Oriental motor Alpha Step AZ Series User manual

HM-60262
Operation
I/O signals
Parameter
Method of control via
Modbus RTU
(RS-485 communication)
Method of control via
industrial network
Address list
Measures for various
cases
Alarm and information
Extended setting for
pulse-input type
Appendix
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.
Closed Loop
Stepping Motor and
Driver Package
AZ Series
Function Edition

▌2
1 Operation
1 Flow of setting required for positioning operation........................................................... 16
2 Setting of resolution................................................................................................................ 17
3 Stored data (SD) operation..................................................................................................... 19
3-1 Types of stored data (SD) operation.................................................................................................... 19
3-2 Setting of data............................................................................................................................................. 23
3-3 Positioning SD operation......................................................................................................................... 30
3-4 Positioning push-motion SD operation ............................................................................................. 39
3-5 Continuous SD operation........................................................................................................................ 43
3-6 Mode for link operation of operation data........................................................................................ 48
3-7 Sequence function..................................................................................................................................... 58
3-8 Extended operation data setting.......................................................................................................... 64
3-9 Stop operation............................................................................................................................................. 66
3-10 Base current and stop current ............................................................................................................... 68
3-11 Acceleration/deceleration unit.............................................................................................................. 69
3-12 Starting speed ............................................................................................................................................. 70
4 Return-to-home operation..................................................................................................... 71
4-1 High-speed return-to-home operation.............................................................................................. 71
4-2 Return-to-home operation ..................................................................................................................... 73
5 Macro operation ....................................................................................................................... 87
5-1 Types of macro operation........................................................................................................................ 87
5-2 JOG operation.............................................................................................................................................. 88
5-3 High-speed JOG operation ..................................................................................................................... 90
5-4 Inching operation....................................................................................................................................... 92
5-5 Combined JOG operation........................................................................................................................ 94
5-6 Continuous operation............................................................................................................................... 96
5-7 Speed control operation.......................................................................................................................... 98
5-8 Speed control push-motion operation.............................................................................................100
6 Relationship between operation type and operation data and parameter................102
7 Position coordinate management ......................................................................................106
7-1 Overview of position coordinate management............................................................................106
7-2 Position coordinate origin.....................................................................................................................110
7-3 Setting of position coordinate.............................................................................................................111
7-4 Parameters related to ABZO sensor...................................................................................................112
7-5 Mechanism settings parameter ..........................................................................................................113
7-6 Gear ratio.....................................................................................................................................................115
7-7 Initial coordinate generation & wrap coordinate parameter ...................................................115
7-8 Mechanism limit ......................................................................................................................................120
7-9 Mechanism protection ...........................................................................................................................120
7-10 Position coordinate information monitor function .....................................................................121

3▐
2 I/O signals
1 Overview of I/O signals .........................................................................................................128
1-1 Overview of input signals......................................................................................................................128
1-2 Overview of output signals...................................................................................................................129
1-3 Setting contents of input signals and output signals .................................................................130
2 Signal list..................................................................................................................................136
2-1 Input signal list ..........................................................................................................................................136
2-2 Output signal list ......................................................................................................................................138
3 Signal types .............................................................................................................................144
3-1 Direct I/O .....................................................................................................................................................144
3-2 Network I/O ................................................................................................................................................149
4 Input signals............................................................................................................................151
4-1 Operation control.....................................................................................................................................151
4-2 Position coordinate management .....................................................................................................169
4-3 Management of driver............................................................................................................................172
5 Output signals.........................................................................................................................175
5-1 Management of driver............................................................................................................................175
5-2 Management of operation....................................................................................................................176
5-3 Latch information display......................................................................................................................186
5-4 Response output ......................................................................................................................................187
6 Timing chart ............................................................................................................................188
7 Power removal function (ETO function).............................................................................191
7-1 Block diagram............................................................................................................................................191
7-2 Related I/O signals....................................................................................................................................192
7-3 Reset of ETO-mode ..................................................................................................................................192
7-4 Related parameters..................................................................................................................................193
7-5 Timing chart ...............................................................................................................................................194
7-6 For safe use .................................................................................................................................................195
3 Parameters
1 Parameter: Base setting ........................................................................................................198
2 Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) ...................201
3 Parameter: ETO and Alarm and Info ...................................................................................204
4 Parameter: I/O action and function ....................................................................................207
5 Parameter: Direct-IN function..............................................................................................212
6 Parameter: Direct-OUT function..........................................................................................213
7 Parameter: Remote-I/O function (RS-485).........................................................................214
8 Parameter: EXT-IN and VIR-IN and USR-OUT function (Extend) ....................................216
9 Parameter: Communication & I/F ........................................................................................219

