Oriental motor aSTEP AZ Series User manual

Thank you for purchasing an Oriental Motor product.
This Manual describes product handling procedures and safety precautions.
•Please read it thoroughly to ensure safe operation.
•Always keep the manual where it is readily available.
HM-60457
AZ Series/Motorized Actuator equipped
with AZ Series
mini Driver
EtherCAT Drive Prole Compatible
USER MANUAL
Introduction
Hardware
EtherCAT
communication
Object list
Troubleshooting
Reference materials

2
1 Introduction
1 Before using the product............................................................................................................................................ 6
2 Operating manuals ...................................................................................................................................................... 7
2-1 Related operating manuals..................................................................................................................................................................7
2-2 How to use operating manuals...........................................................................................................................................................7
3 Overview of the product............................................................................................................................................. 9
4 Safety precautions .....................................................................................................................................................10
5 Precautions for use ....................................................................................................................................................12
2 Hardware
1 System conguration ................................................................................................................................................16
2 Preparation..................................................................................................................................................................17
2-1 Checking the product ......................................................................................................................................................................... 17
2-2 How to identify the product model ............................................................................................................................................... 17
2-3 Products possible to combine ......................................................................................................................................................... 17
2-4 Information about nameplate ......................................................................................................................................................... 18
2-5 Names and functions of parts.......................................................................................................................................................... 18
2-6 Indication of LEDs................................................................................................................................................................................. 19
3 Installation...................................................................................................................................................................20
3-1 Installation location ............................................................................................................................................................................. 20
3-2 Installation method.............................................................................................................................................................................. 20
4 Connection ..................................................................................................................................................................22
4-1 Connection example ........................................................................................................................................................................... 22
4-2 Connecting the main power supply and the control power supply (CN1)...................................................................... 23
4-3 Connecting the EtherCAT cable (CN3/CN4) ................................................................................................................................ 25
4-4 Connecting the USB cable................................................................................................................................................................. 25
4-5 Connecting input signals (CN5)....................................................................................................................................................... 26
4-6 Noise elimination measures............................................................................................................................................................. 27
4-7 Conformity to EMC............................................................................................................................................................................... 27
5 Setting of node address............................................................................................................................................30
5-1 Setting method ..................................................................................................................................................................................... 30
6 Inspection and maintenance ...................................................................................................................................31
6-1 Inspection................................................................................................................................................................................................ 31
6-2 Warranty................................................................................................................................................................................................... 31
6-3 Disposal.................................................................................................................................................................................................... 31
7 Cable.............................................................................................................................................................................32
7-1 Connection cables................................................................................................................................................................................ 32

3
3 EtherCAT communication
1 Guidance......................................................................................................................................................................36
2 Communications specications ..............................................................................................................................39
2-1 EtherCAT communication interface............................................................................................................................................... 39
2-2 CiA402 drive prole.............................................................................................................................................................................. 39
2-3 EtherCAT state machine (ESM)......................................................................................................................................................... 40
2-4 Process data object (PDO) ................................................................................................................................................................. 40
2-5 Service data object (SDO).................................................................................................................................................................. 43
2-6 Synchronous mode of EtherCAT communication..................................................................................................................... 43
2-7 Distributed Clocks ................................................................................................................................................................................ 44
2-8 Emergency message............................................................................................................................................................................ 44
3 Drive prole.................................................................................................................................................................45
3-1 Drive state machine............................................................................................................................................................................. 45
3-2 Operation modes.................................................................................................................................................................................. 48
3-3 Cyclic synchronous position mode (CSP)..................................................................................................................................... 48
3-4 Prole position mode (PP)................................................................................................................................................................. 50
3-5 Cyclic synchronous velocity mode (CSV) ..................................................................................................................................... 61
3-6 Prole velocity mode (PV) ................................................................................................................................................................. 63
3-7 Homing mode (HM)............................................................................................................................................................................. 66
4 Functions .....................................................................................................................................................................80
4-1 Touch probe............................................................................................................................................................................................ 80
4-2 Resolution................................................................................................................................................................................................ 83
4-3 Wrap function ........................................................................................................................................................................................ 84
4-4 Operating current and stop current............................................................................................................................................... 84
4-5 Maintenance commands ................................................................................................................................................................... 85
4-6 Assignment of I/O functions............................................................................................................................................................. 86
5 Coordinates management........................................................................................................................................95
5-1 Overview of coordinates management........................................................................................................................................ 95
5-2 Coordinate origin.................................................................................................................................................................................. 99
5-3 Parameters related to ABZO sensor .............................................................................................................................................100
5-4 Mechanism settings parameter.....................................................................................................................................................101
5-5 Initial coordinate generation & wrap coordinate parameters............................................................................................102
6 Object dictionary .....................................................................................................................................................108
6-1 Composition of object dictionary.................................................................................................................................................108
6-2 Objects of CoE communication area ...........................................................................................................................................109
6-3 Objects of prole area.......................................................................................................................................................................114
6-4 Objects of manufacturer-specic area........................................................................................................................................124

