MUSCLE Corporation Cool Muscle 3 User manual

MDUG-CM3/20203E-01
COOL MUSCLE 3
CM3 User Guide
FOR COMMERCIAL SAMPLE
MDUG-CM3/20203E-01
COOL MUSCLE 3
CM3 User Guide
FOR COMMERCIAL SAMPLE

2
1About the user guide......................................... 3
1.1 Instructions for Safety ............................... 4
2Product Introduction........................................10
2.1 About The CM3..........................................10
2.2 COOL MUSCLE Language （CML）......11
2.3 Control Type ...............................................12
2.4 Model Number Configuration..............13
2.5Wiring Connection....................................14
3Direct Type...........................................................21
3.1 Overview.......................................................21
3.2 Operation.....................................................22
3.3 @K Parameters...........................................25
3.4 I/O function Assignment........................34
4I/O Type ................................................................38
4.1 Overview.......................................................38
4.2 I/O function Assignment........................39
4.3 Operation.....................................................43
4.4 @K Parameters...........................................46
5Pulse Type ............................................................53
5.1 Overview.......................................................53
5.2 I/O function Assignment........................54
5.3 Operation.....................................................57
5.4 @K Parameters...........................................59
6Common Settings..............................................64
6.1 Origin Search Operation.........................64
6.2 Query Command.......................................68
6.3 Status LED ....................................................71
7Specification ........................................................72
7.1 Basic specifications...................................72
7.2 Speed/Power/Torque Specification....74
7.3 Electric Specification ................................76
7.4 Dimensions..................................................77
8Others ....................................................................79
8.1 Revision History .........................................79
Table of Contents

3
1ABOUT THE USER GUIDE
□Please read this User guide before use for proper use of the product.
□Be sure to read the safety statement for safety purpose.
□Keep this user guide in an easily accessible location so that you can refer to it whenever
necessary.
This document may be revised as necessary to improve usability, improve products and change
specifications.
This User guide is only intended to provide information about the product and does not
guarantee any results from usage of the product. MUSCLE CORPORATION is not responsible for
any damages and/or injuries resulting from the implementation in accordance with the contents
of this User guide.
If you have any questions or comments about the contents of this user guide, please contact
your sales representative.
The contents of this user guide do not guarantee or grant rights to patents, copyright, or any
other rights to the intellectual property of MUSCLE CORPORATION or any third party. MUSCLE
CORPORATION is not responsible for any problems that may occur concerning the intellectual
property rights of third parties resulting from the application of information provided in this user
guide.
COOL MUSCLE is a registered trademark of MUSCLE CORPORATION
Other company names and product names described in this user guide are trademarks or
registered trademarks of their respective holders. The trademark notices (TM, ®) are not
necessarily appended to company, system, and product names described in this User guide.
Copyright©2020 MUSCLE CORPORATION. All rights reserved.
It is prohibited to reprint or copy all or any part of this User guide without prior written permission.

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1.1 INSTRUCTIONS FOR SAFETY
[Be sure to read before use for safety]
1.1.1 To ensure safe use
Incorrect handling or use of this product may cause an unexpected accident or shorten the life
of the product. Please read this manual carefully to use the product safely for a long time.
When applying this product to equipment in which a serious accident or loss is expected due to
the failure of this product, be sure to install the fail-safe function.
About product application
This product is manufactured as a general-purpose product for general industrial use. It has not
been designed or manufactured for use with equipment or systems that may be fatal, or in
which misoperation or failure may result in personal injury or serious damage. This product
cannot be used for the following applications that require extremely high reliability and safety.
□Medical devices or systems that directly affect human life.
□Applications that directly affect human safety.
(e.g. Operation and control of aircraft, cars, elevators, railways, etc.)
□Applications where failures may cause significant social and public damage or impact.
(e.g. Nuclear power, aerospace, public transport systems, etc.)
□Equipment or systems used under special environmental conditions.
□Applications with the same level of importance as those described above.
* To apply this product for such special applications, please contact our sales representative.