▌4
10 I/O signal assignment list......................................................................................................223
10-1 Input signals...............................................................................................................................................223
10-2 Output signals ...........................................................................................................................................224
4 Method of control via Modbus RTU (RS-485 communication)
1 Specication of Modbus RTU...............................................................................................228
1-1 Communication specications............................................................................................................228
1-2 Communication timing..........................................................................................................................232
2 Message structure..................................................................................................................233
2-1 Query ............................................................................................................................................................233
2-2 Response .....................................................................................................................................................235
3 Function codes........................................................................................................................238
3-1 Reading from a holding register(s) (03h).........................................................................................238
3-2 Writing to a holding register (06h).....................................................................................................239
3-3 Diagnosis (08h)..........................................................................................................................................240
3-4 Writing to multiple holding registers (10h) ....................................................................................241
4 Flow of setting required for Modbus communication ....................................................243
5 Guidance ..................................................................................................................................244
6 Setting of switches.................................................................................................................248
6-1 Protocol........................................................................................................................................................248
6-2 Address number (slave address).........................................................................................................249
6-3 Transmission rate......................................................................................................................................250
6-4 Termination resistor.................................................................................................................................250
7 Setting of RS-485 communication ......................................................................................252
7-1 Parameters reected when turning on the power.......................................................................252
7-2 Parameters reected immediately after rewriting .......................................................................253
7-3 Forcible return of parameters to initial values (default function)...........................................254
8 Example of data setting in Modbus RTU mode ................................................................255
8-1 Remote I/O command ............................................................................................................................255
8-2 Positioning operation .............................................................................................................................257
8-3 Continuous operation.............................................................................................................................260
8-4 High-speed return-to-home operation............................................................................................262
9 Data setting method..............................................................................................................264
9-1 Overview of setting method ................................................................................................................264
9-2 Direct reference.........................................................................................................................................264
9-3 Indirect reference .....................................................................................................................................265
10 Direct data operation ............................................................................................................272
10-1 Overview of direct data operation.....................................................................................................272
10-2 Guidance .....................................................................................................................................................273
10-3 Commands required for direct data operation .............................................................................277
11 Group send ..............................................................................................................................282

5▐
12 Timing chart ............................................................................................................................284
12-1 Communication start..............................................................................................................................284
12-2 Start of operation .....................................................................................................................................284
12-3 Operation stop, speed change ............................................................................................................284
12-4 General signals ..........................................................................................................................................285
12-5 Conguration.............................................................................................................................................285
13 Detection of communication errors ...................................................................................286
13-1 Communication errors ...........................................................................................................................286
13-2 Alarms related to RS-485 communication.......................................................................................286
5 Method of control via industrial network
1 Flow of setting required for control via industrial network...........................................288
2 Setting of switches.................................................................................................................289
2-1 Protocol........................................................................................................................................................289
2-2 Address number (slave address).........................................................................................................290
2-3 Transmission rate......................................................................................................................................290
2-4 Termination resistor.................................................................................................................................291
3 Method of control via CC-Link communication................................................................292
3-1 Guidance .....................................................................................................................................................292
3-2 Basic operation procedure....................................................................................................................297
3-3 Remote register list of the NETC01-CC.......................................................... 301
3-4 Assignment of remote I/O of 6 axes connection mode..............................................................302
3-5 Assignment of remote I/O of 12 axes connection mode ...........................................................306
4 Method of control via MECHATROLINK communication ................................................310
4-1 Guidance .....................................................................................................................................................310
4-2 Basic operation procedure....................................................................................................................315
4-3 Field map of the NETC01-M2....................................................................... 319
4-4 Field map of the NETC01-M3....................................................................... 320
4-5 Communication formats........................................................................................................................321
5 Group function........................................................................................................................323
5-1 Group address ...........................................................................................................................................324
5-2 Group action modes................................................................................................................................324
6 Simple direct data operation ...............................................................................................327
6-1 Types of simple direct data operation..............................................................................................327
6-2 How to use simple direct data operation monitor 0 ...................................................................328
6-3 How to use simple direct data operation monitor 1 ...................................................................330
7 Detection of communication errors ...................................................................................332
7-1 Communication errors ...........................................................................................................................332
7-2 Alarms...........................................................................................................................................................333