4
4 Object list
1 Timing for parameter to update............................................................................................................................130
2 Objects of CoE communication area ....................................................................................................................131
3 Objects of prole area.............................................................................................................................................133
4 Objects of manufacturer-specic area.................................................................................................................135
5 Troubleshooting
1 Alarms.........................................................................................................................................................................148
1-1 Alarm reset............................................................................................................................................................................................148
1-2 Alarm history ........................................................................................................................................................................................148
1-3 Generation condition of alarms.....................................................................................................................................................148
1-4 Alarms list ..............................................................................................................................................................................................149
1-5 Timing chart..........................................................................................................................................................................................155
2 Information ...............................................................................................................................................................156
2-1 Information history ............................................................................................................................................................................158
2-2 Information list ...................................................................................................................................................................................159
3 Troubleshooting and remedial actions................................................................................................................162
6 Reference materials
1 Timing chart ..............................................................................................................................................................166
2 Specications............................................................................................................................................................168
2-1 Product specications.......................................................................................................................................................................168
2-2 General specications.......................................................................................................................................................................168
3 Regulations and standards.....................................................................................................................................169

1 Introduction
This part explains the product overview and safety precautions in addition to the types and descriptions about
operating manuals.
Table of contents
1 Before using the product ....................... 6
2 Operating manuals ................................. 7
2-1 Related operating manuals............................7
2-2 How to use operating manuals ....................7
3 Overview of the product........................ 9
4 Safety precautions ................................ 10
5 Precautions for use................................ 12

Before using the product
6
1 Introduction
1 Before using the product
Only qualied personnel of electrical and mechanical engineering should work with the product.
Use the product correctly after thoroughly reading“4 Safety precautions” on p.10. In addition, be sure to observe
the contents described in warning, caution, and note in this manual.
The product described in this document has been designed and manufactured to be incorporated in general
industrial equipment. Do not use for any other purpose. Oriental Motor Co., Ltd. is not responsible for any
compensation for damage caused through failure to observe this warning.

Operating manuals
7
1 Introduction
2 Operating manuals
2-1 Related operating manuals
For operating manuals, download from Oriental Motor Website Download Page or contact your nearest Oriental
Motor sales oce.
•AZ Series/Motorized Actuator equipped with AZ Series
mini Driver EtherCAT Drive Prole Compatible USER MANUAL (this document)
•AZ Series/Motorized Actuator equipped with AZ Series
OPERATING MANUAL Function Edition
Read the following operating manuals for motors and motorized actuators.
•OPERATING MANUAL Motor Edition
•OPERATING MANUAL Actuator Edition
•Motorized Actuator OPERATING MANUAL Function Setting Edition
2-2 How to use operating manuals
To use the product, read this manual together with the AZ Series OPERATING MANUAL Function Edition.
This manual describes contents specic to the mini Driver EtherCAT drive prole compatible, and the AZ Series
OPERATING MANUAL Function Edition describes contents common to the AZ Series products. Refer to the AZ Series
OPERATING MANUAL Function Edition for the contents not included in this manual.
Reference destinations are indicated according to the ow of use.
How to read reference destinations
The title name of the operating manual is described in the reference destination.
The title number described in the reference destination may be changed. Use the title name when
checking the reference destination.
Reference destination in this manual
Reference destination in AZ Series
OPERATING MANUAL Function Editio
n
Procedure
3 EtherCAT communication
4 Object lists
Setting of parameters
4 Parameters
7 Address/code lists

