Kohzu Precision MontBlanc KOSMOS Series User manual

User's Manual
operation
manual
Rev1.01
Read this manual before using this product.
Keep in a convenient place for future reference.
MontBlanc stage compliant
Stepping motor controller
Kohzu Precision Co.,Ltd.
KOSMOS series
Model: CRUX-D

1
Introduction
Thank you for purchasing our stage controller, “CRUX-D”.
In this document, information and operation method for the stepping motor controller, "CRUX-
D", are explained.
Read this manual carefully and understand the functions thoroughly before using "CRUX-D".
In addition, keep this document in a convenience place for future reference.
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.
！

2
Safety Precautions
Do not apply severe shock to the product and
avoid using in a place with vibration.
Do not use this device in places where there
is risk of liquid or chemical splashes.
Doing so may cause failure.
Use 100-240V AC (50/60Hz) as a power
supply.
*Confirm ratings of the power cable.
*Always earth FG (Frame Ground).
Do not use near large motors, high voltage
electric devices or devices that generate
strong magnetism.
Doing so may lead to malfunction.
Do not disassemble or modify the product.
Pay close attention when connecting the
motor driven stage or a motor other than
those specified by us.
When the controller's power supply is turned
ON, do not pull out or insert cables.
KOSM OS
KOSMOS
×
×
KOSM OS
×
KOSM O S
KOSMOS
？
KOSM OS
×
KOSMOS
×
S
N
KOSMOS
100-200V AC
！
！

3
Introduction 1
Symbols Identifications 1
Safety Precautions 2
Table of Contents 3
1 Product Summary 4
1-1.Features of this Product 4
1-2.List of Functions 5
1-3.Attachments and Options 6
2 Installation and Preparation 8
2-1.Proceeding with Installation
and Preparation 8
2-2.Parts Name 9
2-3.Connecting Method 10
2-4.Rotary Switch for Communication Settings 11
3 Functions 12
3-1.Acceleration Patterns 12
3-2.Speed Setting 13
3-3.Driving Current 15
3-4.Setting No. of Divisions of Micro-Step 15
3-5.Emergency Stop Function 16
3-6.Origin Return Method 17
4 CRUX Handy Terminal 24
4-1.Description for INCOM Operation 24
4-2.List of Driving Patterns 24
5 Remote Control 25
5-1.Proceeding with Installation
and Preparation 25
5-2.Command List 25
5-3.Command Details 29
5-4.Simple Command Details 48
5-5.Error Code 57
5-6.System Settings 59
5-7.Installation Procedures of USB Driver 62
Specification 64
6-1.Specification 64
6-2.Connector 65
6-3.Input/Output Signal Interface 66
6-4.Dimensions 67
Maintenance and Service 68
7-1.Troubleshooting 68
7-2.Maintenance 70
7-3.Warranty and Service 71
7-4.Contacts
Ex Revision History 77
Table of Contents

4
1-1. Features of this Product
1 Product Summary
Providing advanced functions suited to the needs of customers at a low price, this
product offers excellent cost performance.
●Completely supports our motor drive precision stage <MontBlanc Series>.
●Micro-step motor driver with 250 divisions at maximum equipped as standard.
●Driving current can be selected from three options: 0.35A/phase, 0.75A/phase, or 1.4A/phase.
●Compact size.
●Supports rectangular and trapezoidal drives.
●10 kinds of settings can be set from the optional speed table.
●Origin return method selectable from 10 kinds (+ORG OFFSET).
●By using the “INCOM” (sold separately), it is possible to conduct debugging operations, such as
test operation and adjustment, without requiring a PC.
●Remote control is possible via USB communication/RS-232C communication.
●Control can be performed through the control software “Chamonix”. *Please use the latest version.
Chamonix is an original application developed by this company on the theme of intuitive operation.
Please download from our company's website.
http://www.kohzu.co.jp/
■Out of product scope
This product does not offer the following items.
・Driving of 2-phase stepping motor.
・Driving of motor with servo motor specifications. *1
・Reading of encoder signals.*1
・Ethernet communication.*1
・Multi-axis simultaneous control using multiple devices.*1
・Automatic operation using this device only.* 2
*1 This can be done on the high-end model ARIES/LYNX. Because ARIES/ LYNX has a
separable driver, it is used with a separate driver.
By using multiple devices, it is possible to connect up to 32 axes and conduct multi-axis
simultaneous drive on up to 4 axes.
*2 Remote control is possible via USB/RS-232C communication.