▌6
6 Address/code lists
1 Update timing of parameters...............................................................................................336
2 I/O commands.........................................................................................................................337
3 Group commands...................................................................................................................339
4 Protect release commands ...................................................................................................341
5 Direct data operation commands .......................................................................................342
6 Simple direct data operation commands ..........................................................................344
7 Maintenance commands.......................................................................................................345
7-1 How to execute maintenance commands ......................................................................................347
8 Monitor commands................................................................................................................348
9 Overview of operation data R/W command address arrangement..............................361
9-1 Overview of direct reference................................................................................................................362
9-2 Overview of oset reference................................................................................................................362
9-3 Overview of direct reference (compatible).....................................................................................362
10 Operation data R/W commands ..........................................................................................363
10-1 Direct reference (Modbus communication) ...................................................................................363
10-2 Oset reference (Modbus communication) ...................................................................................368
10-3 Oset reference (industrial network) ................................................................................................368
11 Operation data R/W commands (compatible)..................................................................377
11-1 Direct reference (Modbus communication) ...................................................................................377
11-2 Direct reference (industrial network) ................................................................................................379
12 Operation I/O event R/W commands..................................................................................381
12-1 Setting method.........................................................................................................................................381
12-2 Direct reference.........................................................................................................................................381
12-3 Oset reference.........................................................................................................................................383
13 Extended operation data setting R/W commands...........................................................385
14 Parameter R/W commands...................................................................................................386
14-1 Driver action simulation setting parameter ...................................................................................386
14-2 Base setting parameters ........................................................................................................................386
14-3 Position coordinate parameters..........................................................................................................387
14-4 Operation parameters ............................................................................................................................388
14-5 Direct data operation parameters......................................................................................................388
14-6 Encoder parameter manual setting parameters...........................................................................389
14-7 Mechanism settings parameters.........................................................................................................389
14-8 Initial coordinate generation & wrap coordinate parameters..................................................390
14-9 JOG/HOME/ZHOME operation information setting parameters ............................................390
14-10 Power removal function setting parameters..................................................................................392
14-11 Alarm setting parameters......................................................................................................................392
14-12 Information setting parameters..........................................................................................................392
14-13 I/O parameter.............................................................................................................................................396
14-14 Direct I/O setting parameters ..............................................................................................................401

7▐
14-15 Network I/O setting parameters .........................................................................................................405
14-16 Extended input setting parameters...................................................................................................408
14-17 Dierential output setting parameters ............................................................................................408
14-18 Virtual input parameters........................................................................................................................409
14-19 User output setting parameters..........................................................................................................410
14-20 Driver mode setting parameters.........................................................................................................410
14-21 LED status display setting parameters..............................................................................................411
14-22 RS-485 communication setting parameters...................................................................................412
14-23 Indirect reference setting parameters ..............................................................................................414
14-24 Our exclusive parameters for maintenance....................................................................................415
15 I/O signal assignment list......................................................................................................416
15-1 Input signals...............................................................................................................................................416
15-2 Output signals ...........................................................................................................................................417
7 Measures for various cases
1 Vibration suppression ...........................................................................................................420
1-1 LPF (speed lter) and moving average lter...................................................................................420
1-2 Smooth drive function ...........................................................................................................................421
1-3 Electronic damper....................................................................................................................................422
1-4 Resonance suppression .........................................................................................................................423
2 Suppression of heat generation and noise .......................................................................424
2-1 Current cutback function ......................................................................................................................424
2-2 Current control mode .............................................................................................................................424
2-3 Ramp up/ramp down rate of operating current...........................................................................426
2-4 Deviation acceleration suppression ..................................................................................................426
3 Backup of data of MEXE02 in driver ..................................................................................427
4 Check of product information..............................................................................................428
5 Monitoring of load factor......................................................................................................430
8 Alarm and information
1 Alarms.......................................................................................................................................432
1-1 Alarm reset..................................................................................................................................................432
1-2 Alarm records.............................................................................................................................................432
1-3 Alarm generation conditions...............................................................................................................432
1-4 Alarm list......................................................................................................................................................433
1-5 Monitor of alarm records.......................................................................................................................440
1-6 Timing charts .............................................................................................................................................442
2 Information..............................................................................................................................444
2-1 Information records.................................................................................................................................447
2-2 Information list..........................................................................................................................................447
2-3 Monitor of information function.........................................................................................................450

