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-60375
AZ Series/
Motorized Actuator
equipped with AZ Series
EtherCAT Drive Prole Compatible
USER MANUAL
zAC power input type
zDC power input type
Introduction
AC power input type
DC power input type
EtherCAT communication
Object list
Troubleshooting
Test operation using
pulses
Reference materials

2
1 Introduction
1 Before using the product............................................................................................................................................ 8
2 Operating manuals ...................................................................................................................................................... 9
2-1 Related operating manuals..................................................................................................................................................................9
2-2 How to use operating manuals...........................................................................................................................................................9
3 Overview of the product...........................................................................................................................................11
4 Safety precautions .....................................................................................................................................................12
4-1 Graphical symbols on the driver's front panel ........................................................................................................................... 14
4-2 Warning indication (AC power input driver)............................................................................................................................... 14
5 Precautions for use ....................................................................................................................................................15
2 AC power input type
1 System conguration ................................................................................................................................................18
2 Preparation..................................................................................................................................................................19
2-1 Checking the product ......................................................................................................................................................................... 19
2-2 How to identify the product model ............................................................................................................................................... 19
2-3 Products possible to combine ......................................................................................................................................................... 19
2-4 Information about nameplate ......................................................................................................................................................... 20
2-5 Names and functions of parts.......................................................................................................................................................... 20
2-6 Indication of LEDs................................................................................................................................................................................. 22
3 Installation...................................................................................................................................................................23
3-1 Installation location ............................................................................................................................................................................. 23
3-2 Installation method.............................................................................................................................................................................. 23
4 Connection ..................................................................................................................................................................25
4-1 Connection example ........................................................................................................................................................................... 25
4-2 Connecting the control power supply.......................................................................................................................................... 26
4-3 Connecting the regeneration resistor........................................................................................................................................... 27
4-4 Connecting the main power supply.............................................................................................................................................. 27
4-5 Grounding the driver........................................................................................................................................................................... 28
4-6 Connecting the EtherCAT communication cable...................................................................................................................... 29
4-7 Connecting the USB cable................................................................................................................................................................. 29
4-8 Connecting the I/O signals................................................................................................................................................................ 30
4-9 Noise elimination measures.............................................................................................................................................................. 34
4-10 Conformity to the EMC Directive .................................................................................................................................................... 36
5 Setting of node address............................................................................................................................................37
5-1 Setting method ..................................................................................................................................................................................... 37
6 Power removable function (ETO function: External torque o function) .......................................................38
6-1 Block diagram ........................................................................................................................................................................................ 38
6-2 Wiring example ..................................................................................................................................................................................... 39
6-3 Detection for error of the ETO function........................................................................................................................................ 39
6-4 Reset of ETO-mode............................................................................................................................................................................... 40
6-5 Timing chart............................................................................................................................................................................................ 40
6-6 To use this product safely .................................................................................................................................................................. 41

