MUSCLE Corporation Cool Muscle 3 User manual

MDUG-CM3/20831E-11
CM3 Firmware Version v1.01
I/O Type User's Guide

2
I/O Type
CM3has three sorts of control types: Direct type, I/O type, and Pulse type.
This user's guide is for the CM3I/O type only.
The control type of CM3can be changed according to the control method.
“COOL WORKS QUICK”.
• 
Direct type lets you operate CM3by sending and receiving commands via RS-232C serial communication.


Host Controller
Data seng, moon commands, etc.
Seng check and motor informaon
CM3
• I/O type

’
I/O Module
Seng and changing data
Posion data, alarm informaon, etc.
Imposions, alarms, etc.
Moon Data selecon and execuon
PC
CM3
• Pulse type
CM3is controlled by a pulse signal from the PLC.

Pulse Generator
Changing sengs
Checking sengs (Motor informaon)
ABZ encoder output
Pulse signal
PC
CM3

Table of Contents
Before Use.................................................................................... 4
Instrucons for Safety............................................................... 5
Chapter 1 Funcons and Structure ..................................... 8
1.1ﾠ.............................................................................................8
1.2ﾠProduct Code Scheme......................................................................9
1.3ﾠ ..................................................................9
1.4ﾠ............................................................................ 10
1.5ﾠ ............................................ 10
1.6ﾠControl.............................................................................................. 11
1.7ﾠ“CML”......... 11
Chapter 2 Installaon ...........................................................12
2.1ﾠ................................................................ 12
2.2ﾠ........................................................................... 12
Chapter 3 Wiring and Connecon.....................................14
3.1ﾠ........................................................ 14
3.2ﾠ ........................................ 15
3.3ﾠ ................................................................ 17
3.4ﾠInput/Output Circuit ..................................................................... 18
3.5ﾠ......................................................................... 19
Chapter 4 Input/Output ......................................................21
4.1ﾠInput Signal ...................................................................................... 21
4.2ﾠOutput Signal .................................................................................. 22
Chapter 5 Communicaon Funcons...............................23
5.1ﾠ.......................................... 23
5.2ﾠChange Control Type..................................................................... 24
Chapter 6 CML（COOL MUSCLE Language）................25
6.1ﾠ.......................................................................................... 25
6.2ﾠ......................................................................... 27
6.3ﾠ .................................................................................... 32
6.4ﾠ.................................................................... 36
6.5ﾠQuery Commands .......................................................................... 37
Chapter 7 Detail of Various Sengs.................................39
7.1ﾠ（K1）
............................................................................. 39
7.2ﾠ（K4）
......................................................... 39
7.3ﾠ（K5）
............................................................................ 40
7.4ﾠSpeed Override（K6）
................................................................... 40
7.5ﾠ（K7・K8・K9・K10）
...................................... 41
7.6ﾠOpen Loop Holding（K14・K15）
.............................................. 42
7.7ﾠ（K29）
............................................... 42
7.8ﾠ（K30）
........................................ 43
7.9ﾠ（K63）
.............................. 43
7.10ﾠ（K64）
............................................ 43
7.11ﾠStatus Report（K66）
.................................................................. 44
Chapter 8 Various Funcons...............................................45
8.1ﾠ...................................................... 45
8.2ﾠSequence to Reset Alarm ............................................................. 46
8.3ﾠ ................................................................... 47
8.4ﾠ............................................................................. 51
8.5ﾠ............................................................................... 55
8.6ﾠ ........................................................................... 56
8.7ﾠTuning................................................................................................ 58
8.8ﾠ .................................................................................. 62
8.9ﾠStreaming Data ............................................................................... 63
8.10ﾠ ..................................................................................... 64
Chapter 9 Maintenance and Inspecon...........................65
9.1ﾠMaintenance.................................................................................... 65
9.2ﾠ.............................................................................. 65
Chapter 10 Specificaons ...................................................67
10.1ﾠ..................................................................... 67
10.2ﾠ.............................................................. 69
10.3ﾠDimensions.................................................................................... 70
Appendix Conformance .......................................................72
Revision History........................................................................ 73
CM3 I/O Type User's Guide

はじめに
4
I/O Type
Before Use
󱪼
󱪼
󱪼
• 

• 


• 

• 



• 
• 
countries.
• 


• 




5
I/O Type

Instrucons for Safety
Be sure to read before use for safety
󱪼To ensure safe use



󱪼




・
・

・

・
・
＊

on its part can be expected to cause a serious accident or loss.
󱪼
• 

• 
• “Warning”or “”

Warning


Caution


“What must not be done”and “What must be done”
禁止

What must not be done 
強制

What must be done 


6
I/O Type






Temperatures may be high and you may get burnt.














