Kohzu Precision KOSMOS series User manual

User's Manual
Read this manual before using this product.
Keep in a convenient place for future reference.
Multi-Axis Controller
KOSMOS series
Model: ARIES/LYNX
operation
manual
Rev1.42
Kohzu Precision Co., Ltd.

1
Symbols Identifications
In this document, noted items that should be followed to prevent danger to people
and damage to the device are divided as shown next.
Prohibited
This symbol indicates prohibited items. Do not conduct actions specified under
this symbol.
Warning（Caution）
This symbol indicates items that require warning (caution). If operation is
conducted ignoring noted contents, it may cause injury or physical damage.
Note/Remarks
This symbol indicates items to provide further understanding or useful
information.
！
In this document, information and operation method for the multi-axis controller
"ARIES" and "LYNX" are explained.
Please read and understand this document thoroughly to utilize the functions of
"ARIES" and "LYNX" in the best condition.
In addition, keep this document in a convenience place for future reference.
Introduction

2
Safety Precautions
Do not apply severe shock to the product and
avoid using in a place with vibration.
Liquid or chemical splashes on this device
are dangerous and cause failures.
Never use this device in the place above
phenomena may occur.
Use 90-240V AC (50/60Hz) as a power supply.
*Confirm ratings of the power cable.
*Always ground FG (frame ground).
This product is precision electronic
equipment. Because malfunction may occur
near large motors, high voltage electric
devices or device that generates strong
magnetism, do not use this product under
these environment.
Do not disassemble or modify the product.
Pay close attention when connecting the
motor driven stage or a motor other than
those specified by our company.
When the controller's power supply is turned
ON, do not pull out or insert cables.
KOSM OS
KOSMOS
×
×
KOSMOS
KOSM O S
AC90V～AC240V
×
KOSM O S
KOSMOS
？
KOSMO S
×
KOSMOS
×
S
N
！
！
！

3
Table of Contents
Introduction ................................................... 1
Symbols Identifications ................................. 1
Safety Precautions ....................................... 2
Table of Contents ......................................... 3
1. Product Summary .................................. 5
1-1. About this Product .............................. 5
1-1-1. Features of this Product ................. 5
1-1-2. Product Configuration Example ...... 6
1-2. List of Functions ................................. 7
1-3. Attachments and Options .................. 8
1-3-1. Attachments ................................... 8
1-3-2. Optional Products (required) .......... 9
1-3-3. Optional products
(convenient tools) ...........................10
2. Installation and Preparation ................ 11
2-1. Proceeding with Installation and
Preparation ....................................... 11
2-2-1. Part Names ................................... 12
2-2-1. Part Names of ARIES ................... 12
2-2-2. Part Names of LYNX .................... 13
2-3. Connection method .......................... 14
2-4. Rotary Switch for Communication
Setting ............................................... 15
2-5. Device No. Setting Switch ................ 16
3. Functions ............................................... 17
3-1. Speed Setting ................................... 17
3-1-1. Speed Table ................................. 17
3-1-2. Speed Change in Remote Control...
17
3-1-3. Speed Setting Regulations ........... 18
3-2. Acceleration Pattern ........................ 19
3-3. Backlash Correction ........................ 20
3-3-1. Setting Steps ................................ 20
3-3-2. Details of Correction Method ........ 21
3-4. Trigger Specification ........................ 22
3-4-1. Trigger Signal Output Method ...... 22
3-4-2. Trigger Signal Setting Procedures ...
22
3-4-3. Explanation of Trigger Function .... 23
3-5. Emergency Stop Function ............... 26
3-6. Stepping Motor Excitation and Servo
ON/OFF Specification ...................... 27
3-7. Soft Limit Setting .............................. 27
3-8. Encoder Correction .......................... 28
3-8-1. Encoder Correction ....................... 28
3-8-2. Encoder Feedback Setting ........... 29
3-9. Origin Return Method ...................... 30
3-10. ARIES Touch Panel "PYXIS" ........ 40
3-10-1. Connection and Operation ......... 40
3-10-2. "Main" Screen Details ................ 41
3-10-3. "ABS" Screen Details ................. 42
3-10-4. "REL" Screen Details ................. 42
3-10-5. "SYS" Screen Details ................. 43
3-10-6. "PYXIS" Display Error List .......... 45
3-11. General I/O .................................... 46