3
7 Inspection and maintenance ...................................................................................................................................42
7-1 Inspection................................................................................................................................................................................................ 42
7-2 Warranty................................................................................................................................................................................................... 42
7-3 Disposal.................................................................................................................................................................................................... 42
8 Cables ...........................................................................................................................................................................43
8-1 Connection cable.................................................................................................................................................................................. 43
8-2 I/O signal cable ...................................................................................................................................................................................... 45
9 Accessories ..................................................................................................................................................................46
9-1 Pulse signal converter for noise immunity.................................................................................................................................. 46
9-2 Relay contact protection parts/circuits......................................................................................................................................... 46
9-3 Regeneration resistor.......................................................................................................................................................................... 46
3 DC power input type
1 System conguration ................................................................................................................................................48
2 Preparation..................................................................................................................................................................49
2-1 Checking the product ......................................................................................................................................................................... 49
2-2 How to identify the product model ............................................................................................................................................... 49
2-3 Products possible to combine ......................................................................................................................................................... 49
2-4 Information about nameplate ......................................................................................................................................................... 50
2-5 Names and functions of parts.......................................................................................................................................................... 50
2-6 Indication of LEDs................................................................................................................................................................................. 52
3 Installation...................................................................................................................................................................53
3-1 Installation location ............................................................................................................................................................................. 53
3-2 Installation method.............................................................................................................................................................................. 53
4 Connection ..................................................................................................................................................................55
4-1 Connection example ........................................................................................................................................................................... 55
4-2 Connecting the control power supply.......................................................................................................................................... 56
4-3 Connecting the main power supply and grounding............................................................................................................... 57
4-4 Connecting the EtherCAT communication cable...................................................................................................................... 58
4-5 Connecting the USB cable................................................................................................................................................................. 59
4-6 Connecting the I/O signals................................................................................................................................................................ 59
4-7 Noise elimination measures.............................................................................................................................................................. 63
4-8 Conformity to the EMC Directive .................................................................................................................................................... 65
5 Setting of node address............................................................................................................................................66
5-1 Setting method ..................................................................................................................................................................................... 66
6 Power removable function (ETO function: External torque o function) .......................................................67
6-1 Block diagram ........................................................................................................................................................................................ 67
6-2 Wiring example ..................................................................................................................................................................................... 68
6-3 Detection for error of the ETO function........................................................................................................................................ 68
6-4 Reset of ETO-mode............................................................................................................................................................................... 69
6-5 Timing chart............................................................................................................................................................................................ 69
6-6 To use this product safely .................................................................................................................................................................. 70

4
7 Inspection and maintenance ...................................................................................................................................71
7-1 Inspection................................................................................................................................................................................................ 71
7-2 Warranty................................................................................................................................................................................................... 71
7-3 Disposal.................................................................................................................................................................................................... 71
8 Cables ...........................................................................................................................................................................72
8-1 Connection cable.................................................................................................................................................................................. 72
8-2 I/O signal cable ...................................................................................................................................................................................... 76
9 Accessories ..................................................................................................................................................................77
9-1 Pulse signal converter for noise immunity.................................................................................................................................. 77
9-2 Relay contact protection parts/circuits......................................................................................................................................... 77
4 EtherCAT communication
1 Guidance......................................................................................................................................................................81
2 Communications specications ..............................................................................................................................84
2-1 EtherCAT communication interface............................................................................................................................................... 84
2-2 CiA402 drive prole.............................................................................................................................................................................. 84
2-3 EtherCAT state machine (ESM)......................................................................................................................................................... 85
2-4 Process data object (PDO) ................................................................................................................................................................. 85
2-5 Service data object (SDO).................................................................................................................................................................. 88
2-6 Synchronous mode of EtherCAT communication..................................................................................................................... 89
2-7 Distributed clocks................................................................................................................................................................................. 89
2-8 Emergency message............................................................................................................................................................................ 89
3 Drive prole.................................................................................................................................................................90
3-1 Drive state machine............................................................................................................................................................................. 90
3-2 Operation mode.................................................................................................................................................................................... 93
3-3 Cyclic synchronous position mode (CSP)..................................................................................................................................... 93
3-4 Prole position mode (PP)................................................................................................................................................................. 95
3-5 Cyclic synchronous velocity mode (CSV) ...................................................................................................................................106
3-6 Prole velocity mode (PV) ...............................................................................................................................................................109
3-7 Homing mode (HM)...........................................................................................................................................................................112
4 Function .....................................................................................................................................................................126
4-1 Touch probe..........................................................................................................................................................................................126
4-2 Resolution..............................................................................................................................................................................................129
4-3 Wrap function ......................................................................................................................................................................................130
4-4 Operating current and stop current.............................................................................................................................................130
4-5 Maintenance commands .................................................................................................................................................................131
4-6 Assignment of I/O function.............................................................................................................................................................132
5 Position coordinate management ........................................................................................................................143
5-1 Overview of position coordinate management......................................................................................................................143
5-2 Position coordinate origin...............................................................................................................................................................147
5-3 Parameters related to ABZO sensor .............................................................................................................................................148
5-4 Mechanism settings parameter.....................................................................................................................................................149
5-5 Initial coordinate generation & wrap coordinate parameter..............................................................................................150
6 Save of parameters ..................................................................................................................................................156

