
ASCII mode data format is 7Bit, even bit and 1 stop bit (7 E 1). RTU mode
data format is 8Bit, even bit and 1 stop bit (8, E, 1)
b0: 4800 bps(bit/sec.), b1: 9600 bps(bit/sec.) (factorysetting)
b2: 19200 bps(bit/sec.), b3: 38400 bps(bit/sec.)
b 4: 57600 bps(bit/sec.), b 5: 115200 bps(bit/sec.)
b6: reserved, b7: 0 for RTU, 1 forASCII mode,
b8~b15: communication address
#38 H’41B6 O R/W Execution status
factory setting:
H’XXXX
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
- - - - -
MPG input downward MPG input upward
-
Route paused indication Position completed indication Error occurred flag CP value overflow Zero return is done CCW pulse is outputting CW pulse is outputting Status indication
bit # Content
0 When b[0]=0, system is ready. When b[0]=1, MC01 is executing position control mode (Pulse is outputting).
1 When b[1]=1, CW pulse is outputting.
2 When b[2]=1, CCW pulse is outputting.
3 When b[3]=1, zero return is completed and b[3] will be cleared by user-defined program. When MC01 is power on again, b[3]
will be cleared to 0 automatically.
4 When b[4]=1, “Current position CP(PLS)”(CR#34, #33) of 32 bit will overflow. When MC01 is power on again or complete zero
return, b[4] will be cleared to 0 automatically.
5 When b[5]=1, MC01 error occurred. Error code is stored in CR#39.
6 When MC01 starts executing zero return or error reset (only when error occurred), it will clear b[6] to 0. When zero return or
position control is completed, it will set b[6] to 1.
7 When MC01 is running and STOP status is on, MC01 will stop output and b[7] will be set to 1. It means that MC01 is paused
and it will execute the uncompleted route and b[7] will be cleared to 0 after STOP status is off.
9 When b[9]=1, it means manual pulse generator inputs with counting upward.
10 When b[10]=1, it means manual pulse generator inputs with counting downward.
#39 H’41B7
XR Error code Please refer to “Error Code & Troubleshooting” for detail. Factory setting:
H’0000
#40 H’41B8
XR/W Electronic gearing
numerator of MPG
input
Please refer to the following explanation
Factory setting: H’1
#41 H’41B9
XR/W Electronic gearing
denominator of MPG
input
Please refer to the following explanation
Factory setting: H’1
zMPG (manual pulse generator) mode:
1. Manual pulse generator input mode is ON when b5 of CR#32 is set to 1.
2. 2-phase(Aphase/B phase) can be input from the manual pulse generator to Aand B. FP/RP I/O pulse is as follows:Φ Φ
A phase
B phase
FP
R
P
Servo drive
Servo motor
CR#40
Input pulse X
= output pulse
CR#41
3. When LSP/LSN is activated during running, output will stop immediately. When LSP is ON, CCW is allowed. When LSN is
ON, CW is allowed. Positioning completed flag should be ON in this mode.
4. Positioning completed indication (CR#38, b6=Off). When positioning control is completed, CR#38_b6 will be ON.
5. The output speed is proportional to pulse frequency of manual pulse generator and the electronic gearing (CR#40, CR#41).
#43 #42 H’41BA X R/W Input frequency of
manual pulse
generator
The input frequency of manual pulse generator
Factory setting: 0
#45 #44 H’41BC XR/W Accumulated pulse
input no. of manual
pulse generator
The count value of CW manual pulse input is “ +” symbol, on the contrary,
the CCW manual pulse input is “-“symbol. And the count value is nothing
to do with the ratio setting of manual electronic gearing (CR#40, #41).
Factory setting: 0.
#46 H’41BE X R/W Response speed of manual pulse
generator
Value Response speed When response speed setting is faster, the
instructions of pulse output and manual
pulse generator input will be more
synchronous. When response speed
setting is slower, the instruction of pulse
output is slower than the instruction of
manual pulse generator input. Factory
setting: 5
≧5 4ms(factory setting)
4 32ms
3 108ms
2 256ms
1or 0 500ms
#47 H’41BF X R Terminal status
bit # Status Description
b0 START input When START input is On, b0 is On.
b1 STOP input When STOP input is On, b1is On.
b2 DOG input When DOG input is On, b2 is On.
b3 PG0 input When PG0 input is On, b3 is On.
b4 LSP input When LSP input is On, b4is On.
b5 LSN input When LSN input is On, b5 is On.
b6 A phase input When A phase input is On, b6 is On.
b7 B phase input When B phase input is On, b7 is On.
b8 CLR output When CLR output is On, b8 is On.
#48 H’41C0 O R System version System version is in hexadecimal. e.g. software V1.00 is for H’0100.
*1: Unit setting varies based on b0 and b1 setting of CR#5.
*2: Use max. pulse output if upper limit is exceeded. Use min. pulse output if lower limit is exceeded.
zCR#0~CR48: user can use the corresponding addresses H4190~41C0 to read/write data via RS-485 communication.
1. Baud rate supportive: 4,800, 9,600, 38,400, 57,600, and 115,200 bps.
2. ModbusASCII/RTU:ASCII mode is 7Bit, even bit and 1 stop bit (7,E,1). RTU mode is 8Bit, even bit and 1 stop bit (8, E, 1).
3. Function code: 03H for read data from CR; 06H for write one WORD in CR; 10H for write many WORDs in CR.
5 INSTALLATION & WIRING
To remove it, pull down the retaining clip and gently pull the ELC away from the
DIN rail. As shown on the right:
When installing the ELC, make sure that it is installed in an enclosure with
sufficient space (as shown on the right) to its surroundings so as to allow heat
dissipation.
D
D
DD
E
L
C
D>50mm
1. Installation of the DIN rail
2. Wiring