4
4. Remote Control .................................... 47
4-1. Proceeding with Installation and
Preparation ....................................... 47
4-1-1. Transmitting/Receiving ................. 47
4-1-2. Remote Control Procedures ......... 48
4-1-3. Command Format ........................ 48
4-1-4. Response ..................................... 49
4-1-5. Characters to Use ........................ 50
4-2. Ethernet (TCP/IP) Communication ... 51
4-2-1. Flow from Ethernet (TCP/IP) Related
Parameter Setting to Connection ... 52
4-2-2. Cautions when Multiple Clients are
Connected ..................................... 55
4-2-3. Other Cautions ............................. 55
4-3. Command List ................................. 56
4-4. Command Details ............................ 58
4-5. Error Code ...................................... 110
4-5-1. Error Code and Warning
Code List ...................................... 111
4-6. System Settings ............................. 113
4-6-1. System Setting List ..................... 113
4-6-2. System Setting Details ................ 115
5. Specification ........................................ 122
5-1. Specification ................................... 122
5-2. Connector ....................................... 123
5-2-1. Motor Connecting Connector ...... 123
5-2-2. Encoder Connector ..................... 124
5-2-3. I/O Connector .............................. 125
5-2-4. Emergency Stop Signal Input
Connector ..................................... 126
5-2-5. Trigger Signal Output Connector .
... 126
5-2-6. RS-232C Connector .................... 127
5-3. Input/Output Signal Circuit
Diagram .......................................... 128
5-4. Appearance Dimensions ................ 129
6. Maintenance and Service ................... 132
6-1. Troubleshooting .............................. 132
6-2. Maintenance ................................... 134
6-3. Warranty and Service ..................... 134
6-4. Contact ............................................134
Ex Revision History ................................... 135

5
1. Product Summary
Thank you for purchasing our multi-axis controller "ARIES" and "LYNX".
Adopting Motionnet®, "ARIES" and "LYNX" are controllers that enable comprehensive
system configuration through unified management of multi-axis control.
By installing more LYNX (slave controller) for ARIES (master controller), 32 axes can be
controlled at maximum.
While keeping the functions of SC series as feedback control and trigger function, new
functions as servo control, general I/O and soft limit are added.
1-1-1. Features of this Product
1-1. About this Product
●Completely supports our company's motor drive precision stage <MontBlanc
Series>.
●In addition to 5-phase micro step motor drive, a connection is possible for 2-phase
motor driver of pulse train control or servo driver connection.
●Supports rectangular drive, trapezoid drive, S shape drive, asymmetric trapezoid
drive and asymmetric S shape drive.
●Origin return method can be selected from 15 kinds (+ORG OFFSET).
●Remote control by Ethernet(TCP/IP) communication is possible.
●Remote control by RS-232C communication is possible.
●Control is possible with "PYXIS" (option), a touch panel for "ARIES".
●Control is possible through application for stage drive, "Chamonix" that comes with
this product.
Please download from our company's HP.
http://www.kohzu.co.jp/