5
7 Object dictionary .....................................................................................................................................................157
7-1 Composition of the object dictionary.........................................................................................................................................157
7-2 Objects of the CoE communication area ...................................................................................................................................158
7-3 Objects of the prole area...............................................................................................................................................................163
7-4 Objects of the manufacturer-specic area ................................................................................................................................173
5 Object list
1 Objects of the CoE communication area .............................................................................................................179
2 Objects of the prole area......................................................................................................................................181
3 Objects of the manufacturer-specic area..........................................................................................................183
6 Troubleshooting
1 Alarms.........................................................................................................................................................................196
1-1 Alarm reset............................................................................................................................................................................................196
1-2 Alarm history ........................................................................................................................................................................................196
1-3 Generation condition of alarms.....................................................................................................................................................196
1-4 Alarm list ................................................................................................................................................................................................197
1-5 Timing chart..........................................................................................................................................................................................203
2 Informations..............................................................................................................................................................205
2-1 Information history ............................................................................................................................................................................207
2-2 Information list ....................................................................................................................................................................................207
3 Troubleshooting and remedial actions................................................................................................................211
7 Test operation using pulses
1 To execute operation by inputting pulses...........................................................................................................214
1-1 Operation ow.....................................................................................................................................................................................214
8 Reference materials
1 Timing chart ..............................................................................................................................................................216
2 Specications............................................................................................................................................................217
2-1 General specications.......................................................................................................................................................................217
2-2 Product specications.......................................................................................................................................................................218
3 Regulations and standards.....................................................................................................................................220
3-1 UL Standards (AC power input driver only)...............................................................................................................................220
3-2 EU Directives.........................................................................................................................................................................................220
3-3 RoHS Directive .....................................................................................................................................................................................221

6

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 ....................... 8
2 Operating manuals ................................. 9
2-1 Related operating manuals............................9
2-2 How to use operating manuals ....................9
3 Overview of the product...................... 11
4 Safety precautions ................................ 12
4-1 Graphical symbols on the driver's front
panel.................................................................... 14
4-2 Warning indication
(AC power input driver)................................ 14
5 Precautions for use................................ 15

Before using the product
8
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 the section "4 Safety precautions" on p.12. In addition, be sure
to observe the contents described in warning, caution, and note in this manual.
The product described in this manual 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
9
1 Introduction
2 Operating manuals
2-1 Related operating manuals
For operating manuals not included with the product, contact your nearest Oriental Motor sales oce or download
from Oriental Motor Website Download Page.
Operating manual name Included or not included
with product
AZ Series OPERATING MANUAL Motor Included
AZ Series/Motorized Actuator equipped with AZ Series
EtherCAT Drive Prole Compatible OPERATING MANUAL Driver Included
AZ Series/Motorized Actuator equipped with AZ Series
EtherCAT Drive Prole Compatible USER MANUAL (this document) Not included
AZ Series/Motorized Actuator equipped with AZ Series
OPERATING MANUAL Function Edition Not included
APPENDIX UL Standards for AZ Series *
* It is included with motors that conform to the UL Standards.
When using a motorized actuator, also read the following operating manuals.
Operating manual name Included or not included
with product
OPERATING MANUAL Actuator Included
Motorized Actuator Function Setting Edition Not included
2-2 How to use operating manuals
To use the product, read this manual together with the OPERATING MANUAL AZ Series Function Edition.
This manual describes contents specic to the EtherCAT Drive Prole Compatible driver, and the OPERATING MANUAL
AZ Series Function Edition describes contents common to the AZ Series products. Refer to the OPERATING MANUAL
AZ Series 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
OPERATING MANUAL AZ Series Function Editio
n
Procedure
4 EtherCAT communication
5 Object lists
Setting of parameters
4 Parameters
7 Address/code lists