5
1-2.List of Functions
Relative Position Drive
(2 axes simultaneous
start possible)
Moves toward the specified direction from the present position by a set
moving value.
Absolute Position
Movement
(2 axes simultaneous
start possible)
Moves to the specified target position.
Origin Return
Movement
Performs origin return with the specified origin return method.
Continuous Drive
Mode
(Optional)
Moves continuously with the free drive mode of the easy control Handy
Terminal "INCOM".
Relative Position Drive
Mode
(Optional)
Moves for the specified moving amount with the relative position drive
mode of the easy control jog box "INCOM". *Moving amount is set from
PC.
Example: Move to CW
angle (1000 pulse) at
two times.
2000 1000 0
CW CCW
Second movement amount First movement amount
(Start Position)
CW CCW
Example: Start Position①
or Start Position②move
to target position.
Target Position
Start Position①
Start Position②
CW CCW
Origin
Start Position①
Start Position②
Example: Start Position
①or ②move return
Origin position.
Start Position
Start driving while the
button is pushed and
stops when released.
First movement
amount
First movement
amount
Second movement
amount
Second movement
amount
Performs a regulated
amount of drive in one
operation.

6
1-3.Attachments and Options
1-3-1．Attachments
The following items are included to the product. Make sure to check that all items are included.
Immediately contact your retainer or our sales department if there are missing or damaged parts.
1-3-2. Other Items to Be Prepared (Essential)
①3-pin power cable 2m (with 3-pin→2-pin conversion plug)
The provided power cable is for use in Japan (125V).
If using with 200V power inside or outside of Japan, you need to prepare a separate
power cable.
②Emergency stop short plug
This short plug is connected if the emergency stop signal is not used.
Motor cable list for KOSMOS series (For 5 motor lead wire)
Stage side
Connector shape Fixed cable Moving cable
3m CB1503 RCB1503
5m CB1505 RCB1505
10m CB1510 RCB1510
Length
Round type
connector
Cable type
②PC communication cable (Commercial product)
Please prepare one of the following for connecting this product to a PC.
• USB cable
•RS-232C (cross) communication cable
①KOSMOS series motor cable (for driving MontBlanc products) (sold separately)
Please purchase separately according to the purpose of use.
③Clear Bumpon x 4
This is a transparent nonslip pad. Please attach according to the need.
The following items are not attached. Please prepare separately.
*Other types of cable (for 10-lead and square connector) can also be manufactured.
For details, see our company’s website.
！
③“CRUX-D Operation Manual” (Acrobat (PDF) format)
To save on resources, a printed operation manual is not attached. Please download
from our company's website.

7
1-3-3．Optional Products
The following optional products are available to make this product easier to use.
Purchase or download as necessary.
For questions about the following products, please contact your retainer or our sales department.
①CRUX handy terminal “INCOM” (sold separately)
②Stage control application “Chamonix”
This handy terminal can control the basic operating functions of
this product.
For details, see “4 Handy Terminal for Easy Control” (Page 25).
This application allows all functions of this device to be controlled from a PC.
Please download from our company's website.
*Please use the latest version. It cannot operate on the old version.
③USB driver
On Windows8.1 or earlier OS, it is necessary to install a driver.
Please download from our company's website.
For details, see "5-7. Installation Procedures of USB Driver" (Page 62).