6
1-1-2. Product Configuration Example
■Outside of product range
This product does not offer the following functions.
・Automatic operation is not possible with only ARIES and LYNX.
*For automatic operation, connect a computer with ARIES and conduct with remote control.
*It is possible to operate with Touch Panel PYXIS (sold separately). (Excluding some functions).
・Not compatible with some remote controls (sequencer connection, etc.) besides RS-232C and
Ethernet (TCP/IP) communication.
ARIES/LYNX System Configuration Example
Control application Chamonix
(WINDOWS application)
*Note
・Motionnet cable (1m) is an accessory of
LYNX.
・A control cable and motor cable must be
purchased separately.
Motionnet
cable
ARIES
Cable for
touch panel
Optional touch panel,
PYXIS
Communication
cable RS-232C Installable up to 15 LYNX
Motionnet
cable
Motionnet
cable
Able to control 32 axes at maximum
Stage (1 axis)
Motor
cable
Control
cable
LYNXLYNX
Control
cable
Control
cable
Control
cable
Control
cable
Control
cable
Motor
cable
Motor
cable
Motor
cable
Motor
cable
Motor
cable
Stage (1 axis)
Stage (2 axes) Stage (2 axes)
2 axes driver BOX
5-phase stepping motor driver
2 axes driver BOX
2-phase stepping motor driver
2 axes driver BOX
Servo motor driver

7
1-2. List of Functions
Relative Position
Movement
(4 axes simultaneous
start is possible)
Moves toward the designated direction from the present position by a set
value.
Absolute Position
Drive
(4 axes simultaneous
start is possible)
Moves to the designated target position.
Origin Return
Movement
Performs origin return with the specified origin return method.
2000 1000 0
(Now Position)
First movement
amount
Second movement
amount
CW CCW
Example：
Move to CW angle(1000
pulse)at two times.
Target Position
Start Position①
CW CCW Example：
Start position① or
start position② move
to target position.
Start Position②
Origin
Start Position①
CW CCW Example：
Start position① or ②
move return Origin
position.
Start Position②

8
1-3. Attachments and Options
* The standard Motionnet®cable is a LAN
cable with CAT5e or more shield (straight).
If a longer cable is required than the
attached cable, please purchase separately.
* The maximum length of Motionnet®cable
shall be the Motionnet®cable length with
connected ARIES/LYNX < 100m.
1-3-1. Attachments
The following items come as accessories for the products.
Make sure to check that all items are included.
Immediately contact your retainer or our sales department if there are missing or damaged
parts.
①Power cable (3P)
A power cable (3P) for AC100V comes as standard.
In addition, a 3P->2P conversion plug comes as an option.
*A power cable for AC200V must be prepared by customer or contact our sales department.
②Motionnet®connector/cable
A connector/cable to connect between ARIES-LYNX.
A terminal plug for ARIES and 0.5m Motionnet®cable for LYNX come as accessories.
③Emergency stop short plug
A short plug to connect when not using the
emergency stop signal comes as an
accessory.

9
1-3-2. Optional products (required)
A driver BOX necessary to drive the <MontBlanc series>, a motor cable for KOSMOS series, an
encoder cable, and a RS-232C (cross) communication cable used to control from a computer or a
LAN cable do not come with the product.
Please purchase a driver BOX, a motor cable and an encoder cable separately.
Also, purchase a communication cable or LAN cable (recommended CAT5e or more) available on
the market.
Motor cable list for KOSMOS series
Driver connection cable list for KOSMOS series
*The encoder cable is an ordered product.
Other types of cable (for 10-lead and square connector) can also be manufactured.
For details, please contact our sales department.
Driver BOX list for KOSMOS series
Type Driver BOX type
AC driver BOX for 2 axes TITAN-AⅡ
DC driver BOX for 2 axes TITAN-DⅡF
Length Cable type
0.5m CPS005
1m CPS010
Stage side
Connector shape Fixed cable Moving cable
3m CB1503 RCB1503
5m CB1505 RCB1505
10m CB1510 RCB1510
Length
Round type
connector
Cable type

10
1-3-3. Optional Products (convenient tools)
The following optional products are available to make this product more convenient to use.
Purchase as necessary or download.
For questions about the following products, please contact your retainer or our sales department.
①ARIES Touch Panel, "PYXIS"
A touch panel that can control the functions of ARIES.
See "3-10. ARIES Touch Panel PYXIS" (page 40) for details.
②Stage Control Application, "Chamonix"
This application enable you to control all functions of ARIES and LYNX from PC.
Please download from our company's HP.