Operating manuals
8
1 Introduction
2 Hardware
Installation and connection
2 Hardware
Setting of node address
3 EtherCAT communication
4 Object lists
Setting of parameters
3 EtherCAT communication
Operation
1 Before starting operation *1
4 Parameters
7 Address/code lists
3 I/O signals
8 Measures for various cases
11 Appendix *2
Before starting operation
*1 When a motorized actuator is used, the following contents cannot be operated via EtherCAT communication. Use
the support software MEXE02.
• Copying the xed value (parameter) of the ABZO sensor to driver
• Creation of recovery data le and method of recovery
*2 Refer to this manual for “LEDs of the driver.” (_p.19)
Description of power supplies
This manual describes contents when a main power supply and a control power supply are used.
The mini Driver can also be used with a main power supply only. When using it with only the main power supply,
replace "main power supply and control power supply" or "control power supply" with "main power supply” to read
this manual.
About notation of objects
In this manual, the object name is followed by the index number in parentheses.
Example: Controlword (6040h)

Overview of the product
9
1 Introduction
3 Overview of the product
The AZ Series mini Driver EtherCAT drive prole compatible is the dedicated driver for the AZ Series products.
Compact and light weight
Compact and lightweight are achieved, oering the dimensions of 69×56×30 mm (2.72×2.2×1.18 in.) and the mass of
0.11 kg (0.24 lb.).
How to set parameters
EtherCAT objects that can be saved in the driver are called parameters.
Parameters can be set via EtherCAT communication or using the MEXE02.
This manual describes how to set parameters via EtherCAT communication.
Providing the ESI File
The ESI le (EtherCAT Slave Information le) is a le that describes the specic information of the EtherCAT slave
products in XML format. By importing the ESI le to the EtherCAT Conguration Tool of a PLC (programmable
controller), the settings of EtherCAT communication can be congured before the driver is delivered.
For details, contact your nearest Oriental Motor sales oce.

Safety precautions
10
1 Introduction
4 Safety precautions
The precautions described below are intended to ensure the safe and correct use of the product, and to prevent the
customer and others from exposure to the risk of injury. Use the product only after carefully reading and fully
understanding these instructions.
Handling the product without observing the instructions that accompany a "WARNING"
symbol may result in serious injury or death.
Handling the product without observing the instructions that accompany a "CAUTION"
symbol may result in injury or property damage.
The items under this heading contain important handling instructions that the user
should observe to ensure safe use of the product.
The items under this heading contain related information and contents to gain a further
understanding of the text in this manual.
General
•Do not use the product in explosive or corrosive environments, in the presence of ammable gases, in places
subjected to splashing water, or near combustibles. Doing so may result in re, electric shock, or injury.
•Assign qualied personnel to the task of installing, wiring, operating/controlling, inspecting and troubleshooting
the product. Handling by unqualied personnel may result in re, electric shock, injury, or damage to equipment.
•Do not transport, install, connect or inspect the product while the power is supplied. Doing so may result in electric
shock.
•Do not touch the driver while the power is supplied. Doing so may result in re or electric shock.
•When an alarm of the driver is generated (any of the driver's protective functions is triggered), remove the cause
before resetting the alarm (protective function). Continuing the operation without removing the cause of the
problem may cause malfunction of the motor and the driver, leading to injury or damage to equipment.
Installation
•Install the driver in an enclosure. Failure to do so may result in electric shock or injury.
Connection
•Observe the product specications for the power supply voltage of the driver. Failure to do so may result in re or
electric shock.
•Connect the product securely according to the connection diagram. Failure to do so may result in re or electric
shock.
•Do not forcibly bend, pull, or pinch the connection cable. Doing so may result in re or electric shock.
Operation
•Turn o the main power supply and the control power supply in the event of a power failure. Failure to do so may
result in injury or damage to equipment.
•Do not remove the motor excitation during operation. Doing so may cause the motor to stop and lose the holding
force, resulting in injury or damage to equipment.
Repair, disassembly, and modication
•Do not disassemble or modify the driver. Doing so may result in injury or damage to equipment.