Operating manuals
10
1 Introduction
2 AC power input type
3 DC power input type
Installation and connection
2 AC power input type
3 DC power input type
Setting of node address
4 EtherCAT communication
5 Object lists
Setting of parameters
4 EtherCAT communication
Operation
1 Before starting
operation *1
4 Parameters
7 Address/code lists
3 I/O signals *2
8 Measures for various cases
11 Appendix *3
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 a driver
· Creation of recovery data le and method of recovery
*2 Refer to this manual for “power removable function.”
· When the AC power input driver is used: p.38
· When the DC power input driver is used: p.67
*3 Refer to this manual for “LEDs of the driver.”
· When the AC power input driver is used: p.22
· When the DC power input driver is used: p.52
About notation of objects
In this manual, the index number is described in parentheses ( ) after the object name.
Example: Controlword (6040h)

Overview of the product
11
1 Introduction
3 Overview of the product
The AZ Series EtherCAT Drive Prole Compatible driver is the dedicated driver for the AZ Series products.
Lineup
Two types of the AZ Series EtherCAT Drive Prole Compatible drivers are available: AC power input type and DC
power input type.
Setting methods of parameters
Parameters can be set via EtherCAT communication or using the MEXE02.
This manual describes how to set parameters via EtherCAT communication.
Equipped with power removable function (ETO function: External torque o)
The power removable function is a function that stops supplying the power to the motor forcibly and puts the motor
into a non-excitation state. This function can shut o the power supplying to the motor directly on the circuit.
It can be used for the purpose to protect a worker from malfunction of the moving part when a load is set to the jig of
equipment or maintenance of the equipment is performed.
Providing the ESI le
The ESI le (EtherCAT Slave Information le) is the one that describes the specic information of the EtherCAT slave
products in XML format. By importing the ESI le to the EtherCAT Congration Tool of the PLC (programmable
controller), the settings of EtherCAT communication can be performed before you receive the driver.
For details, contact your nearest Oriental Motor sales oce.

Safety precautions
12
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
user and other personnel 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 the 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.
Common to AC power input driver and DC power input driver
General
•Do not use the product in explosive or corrosive environments, in the presence of ammable gases, locations
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. Failure to do so may result in re, electric shock, injury, or damage to equipment.
•Do not transport, install, connect, or inspect the driver while the power is supplied. Doing so may result in electric
shock.
•Do not touch the driver while the power is on. Doing so may result in re or electric shock.
•Take measures to keep the moving part in position if the product is used in vertical operations such as elevating
equipment. Failure to do so may result in injury or damage to equipment.
•When an alarm is generated in the driver (any of the driver's protective functions is triggered), remove the cause
before clearing 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 inside an enclosure. Failure to do so may result in electric shock or injury.
•The driver is Class I equipment. When installing the driver, install it inside an enclosure so that it is out of the direct
reach of users. Be sure to ground if users can touch it. Failure to do so may result in electric shock.
Connection
•Always keep the power supply voltage of the driver within the specied range. Failure to do so may result in re or
electric shock.
•Connect the product securely according to the wiring diagram. Failure to do so may result in re or electric shock.
•Do not forcibly bend, pull, or pinch the 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 result in 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
13
1 Introduction
AC power input driver
General
•Do not touch the terminals indicated signs on the driver’s front panel while the power is supplied because
high voltage is applied. Doing so may result in re or electric shock.
Inspection and maintenance
•Do not touch the connection terminals of the driver immediately after turning o the main power supply and the
control power supply. Before performing connection or inspection, turn o the main power supply and the control
power supply, and check the CHARGE LED has been turned o. Residual voltage may cause electric shock.
Common to AC power input driver and DC power input driver
General
•Do not use the driver beyond its 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. Doing 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 result in damage.
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.
•Provide an emergency stop device or emergency stop circuit externally 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.
•Before turning on the main power supply and the control power supply, turn all input signals to the driver to OFF.
Failure to do so may result in injury or damage to equipment.
•Before rotating the motor output shaft manually (manual positioning etc.), check the FREE input of the driver is
being ON. Failure to do so may result in injury.
•When an abnormal condition has occurred, immediately stop operation to turn o the main power supply and the
control power supply. Failure to do so may result in re, electrical shock, or injury.
•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.
AC power input driver
Operation
•For 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.
Inspection and maintenance
•Do not touch the terminals while conducting the insulation resistance measurement or dielectric strength test.
Doing so may result in electric shock.
DC power input driver
Operation
•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.
Inspection and maintenance
•Do not touch the terminals while conducting the insulation resistance measurement. Doing so may result in
electric shock.