11
2. Installation and Preparation
2-1. Proceeding with Installation and Preparation
It takes about 1 second for launching to complete, after the power is turned ON.
Check accessories and requirements.
Install the product in the following order.
Install in a place where the product is used.
Connect cables while the power is OFF (See "2-3.
Connection Method" (page 14))
When controlling through communication,
communication setting should be performed on
this device and a host computer. (See "2-4.
Rotary Switch for Communication Setting" (page
15))
When connecting ARIES and LYNX, Device No.
needs to be set for Motionnet® connection.
(See "2-5. Device No. Setting Switch" (page 16))
Check all connections and then turn the power
ON.
Depending on the type of stages, the origin return
method needs to be changed.
(See "3-9. Origin Return Method (page 30))".
Preparations completion
→"Returning to Origin"
*Some models of our standard stages cannot perform
origin return normally unless you change the setting.
This adjustment is required if this controller is shipped
without stages.
If you notice abnormalities such as abnormal noise or
smell after turning the power ON, turn the power OFF
immediately and find its cause.
Make sure the power is OFF.
Make sure the power is OFF.
Cables used for connection are a power cable, a motor
cable and a communication cable.
*Always ground FG (frame ground).
Do not install in a place with high
temperature, low temperature, high humidity
and loud noise.
Contact your retailer or our sales department
immediately if any accessories are missing.
！
！
！
！
！

12
2-2-1. Part Names of ARIES
①I/O Connector
Connector for General Input/Output Signal
②Motionnet® Connector
Motionnet® Connector
Green LED: It turns on when Motionnet® system is connected properly.
Orange LED: ON when switching from normal connection status to
abnormal status.
③Rotary Switch for Communication Setting
④RS-232C Connector
Connector 9-pin for RS-232C communication line
⑤LAN Connector
Ethernet (TCP/IP) Connector
Green LED: ON when communication speed is 100Mbps.
Orange LED: ON when a link is established with the other side.
⑥Emergency Stop Signal Input Connector
⑦Trigger Signal Output Connector
⑧Power Connector (including fuse)
⑨Power Switch
Turns power ON/OFF.
⑩1st Axis Motor Control Pulse Output
Connector
⑪1st Axis Encoder Signal Input Connector
⑫2nd Axis Motor Control Pulse Output
Connector
⑬2nd Axis Encoder Signal Input Connector
2-2-1. Part Names
AXIS1
AXIS2
POWER
BUSY CWLS CCWLS NORG ORG EMG
ARIES
PYXIS
②
③
④
①
EMS TRG
I/O
RS-232C
Motionnet COMM LAN
AC IN
90-240V 50/60Hz
CONT1 CONT2ENC1 ENC2
POWER
0
5
1φ AC IN
90-240V 50/60Hz
⑩⑪ ⑫ ⑬
②④⑧
①③⑤⑨
⑥⑦
①Limit and Position Sensor Display LED
Status of each position sensor and driving status are displayed.
BUSY: Turns ON yellow during motor driving.
CWLS: When the CW limit sensor is in detection status, it turns ON yellow.
CCWLS: When the CCW limit sensor is in detection status, it turns ON yellow.
NORG: When the NORG sensor is in detection status, it turns ON yellow.
ORG: When the ORG sensor is in detection status, it turns ON yellow.
②Emergency Stop LED
When the emergency stop is ON, it turns ON red.
③Connector for "PYXIS" Connection
④Power Light
Turns ON green when the power is ON.