Safety precautions
11
1 Introduction
General
•Do not use the driver beyond the specications. Doing so may result in electric shock, injury, or damage to
equipment.
•Keep your ngers and objects out of the openings in the driver. Failure to do so may result in re, electrical shock,
or injury.
•Do not touch the driver during operation or immediately after stopping. Doing so may result in a skin burn(s).
•Do not forcibly bend or pull the cable that is connected to the driver. Doing so may cause damage to the product.
Installation
•Keep the area around the driver free of combustible materials. Failure to do so may result in re or a skin burn(s).
•Do not leave anything around the driver that would obstruct ventilation. Doing so may result in damage to
equipment.
Operation
•Use a motor and a driver only in the specied combination. An incorrect combination may cause a re.
•Take measures against static electricity when operating the switches of the driver. Failure to do so may result in the
driver malfunction or damage to equipment.
•Provide an emergency-stop device or emergency-stop circuit external to the equipment so that the entire
equipment will operate safely in the event of a system failure or malfunction. Failure to do so may result in injury.
•When moving the moving part manually, put the motor into a non-excitation state. Continuing the work while the
motor is in an excitation state may result in injury.
•For the main power supply and the control power supply, use a DC power supply with reinforced insulation on its
primary and secondary sides. Failure to do so may result in electric shock.
•When an abnormal condition has occurred, immediately stop operation to turn o the main power supply and
control power supply. Failure to do so may result in re, electrical shock or injury.

Precautions for use
12
1 Introduction
5 Precautions for use
This chapter explains restrictions and requirements the user should consider when using the product.
zAlways use Oriental Motor cables to connect a motor and a driver.
Refer to the cable models on p.32.
zWhen conducting the insulation resistance measurement or the dielectric strength test, be sure to
separate the connection between the motor and the driver.
Conducting the insulation resistance measurement or the dielectric strength test with the motor and driver
connected may result in damage to the product.
zNote when connecting a main power supply and a control power supply in a state of grounding the
positive side
The USB connector on the driver is not electrically insulated. When grounding the positive terminals of a main power
supply and a control power supply, do not connect any equipment (PC, etc.) whose negative terminal is grounded.
Doing so may cause the driver and this equipment to short, damaging both. When connecting, do not ground
equipment.
zSaving data to the non-volatile memory
Do not turn o the control power supply while writing the data to the non-volatile memory, and also do not turn o
for ve seconds after the completion of writing the data. Doing so may abort writing the data and cause an alarm of
EEPROM error to generate. The non-volatile memory can be rewritten approximately 100,000 times.
zNoise elimination measures
Refer to p.27 for the noise elimination measures.
zRegeneration
When operating a large load inertia at a high speed, the regenerative energy generated may increase the voltage of
the main power supply, causing an alarm of Overvoltage to generate. To prevent damage to the driver, reconsider the
operating conditions so that regenerative voltage does not generate.
Notes when the connection cable is used
Note the following points when an Oriental Motor cable is used.
zWhen inserting the connector
Hold the connector main body, and insert it in straight securely. Inserting the connector in an inclined state may result
in damage to terminals or a connection failure.
zWhen pulling out the connector
Pull out the connector in straight while releasing the lock part of the connector. Pulling out the connector with
holding the cable may result in damage to the connector.
zBending radius of cable
Use the cable in a state where the bending radius of the cable is more than
six times of the cable diameter.
Do not bend the lead wires part or secure with a clamp, etc. Doing so may
result in damage to the connector.
More than six times
of cable diameter
Do not bend the
lead wires part

Precautions for use
13
1 Introduction
zHow to x the cable
Fix the cable at two places near the connectors as shown in the gure or x it with a wide clamp to take measures to
prevent stress from being applied to the connectors.
Motor
Driver
In the case of a exible cable,
this area is a movable range.
Fixing at two places
Fixing at two places
Do not bend the lead wires part
or x with a clamp