5
1.1.2 Safety Precautions
Please read the following precautions in order to use the product safely and properly and avoid
damage to the machine and injury to operators and others.
Carefully keep this user guide in a convenient place for easy reference by the operator. In this user
guide, the safety precautions are categorized as "Warnings" or "Cautions" and indicate the dangers
that can occur if the product is handled incorrectly. The symbols are explained below.
It indicates an imminently hazardous situation which, if not handled
properly, may result in death or serious injury.
It indicates a potentially hazardous situation which, if not handled
properly, may result in injury or property damage.
Note that some items described as Cautions may result in more serious damage under certain
conditions. Please observe the precautions of both levels because they are important to personnel
safety.
“What must not be done” and “What must be done” are indicated by the following symbols.
Prohibited Action, which means “what must not be done”.
Necessary Action, which means “what must not be done”.
WARNING
CAUTION

6
1.1.3 WARNING
Do not touch the rotating parts of the motor during operation.
Take safety measures so that the rotating shaft of the motor is not accidentally
touched. Failure to do so may cause injury.
Do not carelessly touch while power is on or for a while after power is turned off.
Depending on operating conditions, it may be hot and cause burns.
Do not change the wiring while the power is on.
Be sure to turn off the power before removing wiring or connecting /
disconnecting connectors.
There is a danger of electric shock, runaway or damage.
Do not damage, apply excessive stress, put heavy objects on, or pinch the
cable.
Do not pull the cable. Pulling too hard may damage the connection and cause
electric shock.
Do not disassemble, repair or modify the product.
Do not open the inside of the product or disassemble or modify the components
inside. Failure to do so may cause electric shock, fire, injury or a fault.
Do not mount directly on or near combustible materials.
Install it on noncombustible materials such as metal. Failure to do so may cause a
fire.
Do not allow water, corrosive gas, flammable gas, or flammable foreign
objects, or conductive foreign objects such as screws or metal pieces to
enter the inside.
Do not insert metal pieces through gaps. Failure to do so might cause electric
shock, fire, or a fault
Be sure to ground.
To prevent electric shock and stabilize the potential of the control circuit, make
sure to ground it securely.

7
1.1.4 CAUTION
1.1.4.1 Environmental condition
Keep or use the product under the following environmental conditions.
・Operating / storage temperature: 0 to 40 °C / -20 to 60 °C (No freezing)
・Operating / storage humidity: 90% RH or less (no condensation)
・Vibration / impact: 9.8m/s2(1G) or less / 98m/s2(10G) or less
・No water or oil (not waterproof)
・Indoors (no direct sunlight), no corrosive gas, flammable gas, oil mist, dust.
1.1.4.2 Transportation and handling
This product is a precision instrument. Do not drop or subject to strong
impact.
Failure to do so may cause damage or failure.
Do not hold the cable or motor shaft during transportation.
Failure to do so may cause damage or failure.
Do not step on or place heavy objects on it.
Failure to do so may cause damage or failure.
Do not stack more than the limit.
If dropped, it may cause damage or malfunction.
1.1.4.3 Installation
Assembling this product to a coupling or equipment, never use a hammer to
give an impact.
Failure to do so may cause damage or failure.
Make sure the product is firmly fixed on the machine.
Insufficient fixing may cause the product to come off during operation.
Make sure that the centering between the motor shaft and the machine is
accurate.
Any misalignment will lead to vibration and damage to the motor shaft.
The ratio of load inertia to motor inertia must be within specifications.
Excessive inertia mismatch can result in insufficient performance.
Carefully consider the heat radiation of the product, and make sure to
install it in the condition with proper airflow.
Be sure to avoid interference with the heat radiation of motor and driver.

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1.1.4.4 Wiring
Make sure that the wiring is correct and secure.
Do not confuse the terminal connection and polarity (+, -). Failure to do so will
result in damage or failure.
Carefully examine the cable clamping method so that bending stress and
cable's own weight stress are not applied to the cable connector.
Failure to do so may cause damage or failure.
Do not apply a voltage exceeding the specified voltage to the input
terminal.
Failure to do so may cause damage or failure.
Do not modify connectors, terminals, etc. at the end of the cable.
Failure to do so may cause damage or failure.
1.1.4.5 Operation
Install an external emergency stop circuit so that operation can be stopped
immediately, and the power can be shut off.
Shut down the power supply immediately in case of abnormality.
Be sure to check all parameter settings and confirm that there are no
problems before assembling and operating the device.
Failure to do so may cause unexpected behavior or damage.
Do not apply a load exceeding the tolerable load onto the motor shaft.
The failure could result in break of the shaft.
Do not turn the power on / off frequently.
This will lead to deterioration of internal circuit elements.
Do not change the value of the parameter excessively.
It may lead to unstable or unexpected movement.
1.1.4.6 Corrective action
If an alarm occurs, remove the cause and ensure safety before restarting.
Otherwise, it may cause damage.
If a dangerous state is assumed when the motor stops or malfunctions,
install an external brake.
When an alarm occurs, the motor shaft will be in servo-off state.
If any product fault has occurred, shut off the power immediately and do
not turn on the power.
The failure could result in damages or bursts.