Safety precautions
14
1 Introduction
4-1 Graphical symbols on the driver's front panel
This is the Protective Earth Terminal. Be sure to ground because
improper grounding may result in electric shock.
A high voltage is applied to the motor connector (CN3) and the main
power supply input terminals (CN4). Do not touch them while the
power is supplied. Doing so may result in re or electric shock. (AC
power input driver)
4-2 Warning indication (AC power input driver)
A warning about handling precautions is described on the driver.
Be sure to observe the description contents when handling the
product.
Electrical hazard warning label
Material: PET

Precautions for use
15
1 Introduction
5 Precautions for use
This chapter covers restrictions and requirements the user should consider when using the product.
Common to AC power input driver and DC power input driver
zBe sure to use our cable to connect the motor and the driver.
Check the cable models on p.43 (AC power input driver) or p.72 (DC power input driver).
zNote on connecting a power supply whose positive terminal is grounded
The USB communication connector, CN5, CN6, and CN7 connectors on the driver are not electrically insulated. When
grounding the positive terminal of the 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 5 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.34 (AC power input driver) or p.63 (DC power input driver) for the noise elimination measures.
AC power input driver
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 dielectric strength test with the motor and the driver
connected may result in damage to the product.
zPreventing leakage current
Stray capacitance exists between the driver’s current-carrying line and other current-carrying lines, the earth and the
motor, respectively. A high-frequency current may leak out through such capacitance, having a detrimental eect on
the surrounding equipment. The actual leakage current depends on the driver’s switching frequency, the length of
wiring between the driver and the motor, and so on. When installing an earth leakage breaker, use a product oering
resistance against high frequency current such as the one specied below.
Mitsubishi Electric Corporation: NV series
zIf vertical drive (gravitational operation) such as elevator applications is performed or if sudden start-
stop operation of a large inertial load is repeated frequently, connect our regeneration resistor
RGB100.
An alarm of overvoltage may be detected depending on the operating condition of the motor. When the alarm of
overvoltage has been detected, reconsider the operating condition or use our regeneration resistor RGB100. Refer to
p.27 for the connection method.
DC power input driver
zWhen conducting the insulation resistance measurement, be sure to separate the connection between
the motor and the driver.
Conducting the insulation resistance measurement with the motor and the driver connected may result in damage to
the product.

16
1 Introduction

2 AC power input type
This part explains contents specic to the AC power input type driver.
Table of contents
1 System conguration............................ 18
2 Preparation............................................. 19
2-1 Checking the product ................................... 19
2-2 How to identify the product model ......... 19
2-3 Products possible to combine ................... 19
2-4 Information about nameplate ................... 20
2-5 Names and functions of parts.................... 20
2-6 Indication of LEDs........................................... 22
3 Installation.............................................. 23
3-1 Installation location ....................................... 23
3-2 Installation method ....................................... 23
4 Connection ............................................. 25
4-1 Connection example..................................... 25
4-2 Connecting the control power supply.... 26
4-3 Connecting the regeneration resistor..... 27
4-4 Connecting the main power supply........ 27
4-5 Grounding the driver.....................................28
4-6 Connecting the EtherCAT communication
cable.................................................................... 29
4-7 Connecting the USB cable........................... 29
4-8 Connecting the I/O signals.......................... 30
4-9 Noise elimination measures ....................... 34
4-10 Conformity to the EMC Directive.............. 36
5 Setting of node address ....................... 37
5-1 Setting method ............................................... 37
6 Power removable function
(ETO function: External torque o
function).................................................. 38
6-1 Block diagram .................................................. 38
6-2 Wiring example ............................................... 39
6-3 Detection for error of the ETO function.. 39
6-4 Reset of ETO-mode ........................................ 40
6-5 Timing chart ..................................................... 40
6-6 To use this product safely ............................ 41
7 Inspection and maintenance .............. 42
7-1 Inspection.......................................................... 42
7-2 Warranty............................................................. 42
7-3 Disposal.............................................................. 42
8 Cables ...................................................... 43
8-1 Connection cable............................................ 43
8-2 I/O signal cable................................................ 45
9 Accessories.............................................. 46
9-1 Pulse signal converter for
noise immunity ............................................... 46
9-2 Relay contact protection parts/circuits .. 46
9-3 Regeneration resistor.................................... 46