14
1 Introduction

2 Hardware
This part explains names and functions of each part of the driver, installation and connection methods, and so
on.
Table of contents
1 System conguration............................ 16
2 Preparation............................................. 17
2-1 Checking the product ................................... 17
2-2 How to identify the product model ......... 17
2-3 Products possible to combine ................... 17
2-4 Information about nameplate ................... 18
2-5 Names and functions of parts.................... 18
2-6 Indication of LEDs........................................... 19
3 Installation.............................................. 20
3-1 Installation location ....................................... 20
3-2 Installation method ....................................... 20
4 Connection ............................................. 22
4-1 Connection example..................................... 22
4-2 Connecting the main power supply
and the control power supply (CN1) ....... 23
4-3 Connecting the EtherCAT cable
(CN3/CN4).......................................................... 25
4-4 Connecting the USB cable........................... 25
4-5 Connecting input signals (CN5)................. 26
4-6 Noise elimination measures ...................... 27
4-7 Conformity to EMC......................................... 27
5 Setting of node address ....................... 30
5-1 Setting method ............................................... 30
6 Inspection and maintenance .............. 31
6-1 Inspection.......................................................... 31
6-2 Warranty............................................................. 31
6-3 Disposal.............................................................. 31
7 Cable ........................................................ 32
7-1 Connection cables.......................................... 32

System conguration
16
2 Hardware
1 System conguration
Control power
supply *1 Circuit
breaker *2
Circuit
breaker *2
*3
Noise lter
A
C power
supply
Noise lter
A
C power
supply
Host controller
EtherCAT
communication
EtherCAT communication
compatible product
PC in which the MEXE02
has been installed
Driver
Motor
Main power
supply
*1 Connecting the control power supply allows you to continue monitoring even if the main power supply is shut o.
Connect it as necessary.
*2 It is recommended that a circuit breaker or a circuit protector is connected because incorrect wiring of the power
supply may cause the internal input circuit to short-circuit.
*3 Connect when using direct I/O or sensors.

Preparation
17
2 Hardware
2 Preparation
This chapter explains the items you should check, as well as names and functions of each part.
2-1 Checking the product
Verify that the items listed below are included. Report any missing or damaged items to the branch or sales oce
from which you purchased the product.
•Driver ............................................................................... 1 unit
•Instructions and Precautions for Safe Use.......... 1 copy
2-2 How to identify the product model
Check the driver model against the model
shown on the nameplate. Refer to“2-4
Information about nameplate” on p.18 for
how to identify the nameplate.
AZD - K R ED
1 2 3 4
1 Series AZD: AZ Series driver
2 Power supply input K: DC power input
3 Driver gure R: Compact
4 Type ED: EtherCAT Drive Prole Compatible
2-3 Products possible to combine
Products with which the driver can be combined are listed below. Check the model name of the product with the
nameplate.
Power supply
type Product type Applicable Series
Model name
representing
Series name *1
Example of model name
DC power input
Stepping Motor AZ Series AZM AZM46AK
Motorized actuator
EAC Series *2 EACM EACM2E05AZAK
EAS Series *2 EASM EASM4NXD005AZAK
EZS Series *2 EZSM EZSM6D005AZAK
DR Series DR DR28G2.5B03-AZAKU
DRS2 Series DRSM DRSM60-05A4AZAK
DGII Series *2 DGM
DGB
DGM85R-AZAK
DGB85R12-AZAKR
EH Series *2 EH EH4-AZAKH
LSeries *2 LM LM4F150AZAK-1
*1 The driver described in this manual can be combined with products that begin with these model names.
*2 For these motorized actuators, the equipped motors have been evaluated to ax the CE Marking. The model name
of the equipped motor can be checked as follows.
EAC Series, EAS Series, EZS Series: Check with the motor nameplate.
DGII Series, EH Series, LSeries: Check with “P/N (Motor P/N)” described on the actuator nameplate.