▌8
3 Utilization for maintenance of equipment........................................................................451
3-1 Cumulative load........................................................................................................................................451
3-2 Tripmeter (travel distance) and odometer (cumulative travel distance)..............................453
9 Extended setting for pulse-input type
1 Flow of operation and extended setting ...........................................................................456
2 Extended setting with parameters .....................................................................................457
2-1 Resolution ...................................................................................................................................................457
2-2 Pulse input mode .....................................................................................................................................458
2-3 Operating current.....................................................................................................................................460
2-4 Command lter .........................................................................................................................................461
3 I/O signals related to pulse-input type ..............................................................................464
3-1 LED.................................................................................................................................................................464
3-2 Input signals...............................................................................................................................................464
3-3 Output signal .............................................................................................................................................465
4 Monitor function ....................................................................................................................466
4-1 I/O position output function................................................................................................................466
4-2 Pulse request function............................................................................................................................469
10 Appendix
1 Change of function of HOME PRESET switch ....................................................................472
2 Change of assignments of A-phase/B-phase outputs.....................................................473
3 Change of lighting condition of LED ..................................................................................475
4 Simulation of operation of driver........................................................................................476
5 Use of general signals............................................................................................................478
6 I/O signal assignment list......................................................................................................480
6-1 Input signal list ..........................................................................................................................................480
6-2 Output signal list ......................................................................................................................................481

9▐
1 Characteristics of the AZ Series
Built-in ABZO sensor
The ABZO sensor is a small-sized low-cost
mechanical multi-rotation absolute sensor that
does not require a battery.
It can detect the absolute positions for 1800
revolutions of the motor shaft from the reference
home position, so the position is never missed.
No external sensor is required
Return-to-home operation can be executed without using external sensors such as the home position
sensor and limit sensors.
zSaving of wiring
zCost-cutting for the system
zNot inuenced by malfunction of the sensor
No external sensor is required
Return-to-home time has been shortened
zNo return-to-home operation is required
Since the position information is maintained even if the power is interrupted, positioning operation can
be continued without return-to-home operation after emergency stop or power failure.
zHigh-speed return-to-home
Since the ABZO sensor stores the home position, the motor can return to the home position at a high
speed.
Home position detection of traditional
position-control motors
The home position is detected at a low speed by sensing the
limit sensor and the home position sensor.
Home position detection of the AZ
Series
The motor returns to the stored home position directly
at a high speed with the help of ABZO sensor.
(1)
HOME
(2)
(3)
- LS +LS
ABZO sensor
Home position
stored in the AZ Series
(1)

▌10
No battery is required
No battery is required because the position information is maintained by the ABZO sensor.
zReduction of maintenance
zSpace to replace the battery is not required
zThe position information is maintained even in long equipment transportation

11▐
2 Operations possible with the AZ Series
Execute operation by setting the motor operating speed, position (travel amount)
and other items as operation data
Stored data (SD) operation p.19
Positioning operation is performed. Push-motion operation is performed. Continuous operation is performed.
Speed
Time
0
START input
Speed
Time
0
START input
Push-motion
Speed
Time
0
START input
Positioning SD
operation p.30 Positioning push- motion SD operation p.39 Continuous SD operation p.43
The command position of the rotating mechanism is returned to "0" for
every rotation.
The position and the speed can be
set easily with the MEXE02.
Wrap function p.108
Use of sequence function
Linked operations are repeated for the number of times specied.
When you use the loop oset function, you can increase or decrease the travel amount every time the operation is repeated.
Speed
Coordinate
X-axis
Absolute positioning
operation
Absolute positioning
operation
Loop oset
Loop function p.58 Loop oset function
Operation is transited by setting an arbitrary I/O signal as a trigger.
The motor can transit to a dierent operation depending on whether or not the trigger signal has been detected.