2 Installation and Preparation
2-1.Proceeding with Installation and Preparation
Check attachments and necessary items.
Be sure to follow the procedure given below when installing this device.
Install in a place where it is used.
Connect cables while the power is OFF
(See "2-3. Connecting Method " (Page 10).
When controlling with communication, communication settings
should be performed on this device and host computer.
(See "2-4. Rotary Switch for Communication Settings" (Page 11))
Check all connections, and then turn the power ON.
Drive current settings, micro-step division switching, etc.
need to be performed depending on the stage type.
(See "3-3. Driving Current" to "3-4.Setting No. of Divisions
of Micro-Step" Page 15).
Depending on the type of stages, the origin return method
needs to be changed.
For details, see "3-6. Origin Return Method" (Page 17).
Operation Preparation
completion
→”Return to Origin"
*Some models of our standard stages cannot perform origin
return normally unless you change the setting.
This adjustment is required when this controller is purchased
as a single unit, and shipped with factory settings.
→"Micro-step Division Switch”
*Change if necessary depending on your usage purposes.
→"Current Settings”
*Some models of our standard stages cannot perform origin
return normally unless you change the setting.
*Current settings may need to be changed for a part of
models of our company's standard stages.
If you notice abnormalities such as noise and smell after
turning the power ON, turn the power OFF immediately,
and investigate its cause.
Make sure the power is OFF.
Also, please install a USB driver according to necessity.
For details, see “5-7.USB Driver Installation Procedure”
(Page 62).
Make sure the power is OFF.
Cables used for connection are a power cable, motor cable,
communication cable, etc.
*Always earth 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 attachment is missing.
8
！
！
！
！
！
！

0
5
USB
RS-232CPM2PM1
EMG OUT EMG IN
1φ AC IN
100-240V
50/60Hz
COMM
POWER BUSY CWLS CCWLS NORG ORG
PM1
PM2
CRUX-D
EMG
INCOM
9
①Motor connecting connector
Stage driving output, and sensor input
②Rotary switch for communication mode
selection
Selects USB or RS-232C (including baud rate
setting)
Selects Normal/Simple command
③RS-232C connector
Connector 9-pin for RS-232C communication
line
④USB connector
For USB communication line
⑤Emergency stop signal output connector
⑥Emergency stop signal input connector
⑦Power supply connector (including fuse)
⑧Power switch
Turns power ON/OFF.
⑨FG terminal
①Power light
Turns ON green when the power is ON.
②Limit and position sensor display LED
Displays the position sensor state and driving
state.
BUSY: Turns ON yellow during motor driving.
CWLS: When the CW limit sensor is in the
detection state, it turns ON yellow.
CCWLS: When the CCW limit sensor is in the
detection state, it turns ON yellow.
NORG: When the NORG sensor is in the
detection state, it turns ON yellow.
ORG: When the ORG sensor is in the detection
state, it turns ON yellow.
③Emergency stop LED
When the emergency stop is ON, it turns ON red.
④Connector for "INCOM" connection
2-2.Part Names
③
④
①
②
⑤
①③④
⑥⑦⑧ ⑨
For details concerning each connector, please see “6-2 Connector” (Page 65); and for
external dimensions, please see “6-4 CRUX-D External Dimensions” (Page 67).
【Front Panel】
【Rear Panel】
②

0
5
USB
RS-232CPM2PM1
EMG OUT EMG IN
1φ AC IN
100-240V
50/60Hz
COMM
【Rear Panel】
2-3.Connecting Method
Power cable
With 5-phase stepping motor
Precision stage (sold separately)
RS-232C cable (cross)
(Commercial product)
USB cable
(Commercial product)
Emergency Stop
Signal(Input)
Emergency Stop
Signal(Output)
Motor cable for KOSMOS series (sold separately)
For details,
see "3-5. Emergency Stop Function" (Page 16),
"6-2. Connector" (Page 65), and
See “6-3. Input/Output Signal Interface” (Page 66).
*Always earth FG
(Frame Ground).
When pulling out or inserting a connection wire, make sure the power of main body is OFF.
Connections between this device and external devices are explained.
【Front Panel】
INCOM (sold separately)
CRUX-D (this device)
CRUX-D (this device)
When not using emergency stop, be sure to connect the attached short plug.
100-240V AC
Please connect upon checking the cable rating.
10
YA07A-R103
Motor cable for KOSMOS series (sold separately)
！
！
！
PC
POWER BUSY CWLS CCWLS NORG ORG
PM1
PM2
CRUX-D
EMG
INCOM
H L 1P
INCOM
REL ORG SPD