13
①Limit and Position Sensor Display LED
Status of each position sensor and moving status are displayed.
BUSY: Turns ON yellow during motor driving.
CWLS: When the CW limit sensor is in detection status, it turns ON yellow.
CCWLS: When the CCW limit sensor is in detection status, it turns ON yellow.
NORG: When the NORG sensor is in detection status, it turns ON yellow.
ORG: When the ORG sensor is in detection status, it turns ON yellow.
②Emergency Stop LED
When the emergency stop is ON, it turns ON red.
③Power Light
Turns ON green when the power is ON.
2-2-2. Part Names of LYNX
①Motionnet® Connector
Motionnet® Connector
Green LED: It turns ON when Motionnet® system is connected
properly.
Orange LED: ON when switching from normal connection status to
abnormal status.
②Rotary Switch for Device No. Setting
③Emergency Stop Signal Input Connector
④Power Connector (including fuse)
⑤Power Switch
Turns power ON/OFF.
⑥1st Axis Motor Control Pulse Output
Connector
⑦1st Axis Encoder Signal Input
Connector
⑧2nd Axis Motor Control Pulse Output
Connector
⑨2nd Axis Encoder Signal Input
Connector
AXIS1
AXIS2
POWER
BUSY CWLS CCWLS NORG ORG EMG
LYNX
①③ ②
4
C
0
8
4
C
0
8
EMS
Motionnet
CONT1 CONT2ENC1 ENC2
POWER
Device No.
HL
② ④① ③ ⑤
⑥⑦ ⑧ ⑨

14
AXIS1
AXIS2
POWER
BUSY CWLS CCWLS NORG ORG EMG
ARIES
PYXIS
2-3. Connection Method
When pulling out or inserting a connection, make sure the power of main body is OFF.
Connection/connecting wires between ARIES and external equipment are explained.
【Front Panel】
【Rear Panel】
PYXIS
EMS TRG
I/O
RS-232C
Motionnet COMM LAN
AC IN
90-240V 50/60Hz
CONT1 CONT2ENC1 ENC2
POWER
0
5
1φ AC IN
90-240V 50/60Hz
FUSE
AC IN 90-240V
50/60Hz
POWER
CONT1
CONT2
PM1
PM2
AC OUT
4
C
0
8
4
C
0
8
EMS
Motionnet
CONT1 CONT2ENC1 ENC2
POWER
Device No.
HL
FUSE
AC IN 90 -240V
50/60Hz
POWER
CONT1
CONT2
PM1
PM2
AC OUT
AC90V to 240V Precision stage with 5-phase
stepping motor (sold
separately)
Emergency stop signal Input
RS-232C cable (cross) (commercial product)
LAN cable (commercial product)
ARIES
Motionnet cable
I/O cable
Encoder cable (sold separately)
Motor cable (sold separately)
Driver BOX Example: TITAN AⅡ
Power Cable
Motor pulse cable
(sold separately)
Trigger signal output
Encoder cable (sold separately)
Always ground FG
(frame ground).
！
* Do not use a hub between Motionnet® cable connections.
AC90V to 240V Precision stage with 5-phase
stepping motor (sold
separately)
Make sure to connect the terminal
plug on LYNX at the final end.
Motor pulse cable
(sold separately)
Encoder cable (sold separately)
Power Cable
Emergency stop signal Input
Motionnet cable
Terminal plug
Driver BOX Example: TITAN AⅡ
Encoder cable (sold separately)
Motor cable (sold separately)
LYNX
Always ground FG
(frame ground).
！

15
ARIES can set or change communication conditions with the rotary switch (COMM) in the
rear panel.
Default setting is Mode 4 (RS-232C 115200baud).
*Settings of RS-232C communication except for speed (baud):
Parity : NON
Word length : 8bit
Stop bit : 1
The settings are fixed.
■Position of Rotary Switch
EMS TRG
I/O
RS-232C
Motionnet COMM LAN
AC IN
90-240V 50/60Hz
CONT1 CONT2ENC1 ENC2
POWER
0
5
1φ AC IN
90-240V 50/60Hz
2-4. Rotary Switch for Communication Setting
【Rear Panel】
■Settings
Settings are as shown in the table below.
(Mode 6 to 9 cannot be used)
Communication
mode
Communications
settings
RS-232C speed
(baud) LAN
0 9600 *
1 19200 *
2 38400 *
3 57600 *
4 115200 *
5 * LAN
6 * *
7 * *
8 * *
9 * *