▌12
Absolutepositioning
operation
Continuous
operation
Without
push-motion
Withpush-motion
Torquecontrol
Push-motion
operation
Sensor
Speed
Z-axis Coordinate
Event jump function p.60
Return to the home position
The motor returns to the home position at the speed same
as normal positioning operation without using an external
sensor.
The motor returns to the home position by using external
sensors or the stopper on the machine.
ABZO sensor
Home position
stored in the AZ Series
(1)
(1)
HOME
(2)
(3)
- LS +LS
High-speed return-
to-home operation p.71 Return-to-home operation p.73
Perform test operation and operation check
zMacro operation (_p.87)
A specic input signal is turned ON to execute the operation corresponding to the signal.
The operating speed, travel amount, acceleration/deceleration rate are set with parameters.
Start operation at the same time as writing of operation data (Modbus RTU)
zDirect data operation (_p.272)
You can use this operation to change the setting of operation data frequently, to change the speed and
travel amount according to the load, for example.
When the data of the trigger set to be reected is input by using the touch panel, etc., it is reected to the
operation at the same time as input.
Perform operation by inputting pulses
zPulse-input operation (_p.455)
Operation data are set to the master controller to execute operation. The operation data to be executed
are selected in the master controller.
Pulse-input operation is an operation exclusive for the pulse-input type.

13▐
3 How to use OPERATING MANUALS for
product
OPERATING MANUALS for the AZ Series are listed below.
The OPERATING MANUAL Function Edition (this manual) does not come with the product. For details,
contact your nearest Oriental Motor sales oce or download from Oriental Motor Website Download
Page. Always keep the manual where it is readily available.
Type and description of OPERATING MANUAL
Closed Loop Stepping Motor and Driver Package
AZ Series Motor
OPERATING MANUAL Thank you for purchasing an Oriental Motor product.
This Operating 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-60244

Before use
Only qualified personnel should work with the product.
Use the product correctly after thoroughly reading the "Safety
precautions."
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 damage caused through failure to observe this
warning.
Introduction

Operating Manuals for the AZ Series
Operating manuals for the AZ Series are listed below.
Always keep the manual where it is readily available.

AZ Series Motor OPERATING MANUAL (this document)

AZ Series Driver OPERATING MANUAL
(Supplied with driver)

AZ Series OPERATING MANUAL Function Edition
The "OPERATING MANUAL Function Edition" does not come with
the product. For details, contact your nearest Oriental Motor sales
office or download from Oriental Motor Website Download Page.

APPENDIX UL Standards for AZ Series AC power input type
（Supplied with product）

Hazardous substances
The products do not contain the substances exceeding the
restriction values of RoHS Directive (2011/65/EU).
The motor being combined with the AZ Series AC power input type
driver is affixed the CE Marking under the Low Voltage Directive.
Low Voltage Directive

This product is designed and manufactured to be incorporated in
equipment.

This product cannot be used with cables normally used for IT
equipment.

Install the product within the enclosure in order to avoid contact
with hands.

When a product can be touched with hands, be sure to ground.
When installing the motor and driver, securely connect their
Protective Earth Terminals.

To protect against electric shock using an earth leakage breaker
(RCD), connect a type B earth leakage breaker to the primary side
of the driver.

When using a circuit breaker (MCCB), use a unit conforming to
the EN or IEC standard.