0
5
USB
RS-232CPM2PM1
EMG OUT EMG IN
1φ AC IN
100-240V
50/60Hz
COMM
11
2-4. Rotary Switch for Communication Setting
In USB communication, it is possible to communicate with any switch. However, since the
command format differs between simple commands and general commands, please set
according to the commands being used.
RS-232C speed [baud] USB
0 38400
1 57600
2 19200
3 9600
4 115200
5 38400
6 57600
7 19200
8 9600
9 115200
Communications settings
G
e
n
e
r
a
l
c
o
m
m
a
n
d
S
i
m
p
l
e
c
o
m
m
a
n
d
Communication
mode
USB
USB
This product can set or change communication conditions with the rotary switch (COMM) in the rear panel.
Default setting is Communication mode 4 (Normal command USB mode).
*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
Settings are as shown in the table below.
(Mode 0 to 4 are General command specification, and 5 to 9 are Simple command specification)
■Settings
【Rear Panel】
！

12
3-1. Acceleration Patterns
3 Functions
This product can set 2 types of acceleration/deceleration pattern: rectangular drive and trapezoidal drive.
By setting the start speed, maximum speed, and acceleration/deceleration time, the
acceleration/deceleration rate is internally calculated and the series of acceleration/deceleration
operations is automatically conducted.
Pulse speed [pps] : The number of pulses sent per second (pulses per second).
Start speed [pps] : The pulse speed that is sent when the motor starts running from the still state.
Maximum speed [pps]: The pulse speed when the motor is running at the fastest rate.
Acceleration/deceleration time [10msec]: The acceleration time from start speed to maximum
speed, and the deceleration time from maximum speed to stop.
Rectangular Drive
This is the drive mode for operating at maximum speed immediately after start without having any
acceleration/deceleration time. This mode conducts driving at maximum speed regardless of the
start time and acceleration/deceleration time. Accordingly, it is selected when operating at low
speed and so on. There is a risk of out-of-adjustment occurring if this mode is applied at high
speed.
[t]
[pps]
Maximum
speed
Constant velocity
This mode entails setting the acceleration/deceleration time and attaining the maximum speed
at a uniform acceleration/deceleration ratio. When moving an object, it cannot be moved in
high speed abruptly due to inertial force. In case of the stepping motor also, it normally starts
in low speed, and then achieve the maximum speed after gradual acceleration. Speed
settings can be made within the range shown in the speed table (Page 14).
Trapezoidal Drive
[t]
[pps]
Acceleration Deceleration
Constant velocity
Maximum speed
Start speed
Accelerating time Deceleration time
（Accelerating time＝Decelerating time）

13
3-2.Speed Setting
In remote control, specify a speed table No. in each moving command.
For settings on the speed table No.0 to 9, settings can be changed using WTB commands.
For confirmation, settings can be read with RTB commands.
(For details, see RTB (Page 40) and WTB (Page 47) in “5-3 Command Details”.
Concerning speed of “INCOM”, low-speed drive is set in speed table №2, and high-speed drive
is set in speed table №9. If changing the INCOM drive speed, please change №2/№9.
Speed Start speed Maximum speed
Table No. [pps] [pps]
0 500 500 1
Rectangular Drive
1 500 2,000 20
Trapezoidal Drive
2 500 3,000 24
Trapezoidal Drive
3 500 4,000 28
Trapezoidal Drive
4 500 5,000 32
Trapezoidal Drive
5 500 6,000 36
Trapezoidal Drive
6 500 7,000 40
Trapezoidal Drive
7 500 8,000 44
Trapezoidal Drive
8 500 9,000 48
Trapezoidal Drive
9 500 10,000 52
Trapezoidal Drive
Acceleration/Deceleration
time
[10msec]
Acceleration
Patterns
Speed Table Speed setting of this product is possible in the range of 1 to 500,000
(pulse/second). However, because few cases generally require to define speed change in detail,
CRUX adopts a method to select from the 10 patterns speed table.
Also, since each speed table can be set freely, necessary drive speed can be set to 10 patterns.
■Speed table
*Acceleration time and deceleration time are the same. They cannot be set separately.
*The above cannot be changed with simple commands. Selection can only be made
from the speed table.
*Setting values in the table below are default values (Table No.0 is only for rectangular drive)
3-2-1.Speed Table
3-2-2. Speed Change in Remote Control