16
4
C
0
8
4
C
0
8
EMS
Motionnet
CONT1 CONT2ENC1 ENC2
POWER
Device No.
H L
For Motionnet®equipped with ARIES/LYNX, Device No. needs to be set as more LYNX is
installed.
Device No.00 is assigned to ARIES as the fixed value.
Set Device No. of LYNX from (H/L → 0/2) to (H/L → 1/E) in the unit of 2 with the Device
No. setting switch.
■Position of Device No. Setting Switch
2-5. Device No. Setting Switch
【Rear Panel】
■Settings
Settings are as shown in the table below.
• Device No. settings are expressed with
hexadecimal.
• The H side is the ten's place and the L side
is the one's place.
• Device No. of 00 to 1E corresponds to the
axis 1 to 32.
• ARIES has Device No.[00](＝Axis No.1 and
2), and LYNX has Device No.[Set value](＝
Axis No.Set value＋1 and Set value＋2).
• When a duplicate exists in Device No. it
can cause malfunction. Make sure to set
Device No. according to the table on the
left.
Model No. of
axes
Device No. Axis
No.
H L
ARIES 2 0 0 1,2
LYNX (No1) 4 0 2 3,4
LYNX (No2) 6 0 4 5,6
LYNX (No3) 8 0 6 7,8
LYNX (No4) 10 0 8 9,10
LYNX (No5) 12 0 A 11,12
LYNX (No6) 14 0 C 13,14
LYNX (No7) 16 0 E 15,16
LYNX (No8) 18 1 0 17,18
LYNX (No9) 20 1 2 19,20
LYNX (No10) 22 1 4 21,22
LYNX (No11) 24 1 6 23,24
LYNX (No12) 26 1 8 25,26
LYNX (No13) 28 1 A 27,28
LYNX (No14) 30 1 C 29,30
LYNX (No15) 32 1 E 31,32

17
RPS 1/0/1000/0
Set the speed table No.0
3. Functions
3-1-1. Speed Table
Speed settings of ARIES and LYNX are possible in the range of 2 to 5,000,000 (pulse/second).
However, because only a few cases generally require to define speed change in detail, a
selection method from the 12 steps speed tableis adopted.
No.10 is "High" in the JOG mode button of PYXIS, and No.11 is "Low".
(See "3-10. ARIES Touch Panel "PYXIS" (page 40))
Also, since each speed table can be set freely, a necessary driving speed can be set to 12
patterns.
3-1. Speed Setting
■Speed table *Setting value shown in the next table are default values.
3-1-2. Speed Change in Remote Control
In remote control, specify a speed table No. in each moving command.
For settings of speed table No.0 to 11, use the RTB and WTB command.
For details, see RTB (page 88) and WTB (page 108) in "4.4. Command Details".
Command
example → (RPS command example)
！
STX
CR LF
Speed table
No.
Start speed Maximum
speed
Accelerating
time
x 10msec
Decelerating
time
x 10msec
Accelerating pattern
[pps] [pps]
0 500 1,000 16 16 Trapezoidal drive
1 500 2,000 20 20 Trapezoidal drive
2 500 3,000 24 24 Trapezoidal drive
3 500 4,000 28 28 Trapezoidal drive
4 500 5,000 32 32 Trapezoidal drive
5 500 6,000 36 36 Trapezoidal drive
6 500 7,000 40 40 Trapezoidal drive
7 500 8,000 44 44 Trapezoidal drive
8 500 9,000 48 48 Trapezoidal drive
9 500 10,000 52 52 Trapezoidal drive
10 10 8,000 50 15 S shaped drive (fixed)
11 5 4,000 25 10 S shaped drive (fixed)