System conguration
18
2 AC power input type
1 System conguration
The gure shows models for the electromagnetic brake type with single-phase 200 to 240 VAC input.
Control
power supply
Regeneration resistor
RGB100
GND +24 V
Thermostat output (AWG22)
Regeneration resistor
(AWG18)
EtherCAT master
EtherCAT communication
*
EtherCAT communication
compatible products
Driver
Motor
Noise lterMain power
supply
Circuit breaker
or ground fault
interrupt circuit
Grounding
Grounding
* Connect when using direct I/O or sensors.

Preparation
19
2 AC power input type
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 Oriental Motor sales
oce from which you purchased the product.
•Driver ................................................................1 unit
•CN1 connector (14 pins) ............................1 pc.
•CN4 connector (5 pins)...............................1 pc.
•CN7 connector (24 pins) ............................1 pc.
•Connector lever.............................................1 pc. (for CN4 connector)
•OPERATING MANUAL Driver..................... 1 copy
Included connector model
Type Part number Manufacturer
CN1 connector DFMC1,5/7-ST-3,5-LR PHOENIX CONTACT GmbH & Co. KG
CN4 connector 05JFAT-SAXGDK-H5.0 J.S.T. Mfg. Co., Ltd.
CN7 connector DFMC1,5/12-ST-3,5 PHOENIX CONTACT GmbH & Co. KG
2-2 How to identify the product model
Check the model number of the driver against the number shown on the nameplate. Refer to p.20 for how to
identify the nameplate.
AZD - C ED
1 2 3
1 Series AZD: AZ Series driver
2 Power supply input A: Single-phase 100-120 VAC
C: Single-phase/Three-phase 200-240 VAC
3 Network 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
AC input
Stepping motor AZ Series AZM AZM46AC
AZM66AC-TS10
Motorized actuator
EAS Series *2 EASM EASM4NXD005AZAC
EAC Series *2 EACM EACM4RWE15AZMC
EZS Series *2 EZSM EZSM6D005AZAC
EZSH Series *2 EZSHM EZSHM6H020AZAC
DGII Series DGM
DGB
DGM85R-AZAC
DGB85R12-AZACR
LSeries LM LM4F500AZMC-10
*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. Check the model
name of the equipped motor with the nameplate.

Preparation
20
2 AC power input type
2-4 Information about nameplate
The gure shows an example.
Driver model
Input specication
Output specication
Serial number Manufacturing date
The position describing the information may vary depending on the product.
2-5 Names and functions of parts
The gure shows the AZD-CED.
PWR/ALM LED (Green/Red)
HOME PRESET switch
USB communication connecto
r
Node address setting
switches (ECAT ID ×10, ×1)
RUN LED (Green)
ERR LED (Red)
EtherCAT communication
connector (CN5 ECAT IN)
EtherCAT communication
connector (CN6 ECAT OUT)
L/A LEDs (Green)
Electromagnetic brake terminals (CN1)
Regeneration resistor thermal input terminals (
CN1)
I/O signal connector (CN7)
Control power supply input terminals (CN1)
Power removal signal input terminals (CN1)
Power removal monitor output terminals (CN1)
Encoder connector (CN2)
CHARGE LED (Red)
Motor connector (CN3)
Main power supply input terminals (CN4)
Regeneration resistor terminals (CN4)
Protective Earth Terminals