14
Regulations exist concerning the acceleration/deceleration time, maximum speed and start speed
in addition to the setting range of the speed parameters.
Concerning the maximum speed setting range, the minimum unit that can be set is limited
according to the size of the range.
Units range from 1 to 100 and are adjusted to be close to the setting unit. The start speed setting
unit is the same as the maximum speed setting unit.
Case of trapezoidal drive
①Start speed, maximum speed, and acceleration/deceleration time are set.
②The start speed can be set over the range up to 80% of the maximum set speed.
③The bigger the maximum speed becomes, the larger is the correction of the set value for the
minimum unit of speed setting.
When speed table settings are made with WTB commands, values close to the transmitted
parameters are set within the feasible setting range.
④The unit for acceleration/deceleration time is [10msec]. Therefore, (set value) x 10 [msec] is set.
*Since rectangular drive is forcibly adopted for maximum speed of 99pps or less, trapezoidal drive
operation is not possible.
Range [10msec] Set value [msec]
1–99 1
–
Rectangular driv e only
100 –8191 1
8192 –16382 2
16384 –32764 4
32765 –40955 5
40960 –81910 10
81920 –163820 20
163840 –327640 40
327650 –409550 50
409600 –500000 100
Maximum speed setting
range [pps]
Speed setting minimum
unit X [pps] (X=1~100)
Acceleration/deceleration time setting
1–85 10–850
Speed table
The set value is pulse speed. The actual drive speed differs according to each stage.
Since it also differs according to the micro-step divisions (Page 15), we recommend also
setting the micro-step divisions according to the purpose of use.
Case of rectangular drive
①When 1 to 99 [pps] is selected for maximum speed, rectangular drive is conducted.
②Operation is conducted at maximum speed immediately after the start.
③Start speed and acceleration/deceleration time values are disregarded.
④If the maximum speed is too high, there is a risk of out-of-adjustment occurring.
3-2-3. Speed Setting Regulations

15
This product can control three types of stepping motor, i.e. rated current 0.75A/phase,
0.35A/phase, and 1.4A/phase. According to a target stage, set the applicable phase.
Settings can be changed by writing in system No.67 with WSY command (system setting write).
(Initial value: “0” Current: 0.75A/phase)
3-3. Driving Current
This product can select a number of motor step divisions from 16 types.
Settings can be changed by writing in system No.66 with WSY command (system setting write).
(Initial value: “2” divisions “2”＝1/2)
3-4. Setting No. of Divisions of Micro-Step
Setting value
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Number of
divisions
1 2 2.5 4 5 8 10 20 25 40 50 80 100 125 200 250
Setting v alue
012345
Current 0.75 0.35 1.4 Reserved Reserved Reserved
Using with the wrong current can cause failure. Be sure to confirm if setting is
needed.
Caution!
Current Setting of the number of micro-step divisions
When changing the current value and divisions, there is a risk of positional deviation. Be
especially careful when changing the micro-step divisions. The maximum deviation width is
an angle corresponding to roughly half of the motor step angle.
For example, if the basic step angle is 0.72°, it is a maximum of 0.36°.
Never use 3 to 5. Since higher current values than usual are set for 3 to 5, there
is a possibility of motor failure occurring.
For example, in the case where the following contents are set in speed table “4” for the
first axis in trapezoidal drive:
Start speed 5005 [pps]/ maximum speed 50005 [pps]/ acceleration/deceleration time 55
[10msec].
①Since the maximum speed setting unit is 10[pps], it is corrected to 50010[pps].
②Since the start speed setting unit is 10[pps] (the same as for maximum speed), it is corrected to
5010.
③Since the acceleration/deceleration time is set at 55[10msec], the set value becomes 550[msec].
Reading in the set values
Settings are indicated like: start speed 5010 [pps], maximum speed 50010[pps], and
acceleration/deceleration time 55[10msec].
WTB 1/4/5005/50005/55/2
STX
CR LF
WTB command (Page 47)
RTB 1/4
STX
CR LF
RTB command (Page 41)
CR LF
Tab Tab
Tab
Tab
Tab Tab
C RTB 4 5010 50010 55 2
！
！