18
3-1-3. Speed Setting Regulations
In addition to the setting range of parameter in each speed, there are regulations in a relationship
between acceleration/deceleration speed and maximum speed.
Note: The acceleration time unit in the table is [msec]; however, the setting unit with the WTB
command is [10 msec].
①Depending on a maximum speed range, the settable acceleration/deceleration time is
restricted.
②The start setting speed range is restricted to 50% or less the maximum setting speed.
③The maximum speed cannot be set more than the setting in the system parameter No.16
"Maximum Speed Limit Value" (hereinafter, referred to as "SYS.16"). By changing SYS.16, the
limit value of the maximum speed can be changed.
④The larger the maximum speed is, the more error increases on the set value of the
acceleration/deceleration time.
When the speed table is set with the WTB command, the nearest value to the sending
parameter is set within the settable range, and its value is returned.
⑤The deceleration time cannot be set to twice or more of an acceleration time. When such
setting is conducted with the WTB command, the deceleration time is set to a value within twice
the acceleration time.
Please set within the range not exceeding the regulations shown below.
When a setting range is exceeded, error code 601 to 605 is returned.
*As a setting value becomes larger, a setting unit becomes larger for the maximum speed and
acceleration/deceleration time.
Maximum speed range
[pps]
Speed
setting
unit
[pps]
Acceleration/deceleration time
Setting range
[msec]
Setting
unit
[msec]
Setting error [msec]
At trapezoid drive At S shaped
drive
1 to 20 1 10 to 100 10 ±0.01 or less ±0.02 or less
21 to 250 1 10 to 1,000 10 ±0.125 or less ±0.25 or less
251 to 500 1 10 to 10,000 10 ±0.5 or less ±1 or less
501 to 1,000 1 10 to 10,000 10 ±0.5 or less ±1 or less
1,001 to 2,500 1 10 to 10,000 10 ±0.5 or less ±1 or less
2,501 to 5,000 1 10 to 10,000 10 ±0.5 or less ±1 or less
5,002 to 10,000 2 10 to 10,000 10 ±0.5 or less ±1 or less
10,005 to 25,000 5 10 to 10,000 10 ±0.5 or less ±1 or less
25,010 to 50,000 10 10 to 10,000 10 ±0.5 or less ±1 or less
50,020 to 100,000 20 10 to 10,000 10 ±0.5 or less ±1 or less
100,050 to 250,000 50 10 to 10,000 10 ±0.5 or less ±1 or less
250,200 to 500,000 50 10 to 10,000 10 ±1 or less ±2 or less
500,050 to 1,000,000 50 20 to 20,000 20 ±2 or less ±4 or less
1,000,050 to 2,000,000 50 40 to 40,000 40 ±4 or less ±8 or less
2,000,050 to 5,000,000 50 100 to 100,000 100 ±10 or less ±20 or less

19
When moving an object, it cannot be moved in high speed abruptly due to inertial force.
In case of a stepping motor also, it normally starts in low speed and then achieve high speed with
gradual acceleration.
3-2. Acceleration Pattern
By setting the start speed (low speed), maximum speed, acceleration time and deceleration
time, ARIES and LYNX calculate the acceleration/deceleration rate internally, and series of
acceleration/deceleration operation are conducted automatically.
Trapezoidal Drive and Asymmetric Trapezoidal Drive
A method to increase and decrease acceleration and deceleration at a constant acceleration and
deceleration ratio is called a trapezoidal drive.
This product also supports an asymmetric trapezoidal drive that acceleration and deceleration
can be set in different setting.
S-Shaped Drive and Asymmetric S-Shaped Drive
S-shaped drive is a method to actualize smooth movement by accelerating and decelerating with a
quadric curve.
Top speed
Start speed
Acceleration time Deceleration time
Acceleration range Constant speed range Deceleration range
Asymmetric Trapezoidal Drive
(Acceleration ≠ Decelerataion)
Acceleration Deceleration
Trapezoidal Drive
(Acceleration = Deceleration)
Acceleration Deceleration
Asymmetric S-shaped Drive
(Acceleration ≠ Deceleration)
Acceleration Deceleration
S-shaped Drive
(Acceleration = Deceleration)
Acceleration Deceleration