9
1.1.4.7 Maintenance and inspection
・Only persons who are trained and qualified to work or on electrical
equipment are permitted to maintain or inspect the product.
Incorrect handling or operation could cause electric shocks or damages.
・Do not perform a dielectric voltage-withstand test.
The failure could result in destruction of circuit element.
MUSCLE CORPORATION is not responsible for any damages resulting from
modifications or repairs made to the product.
1.1.5 About processing of waste
This product should be treated as an industrial waste when it is disposed.

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INTRODUCTION
DIRECT
PULSE
I/O
COMMON
SPECIFICATION
OTHERS
2PRODUCT INTRODUCTION
2.1 ABOUT THE CM3
The "CM3" is an integrated AC servo system with a built-in motor, encoder, driver and controller.
The torque and speed have been increased while maintaining the ease of use of the conventional
programming language “CML” (COOL MUSCLE Language). The CM3 provides the highest level of
system solution simply by executing various operations such as PTP control and torque control from
communication and I/O.
2.1.1 MAIN FEATURES
Direct Motion Function
Positioning operation can be performed by specifying the registered point data number.
Positioning Operation
Performs PTP (point to point) positioning operation according to the elements (position,
speed, acceleration, and torque) of each point data. The target position can also be
operated incrementally, specifying only the travel distance.
Continuous Operation
Performs continuous operation according to each point data, such as speed, acceleration,
and torque, in a fixed direction. Speed and acceleration can be changed during operation.
Push Operation
Limits output torque in order to press an object. The pressing time can also be specified.
Zone Output
This function turns on the output signal within the specified range.
Origin Search Function
Origin search using origin sensor, stopper and Z-phase signal is possible.
Software Limit Function
This is a function to set the movable range to avoid collision with interference.
STO (Safe Torque Off) function
Turns off the motor torque from an external input without going through the CPU.
Output Function
Various statuses can be selectively output to the host device.
General / In-position / Warning / Individual zone / Zone / MOVE / BUSY / END / Servo /
Torque limit / Origin search end output
Tuningless Function
MUSCLE's original tuningless control that can respond to a wide range of inertia and PPI control
that allows fine setting can be selected.

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INTRODUCTION
DIRECT
PULSE
I/O
COMMON
SPECIFICATION
OTHERS
2.2 COOL MUSCLE LANGUAGE （CML）
COOL MUSCLE Language (CML) is a non-procedural ASCII command. By sending and receiving CML,
you can easily change various settings, operate the motor directly, and check the status of the
motor.
CML is composed as follows.
2.2.1 Structure of CML
2.2.2 Data format of CML
In CML, ASCII commands are always sent and received in the following data format.
[Command][#].1=[Value]
Command ：Kinds of command.
#：Specify the command number.
Value ：Set the value as an integer.
CML
Direct Command
Point Data Definition Commands
Execution Commands
Query
@K Parameters
RUN Parameters
Gain Parameters
Mechanical Parameters
Communication Parameters
I/O Parameters
Streaming Data Parameters

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INTRODUCTION
DIRECT
PULSE
I/O
COMMON
SPECIFICATION
OTHERS
2.3 CONTROL TYPE
The following types exist in CM3.
Each type can be switched from software.
⚫The parameters differ for each type.
After changing the type, always check the parameter settings again.
Communication
control
from PLC
The motor is controlled by
the pulse signal fr
om the
pulse oscillator.
Pulse Type
I/O control
from PLC I/O Type
The point data set and stored
in CM3 is executed by the
input signal to control the
motor.
Direct Type
The point data set and
stored in CM3 is executed by
serial communication to
control the motor.
YES
NO
NO
YES

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INTRODUCTION
DIRECT
PULSE
I/O
COMMON
SPECIFICATION
OTHERS
2.4 MODEL NUMBER CONFIGURATION
CM3-17L50A
2.4.1 CM3 Lineup
Name
Model Number
CM3 42□short CM3-17S50*
CM3 42□long CM3-17L50*
CM3 56□short CM3-23S50*
CM3 56□long CM3-23L50*
Motor Size
17：42□
23：56□
Max. Speed
50：5000RPM
Motor Length
S：Short
L：Long
Hardware Revision
A

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INTRODUCTION
DIRECT
PULSE
I/O
COMMON
SPECIFICATION
OTHERS
2.5 WIRING CONNECTION
The wiring of CM3 is as follows.
CM3 body part
CM3 Body Connector
CM3 Standard cable 400 mm * Please purchase cables separately
CM3C1-400W
I/O Cable1000 mm
Communication Cable 1000 mm
Power Cable 1000 mm
CM3IO1-1000S
CM3RS1-1000A
CM3PW1-1000S
I/O Port
PC
+24Vdc Power Supply