16
3-5.Emergency Stop Function
This product can execute an emergency stop during driving when the emergency stop signal
becomes active. (Normal close method)
Connect the emergency stop signal (Normal close method)
between 2-3 pin on EMG IN.
At emergency stop operation: Between 2-3 pin OPEN
At emergency stop release: Between 2-3 pin CLOSE (Short)
When not using the emergency stop, make sure to connect the short connector that comes
with this product.
・EMG OUT (Emergency stop status signal output)
Signal output port of open connector method
At emergency stop operation: Output signal OPEN
At emergency stop release: Output signal CLOSE (Short)
After resolving causes of emergency stop, release the prepared emergency stop switch.
(Following execution of emergency stop, since there is a possibility that the position has
deviated, we recommend that you implement return to origin).
EMG OUT EMG IN
1φ AC IN
100-240V
50/60Hz
Concerning emergency stop signal, see “6-2. Connector” (Page 65),
See “6-3. Input/Output Signal Interface” (Page 66).
Photo-coupler permissible value: Rated VCEO:80[V], VECO:5[V], IC:30[mA]
Example of emergency stop circuit composition
Emergency stop ”release time” Emergency stop “operation time”
Optional emergency stop
device
Optional emergency stop
device
CRUX-D (this device) CRUX-D (this device)
1
2
3
SW
24V
EMG_IN
0V
1
2
EMG
_OUT
0V
MAX30[mA]
I≦30[mA]
ON
1
2
3
SW
24V
EMG_IN
0V
1
2
EMG
_OUT
0V
MAX30[mA]
I≦30[mA]
OFF
OFFON
！
・EMG IN (Emergency stop signal input)
・Emergency Stop Release

17
3-6. Origin Return Method
Origin return method can be selected in this product according to the combination of sensor of
the positioning device used. Based on the set origin return method, after moving near
the specified sensor at the maximum speed of the specified speed table, it moves to the origin at
the same speed with the starting speed of the speed table (Default: 500pps) and stops.
Setting with System No.1 ORG OFFSET
After executing each origin return operation, it moves just as much as the set value in System
No.1 "ORG_OFFSET" and the position is set as 0 coordinate value.
See (Page 22) for an example of use.
(For details concerning the system settings, see “5-6-1. System Setting Details (Page 59)).
*In Method 10, "ORG OFFSET" is invalid.
ORG NORG DATU
M
CCW
Limit
CW
Limit
1● ●
The zone sensor (DATUM) determines return direction and the edge of initial
origin sensor (ORG) becomes the origin position within the zone sensor.
2●The edge of zone sensor (DATUM) is the origin position.
3● ● ● The edge of origin sensor (ORG) located in the near origin
sensor (NORG) is the origin position.
4● ● The edge of near origin sensor (NORG) is the origin position.
5● ● Origin sensor (ORG) in proximity of CW limit is the origin position.
6● ● Origin sensor (ORG) in proximity of CCW limit is the origin position.
7●The edge of CW limit is the origin position.
8●The edge of CCW limit is the origin position.
9●The edge of origin sensor (ORG) is the origin position.
10 -----Present position is the origin position.
Sensor Configuration
Method Description
Please select according to the sensor
board and connection type stated in our
company’s catalog.
Setting is required in the following stages:
・When using DATUM.
→Select 1 or 2.
・If the connection type is “V4”.
→Select 7 or 8 according to the purpose
of use.
・If the connection type is “X1”.
→Select 3.
*If using the origin point sensor, select
according to the stage being used among
those where “●” is marked for ORG in the
table below.
List of origin return methods (Default: 4)
S2,S3
S1
L-L+
S2 Near origin sensor
(NORG)
S3 Zone Sensor
(DATUM)
L- CCW Limit
L+ CW Limit
S1 ORIGIN
(ORG)
Dog (Detecting plate) Sensor Configuration