Attach the product to noncombustible matter such as




Do not insert metal pieces into the venting holes of

or damages.



(Environment)


℃
Storage ambient temperature: -20 to 60℃


0202 Level3





(Transportaon)
The product is precision mechanical equipment.
Do not drop or give any strong impact to the product.





product.


products.

（Installaon）








Deviation from the center could result in vibration or
damages.

recommended load inertia moment ratio of the
motor being used.


Carefully consider the heat radiation of the



motor and driver.
Warning
Caution
Caution
Caution

7
I/O Type

（Wiring）

reliably.




cable’

The failure could result in damages or bursts.
Do not apply a voltage exceeding the specified
voltage to the input terminal.
The failure could result in damages or bursts.

the end of the cable.
The failure could result in damages or bursts.
（Operaon）
Provide an external emergency stop circuit to





a load to the products after the successful trial-



Do not apply a load exceeding the tolerable load





The failure could result in instable or unexpected

(Correcve Acon)

the alarm and secure the safety before restarting

The failure could result in damages or bursts.




state.


The failure could result in damages or bursts.
（Maintenance and Inspecon）


maintain or inspect the product.
Incorrect handling or operation could cause electric


The failure could result in destruction of circuit
element.
Caution
Caution
Caution
Caution


󱪼


8
I/O Type
Chapter 1 
Chapter 1 Funcons and Structure
1.1Overview


“CML”

Motor
Stepper Motor
Encoder
Maximum Resoluon of 12,000 pulse
I/O Interface
６ Inputs / 4 Outputs
Communication Interface
RS-232C
Status LED
Display motor status with blinking paern
Controller
Built-in CPU
Driver
High-performance original control
Tuningless control
󱪼
・
・
・
・
・
・
・
・

9
I/O Type
Chapter 1 
1.2Product Code Scheme

CM3 - 17L50A
󱪼
 Product Code
CM342mm Short CM3-17S50A
CM342mm Long CM3-17L50A
CM356mm Short CM3-23S50A
CM356mm Long CM3-23L50A
1.3Funcon Block Diagram
CM3
Controller
Driver Interface
Communicaon Interface
I/O Interface
Moon Data Selecon
Moon Start / Stop
Power
Unit
DC-DC
Converter
Motor Driver
Power Supply
Input
Communicaon
Line
I/O Signal
Input Signal
Input Signal
Motor
Magnec Encoder
Posion/Speed Detecon
Output

10
I/O Type
Chapter 1 
1.4Parts Descripon

Motor
Mounng Holes
(4 corners)
Flange
Output Sha Rabbet
Main Connector
Status LED
Driver Case
Displays the motor status
with LED blinking paerns
＊Please refer to 
1.5Rotang Direcon and Coordinate

  ：
CCW（） ：
󱪼


Ref: （K4）
CW
CCW

11
I/O Type
Chapter 1 
1.6Control


Refer to  for details.
1.7Program Language, COOL MUSCLE Language “CML”


󱪼Parameters

󱪼

󱪼

󱪼Query Commands

󱪼CM3Status

Please refer to  for Query commands and CM3status. “.Motor ID”
“.Motor ID”is not described in this document due to that CM3is a single axis controlled device. “.Motor ID”is
“.Motor ID”is added in replied data.


12
I/O Type
Chapter 2 
Chapter 2 Installaon
2.1Mounng to Machinery




(Tolerance of rabbet is on 
CM3-17L50C CM3-23L50C

Model Bolt Size Depth
CM3-17S50 / CM3-17L50 M35.0mm
CM3-23S50 / CM3-23L50 M4-
2.2Mounng to Load



load of each CM3motor size are stated in 
 
 
  
  
Ft
Fr

13
I/O Type
Chapter 2 

by belt tension and may result in damaging bearings in a motor.


motor.


damaging the inside of motor.
Fr
NG
Fr
NG
Ft
NG

14
I/O Type
Chapter 3 
Chapter 3 Wiring and Connecon
3.1Typical Connecon Example
󱪼
• 
• 
• Be sure there is no stress on connectors.
• Be sure not to pull cables hard or hung CM3by holding cables. It may result in damaging connectors.
PC
+24Vdc Power Supply
I/O
CM3
Interface CablePower Cable
Communicaon Cable
I/O Cable