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INTRODUCTION
DIRECT
PULSE
I/O
COMMON
SPECIFICATION
OTHERS
2.5.1 CM3 Body Connector
The CM3 has a 24-pin connector on the top. The pin layout and names are as follows.
Name
#
#
Name
GND
2
1
FG
ERROR
4
3
GND
OUT3/Z Phase
6
5
RXD0
OUT2/B Phase
8
7
TXD0
OUT1/A Phase
10
9
STO_IN-
STO_IN+
12
11
INPUT6- / PULSE B+
INPUT6- / PULSE B-
14
13
INPUT5+ / PULSE A+
INPUT5- / PULSE A-
16
15
IN_COM
INPUT4
18
17
INPUT3
INPUT2
20
19
INPUT1
P-GND
22
21
P-GND
POWER
24
23
POWER
Molex 55959-2430
2.5.1.1 Name and Function of each pins
Name
Function
Name
Function
Power
Output
POWER
+24Vdc
OUT1 / A Phase**
OUT1 / A Phase encoder**
P_GND
Power Ground
OUT2 / B Phase**
OUT2 / B Phase encoder**
Communication
OUT3 / Z Phase**
OUT3 / Z Phase**
RXD0
RS232C RX
ERROR
Error output
TXD0
RS232C TX
D_GND
Digital Ground
Input
STO
INPUT1
INPUT1
STO_IN+
STO Input+
INPUT2
INPUT2
STO_IN-
STO Input-
INPUT3
INPUT3
Other
INPUT4
INPUT4
FG
Frame ground
INPUT5
PULSE A*
INPUT5
Pulse A*
INPUT6
PULSE B*
INPUT6
Pulse B*
IN_COM
INPUT Common
* Available for Pulse type
**Selectable by parameter

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INTRODUCTION
DIRECT
PULSE
I/O
COMMON
SPECIFICATION
OTHERS
2.5.2 Power Cable
# Color Name Function
1
RED
POWER
+24Vdc
2 RED POWER
+24Vdc
3
BLK
P-GND
Power Ground
4 BLK P-GND
Power Ground
5 YLW STO_IN+ (+5 –+24Vdc)
STO input
＋（
5
～
24Vdc
）
6
WHT
STO_IN- (GND)
STO input
―（
Ground
）
7 GRN FG Frame Ground
8
N/A
N/A
CM3 Power cable1000 mm
CM3PW1-1000S
2.5.2.1 STO
CM3
CM3
Power Cable
Power Cable
Wiring Ex.1
Wiring Ex.2

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INTRODUCTION
DIRECT
PULSE
I/O
COMMON
SPECIFICATION
OTHERS
2.5.3 I/O Cable
#
Color
Name
Function
1
BLK
IN_COM
Input common
2
BLK
GND Ground
3 RED INPUT1 INPUT1
4
RED
*OUT1 / A Phase
*OUT1 / A Phase
5 GRN INPUT2 INPUT2
6 GRN *OUT2 / B Phase *OUT2 / B Phase
7
YLW
INPUT3
INPUT3
8
YLW
*OUT3 / Z Phase
*OUT3 / Z Phase
9 BRN INPUT4 INPUT4
10
BRN
ERROR
ERROR
11
BLU
INPUT5+ / *PULSE A+
INPUT5+ / *PULSE A+
12
BLU
INPUT5- / *PULSE A- INPUT5- / *PULSE A-
13
GRY
INPUT6+ / *PULSE B+
INPUT6+ / *PULSE B+
14
GRY
INPUT6+ / *PULSE B-
INPUT6+ / *PULSE B-
CM3 I/O cable 1000 mm
CM3IO1-1000S
* Available for Pulse type
**Selectable by parameter
2.5.3.1 Input 1 to 4
Wiring Ex.1

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INTRODUCTION
DIRECT
PULSE
I/O
COMMON
SPECIFICATION
OTHERS
Wiring Ex.2
2.5.3.2 Input 5 and 6
Input 5
Input 6

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INTRODUCTION
DIRECT
PULSE
I/O
COMMON
SPECIFICATION
OTHERS
2.5.3.3 Pulse input wiring example
2.5.3.3.1 Wiring with Line driver output
2.5.3.3.2 Wiring with open collector output
◼Open collector output is not adequate for long wiring. If the wiring distance is longer than 1-
meter, open collector output is not suitable for connection. Use line driver output.
CCW / DIR / A-phase
CW / STEP / B-phase
I/O Cable
CM3
CCW / DIR / A-phase
CW / STEP / B-phase
I/O Cable
CM3

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INTRODUCTION
DIRECT
PULSE
I/O
COMMON
SPECIFICATION
OTHERS
2.5.3.4 Output 1 to 4
I/O Cable
CM3