18
2
1The zone sensor (DATUM) determines return direction and the edge of initial origin
sensor (ORG) becomes the origin position within the zone sensor.
Starting from CCW zone
①Detection starts to CW direction with trapezoidal drive.
②Decelerates and stops when zone sensor is detected.
③Reverses to CCW direction and in low speed movement.
④Reverses to CW direction after passing the zone sensor.
⑤Stops at initial origin sensor detection after zone sensor
detection.
Starting from CW zone
①'Detection starts to CCW direction with trapezoidal drive.
②'Stops with deceleration after moving through zone sensor.
④Reverses to CW direction in low speed movement.
⑤Stops at initial origin sensor detection after zone sensor
detection.
The edge of zone sensor (DATUM) is the origin position.
Starting from CW zone
①'Detection starts to CCW direction with trapezoidal drive.
②'Stops with deceleration after moving through zone
sensor.
⑤Reverses to CW direction in low speed movement.
⑥Stops at the edge detection of zone sensor.
CW CCW
S3 領域センサ
CW域から開始
CCW域から開始
①
②
③④
②’
⑤⑥
①’
ドグ(検知板)
領域センサ
Starting from CCW zone
①Detection starts to CW direction with trapezoidal drive.
②Decelerates and stops when zone sensor is detected.
③Reverses to CCW direction and in low speed movement.
④Stops with deceleration after passing the zone sensor.
⑤Reverses to CW direction in low speed movement.
⑥Stops at the edge detection of zone sensor.
ドグ(検知板)
領域センサ 原点センサ
Dog (Detecting plate)
Zone sensor Origin sensor
CW CCW
S1 原点(ORG)
S3 領域センサ
CW域から開始
CCW域から開始
①
②
③
④
②’
⑤
①’
Starting from CW zone
Starting from CCW zone
Origin(ORG)
Zone sensor
Starting from CW zone
Starting from CCW zone
Dog (Detecting plate)
Zone sensor
Zone sensor

19
3The edge of origin sensor (ORG) located in the near origin sensor (NORG) is the
origin position.
Starting from CCW zone
⑤Detection starts to CCW direction with trapezoidal
drive.
⑥Stops when CCW limit is detected.
⑦Reverses to CW direction and starts trapezoidal
drive.
⑧Decelerates and stops after detecting the near
origin sensor.
⑨Reverses to CCW direction in low speed
movement.
⑩Decelerates and stops after passing through the
near origin sensor again.
⑪Reverses to CW direction in low speed movement.
⑫After near origin sensor detection, stops at the
initial origin detection.
*If starting from near origin, execute from ⑨.
L- CCWリミット
CW CCW
S1 原点(ORG)
S2 ニア原点
CW域から開始
CCW域から開始
①
②
③
④
⑦
⑤
⑥
⑧
⑨ ⑩
⑪
⑫
ドグ(検知板)
ニア原点
ニア原点センサ 原点センサ
CCWリミット
センサ
ドグ(検知板)
CCWリミット
Starting from CW zone
①Detection starts to CCW direction with trapezoidal drive.
②Decelerates and stops after passing the near origin sensor.
③Reverses to CW direction in low speed movement.
④After near origin sensor detection, stops at the initial origin
detection.
Starting from CW zone
Starting from CCW zone
Origin(ORG)
Dog
(Detecting plate)
Near origin
Near origin
sensor
CCW limit
Dog
(Detecting plate)
CCW Limit
Near origin sensor CCW limit sensor Origin sensor