15
I/O Type
Chapter 3 
3.2Connector Pin Layout and Funcons

󱪼Main Connector

  
2 
4ALARM Alarm Output
6OUT3Output 3/ Z-phase
8OUT2Output 2/ B-phase
10 OUT1Output 1/ A-phase
12  
14 Start・Stop
16 Limit Sensor
18 
20 
22  
24  
  
1 
3 
5RXD0RS232C Receive Data
7TXD0RS232C Transmit Data
9 STO Input -
11 Start・Stop
13 Limit Sensor
15  
17 
19 Origin/Limit Sensor
21  
23  

󱪼
 
Wires: 01- 20 pin …℃
21 - 24 pin …℃
51353-2400（Molex）
XADR-14V（）
XAP-03V-1（）
XADR-08V（）

16
I/O Type
Chapter 3 
󱪼（）
 （）
   ℃
1
3
1
5
9
󱪼
 
   ℃
21
1413
 XARR-03VF（）
XADRP-14V（）
Color Dot   
BLU 2
YLW 4
 6 Limit Sensor
BRW 8 Start・Stop
 10 OUT1Output 1/ A-phase
WHT - - 12 OUT3Output 3/ Z-phase
WHT - - - - 14  
Color Dot   
PPL 1Origin/Limit Sensor
 3
 5 Limit Sensor
BLK 7 Start・Stop
WHT 9 Input 1to 4Common
WHT - 11 OUT2Output 2/ B-phase
WHT - - - 13 ALARM Alarm Output
Color   
 2RXD RS232C Receive Data from PC
 3TXD RS232C Transmit Data from PC
WHT 5 
Color   
 1RXD RS232C Receive Data from CM3
 2TXD RS232C Transmit Data from CM3
WHT 3 
CM3side
PC side

17
I/O Type
Chapter 3 
󱪼
 
   ℃
3.3Electrical Specificaons
Item Value
Digital Input
Applied Voltage 0- 26 [V]
 0.8[V]
High Level Voltage 4.2[V]
Digital Output
Withstanding Voltage 26 [V]
 10 [mA]
1
7
2
8
XADRP-08V（）
Color   
 1 
BLK 3 
 5 
BRW 7 
Color   
 2 
WHT 4 
BLU 6 STO Input -
-8 

18
I/O Type
Chapter 3 
3.4Input/Output Circuit
Input


IN_COM
IN1, 2, 3, 4
3.6kΩ
12kΩ

With Polarity
SCHOTTKY-DCRD
IN5+
IN6+
IN5-
IN6-
STO

STO+
STO- 3.6kΩ
12kΩ
Output

ALARM
Open-drain
GND
+5~24Vdc
OUT1
OUT2
OUT3
ALARM
＊

19
I/O Type
Chapter 3 
3.5Circuit Connecon
󱪼
Vcc
12kΩ
12kΩ
12kΩ
3.6kΩ
12kΩ
3.6kΩ
3.6kΩ
3.6kΩ
0V
0V
12kΩ
0V
Vcc
3.6kΩ
0V 0V
Power
FG
0V
0V
Vcc
FG
Power
2
12
9
24
23
22
21
1
15
19
20
17
18
13
16
11
14
10
8
6
4
5
6
1
2
3
4
7
IN_COM
IN1
IN2
IN4
IN5+
IN5-
IN6+
IN6-
IN3
OUT1
OUT2
ALARM
D_GND
STO+
STO-
POWER
POWER
P-GND
FG
OUT3
CM3
Power Cable
Power Supply
Controller I/O Cable
9
1
2
3
4
5
6
7
8
14
10
11
12
13
P-GND




20
I/O Type
Chapter 3 
󱪼
Vcc
12kΩ
12kΩ
12kΩ
3.6kΩ
12kΩ
3.6kΩ
3.6kΩ
3.6kΩ
0V
12kΩ
0V
Power
3.6kΩ
0V
0V
FG
0V0V
0V
0VVcc
Vcc
FG
Power
2
12
9
24
23
22
21
1
15
19
20
17
18
13
16
11
14
10
8
6
4
5
6
1
2
3
4
7
IN_COM
IN1
IN2
IN4
IN5+
IN5-
IN6+
IN6-
IN3
OUT1
OUT2
ALARM
D_GND
STO+
STO-
POWER
POWER
P-GND
FG
OUT3
CM3
14
9
1
2
3
4
5
6
7
8
10
11
12
13
P-GND
Power Cable
Power Supply
Controller I/O Cable