Preparation
18
2 Hardware
2-4 Information about nameplate
The gure shows an example.
Driver model
Serial number
Manufacturing date
2-5 Names and functions of parts
Node address setting switch (ECAT ID ×1)
PWR/ALM LED (Green/Red/Blue)
RUN LED (Green)
L/A LED (Green)
Mounting hole
USB connector
Input signal connec
tor (CN5)
Power supply connector (CN1)
Motor/encoder/electromagnetic
brake connector (CN2)
EtherCAT communication
connector (ECAT IN CN3)
EtherCAT communication
connector (ECA
T OUT CN4)
ERR LED (Red)
Cutout for mounting
Type Name Sign Description
LED
PWR/ALM LED (Green/Red/Blue) PWR/ALM This LED indicates the status of the driver.
RUN LED (Green) RUN This LED indicates the status of EtherCAT
communication.
ERR LED (Red) ERR This LED blinks when an error occurred via EtherCAT
communication.
L/A LED (Green) L/A This LED indicates the LINK/ACT status of EtherCAT
communication.
Switch Node address setting switch ECAT ID ×1 Sets the node address.
Factory setting: 0 (×1: 0)
Connector
Power supply connector (CN1) +, − Connects a main power supply and a control power
supply.
Motor/encoder/electromagnetic
brake connector (CN2) −Connects the motor, the encoder, and the electromagnetic brake.
USB communication connector Connects a PC in which the MEXE02 has been
installed. (USB2.0 mini-B port)
EtherCAT communication
connector (CN3) ECAT IN Connects with the upper-level EtherCAT communication compatible product.

Preparation
19
2 Hardware
Type Name Sign Description
Connector
EtherCAT communication
connector (CN4) ECAT OUT Connects with the EtherCAT communication compatible product of the following node address.
Input signal connector (CN5) − Connects when using direct I/O or sensors.
2-6 Indication of LEDs
LED indication related to driver status
PWR/ALM LED status Description
No light The main power supply and the control power supply are not turned on.
Green light The main power supply and/or the control power supply are turned on.
Blinking red
An alarm is being generated. The alarm message generated can be checked by
counting the number of times the LED blinks.
The LED is lit in green when the alarm is reset.
Blinking blue
•Information is being generated. The LED is lit in green when the information is
cleared.
•Remote operation is being executed with the MEXE02. The LED is lit in green
when remote operation is completed.
Repeating "Green →Red →
Simultaneously lit * →No light" This is the driver simulation mode.
* Green and red colors may overlap and it may be visible to orange.
LED indication related to EtherCAT communication status
LED indicator LED status Description
RUN (Green)
No light Initialization state
Blinking * Pre-Operational state
Single ash * Safe-Operational state
Lit Operational state (normal condition)
ERR (Red)
No light No communication error
Blinking * Communication setting error
Single ash * Communication data error
Double ash * Communication watchdog timeout
L/A (Green)
No light No link
Lit Link establishment
Flickering * In operation after link establishment
* The blinking state of the LED is as follows. (Unit: ms)
OFF
ON
OFF
ON
OFF
ON
OFF
ON
Blinking
200 200
200 2001,000
1,000200
50 50
200200
Single ash
Double ash
Flickering

Installation
20
2 Hardware
3 Installation
This chapter explains the installation location and installation method of the driver.
3-1 Installation location
The driver is designed and manufactured to be incorporated in equipment. Install it in a well-ventilated location that
provides easy access for inspection. The location must also satisfy the following conditions:
•Inside an enclosure that is installed indoors (provide vent holes)
•Operating ambient temperature: 0 to +50 °C [+32 to 122 °F] (non-freezing)
•Operating ambient humidity: 85 % or less (non-condensing)
•Area free of explosive atmosphere, toxic gas (such as sulfuric gas), or liquid
•Area not exposed to direct sun
•Area free of excessive amount of dust, iron particles or the like
•Area not subject to splashing water (rain, water droplets), oil (oil droplets) or other liquids
•Area free of excessive salt
•Area not subject to continuous vibration or excessive shocks
•Area free of excessive electromagnetic noise (from welders, power machinery, etc.)
•Area free of radioactive materials, magnetic elds or vacuum
•Up to 1,000 m (3,300 ft.) above sea level
3-2 Installation method
The driver can be installed in any direction.
Install the driver onto a at metal plate oering high heat conductivity [material: aluminum, 150×150×2 mm
(5.91×5.91×0.08 in.) or equivalent].
When installing the driver, use the mounting holes and the cutouts for mounting to secure on the metal plate with
two screws (M3: not included).
Metal plate
Screws (M3)
•Install the driver in an enclosure.
•Do not install any equipment that generates a large amount of heat or noise near the driver.
•Do not install the driver underneath an EtherCAT master or other equipment sensitive to heat.
•If the ambient temperature of the driver exceeds 50 °C (122 °F), reconsider the ventilation
conditions such as providing forced cooling by using fans.