Isolate the motor cable, power-supply cable and other drive cables
from the signal cables by means of double insulation.
CE Marking
Closed Loop Stepping Motor and Driver Package
AZ Series
AC power input Pulse input type
OPERATING MANUAL Driver
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-60242
Closed Loop Stepping Motor and Driver Package
AZ Series
DC power input Pulse input type
OPERATING MANUAL Driver
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-60249
Closed Loop Stepping Motor and Driver Package
AZ Series
AC power input Built-in controller type
OPERATING MANUAL Driver
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-60243
Closed Loop Stepping Motor and Driver Package
AZ
Series
DC power input Built-in controller type
OPERATING MANUAL Driver
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-60250
Read these manuals rst
AZ Series AC Power Input/DC Power Input
•Motor Edition (supplied with the motor)
•Motorized Actuator Edition (supplied with the actuator)
•Pulse-Input Type Driver Edition (supplied with the driver)
•Built-in Controller Type Driver Edition (supplied with the
driver)
These manuals explain items from preparation to basic operations,
etc.
Closed Loop
Stepping Motor Unit
AZ Series
Function
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-60262
Operation
I/O signals
Parameter
Modbus RTU control
(RS-485 communication)
Industrial Network
Address list
Measures for various
cases
Alarm and
information
Extended setting for
pulse-input type
Appendix
AZ Series AC Power Input/DC Power Input
•Function Edition (this manual)
This manual explains more detailed operations, functions, etc. that are
not described in OPERATING MANUAL supplied with the product.
•Operation
•I/O signals
•Parameter
•Method of control via Modbus RTU (RS-485 communication)
•Method of control via industrial network
•Address list
•Measures for various cases
•Alarm and information
•Extended setting for pulse-input type
•The setting unit may vary depending on the application such as the MEXE02.
Note that when you set the operation data and parameters.
This manual use a setting unit "step" for explanation.
•This manual describes the contents of the driver Ver.3.10 and later.
Note that some functions can not be used in a driver older than Ver.3.10.
You can check the driver version on the unit information monitor of the MEXE02. (_p.428)

▌14
Type and description of OPERATING MANUAL
Data setting software
MEXE02 (Ver. 3.10 and later)
OPERATING MANUAL
Thank you for purchasing an Oriental Motor product.
This operating 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-60131-2
This manual describes the MEXE02 Ver. 3.10 and later.
The screens and operation procedures in the MEXE02 Ver. 3.10 and later
differ from those in versions earlier than the MEXE02 Ver. 3.10.
Please contact your nearest Oriental Motor branch or sales office for
further information.
Data setting software MEXE02
•OPERATING MANUAL
This manual explains how to set data using the accessory data setting
software MEXE02.
* In this manual, it is referred to as "MEXE02."
Network converter
NETC01-CC
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-60089
CC-Link compatible
Network converter
NETC01-M2
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.
+0
MECHATROLINK-⋜compatible
Network converter
NETC01-M3
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.
+0
MECHATROLINK-⋝compatible
Network Converter
•CC-LINK COMPATIBLE NETC01-CC USER MANUAL
•MECHATROLINK-II COMPATIBLE NETC01-M2 USER MANUAL
•MECHATROLINK-III COMPATIBLE NETC01-M3 USER
MANUAL
These manuals explain the function, installation and connection of
the network converter as well as operating method.
AZ Series UL APPENDIX
•APPENDIX UL Standards for the AZ Series
* Attached to the UL Standard qualied product.
This appendix includes information required for certication of the UL
Standards.

1 Operation
This part explains the operation functions and parameters.
Table of contents
1 Flow of setting required for
positioning operation ........................16
2 Setting of resolution...........................17
3 Stored data (SD) operation ...............19
3-1 Types of stored data (SD)
operation................................................... 19
3-2 Setting of data......................................... 23
3-3 Positioning SD operation .................... 30
3-4 Positioning push-motion SD
operation................................................... 39
3-5 Continuous SD operation.................... 43
3-6 Mode for link operation of
operation data......................................... 48
3-7 Sequence function ................................ 58
3-8 Extended operation data setting ..... 64
3-9 Stop operation ........................................ 66
3-10 Base current and stop current ........... 68
3-11 Acceleration/deceleration unit ......... 69
3-12 Starting speed ......................................... 70
4 Return-to-home operation................71
4-1 High-speed return-to-home
operation................................................... 71
4-2 Return-to-home operation................. 73
5 Macro operation..................................87
5-1 Types of macro operation ................... 87
5-2 JOG operation ......................................... 88
5-3 High-speed JOG operation................. 90
5-4 Inching operation .................................. 92
5-5 Combined JOG operation ................... 94
5-6 Continuous operation .......................... 96
5-7 Speed control operation...................... 98
5-8 Speed control push-motion
operation.................................................100
6 Relationship between operation
type and operation data and
parameter.......................................... 102
7 Position coordinate
management .................................... 106
7-1 Overview of position coordinate
management .........................................106
7-2 Position coordinate origin ................110
7-3 Setting of position coordinate ........111
7-4 Parameters related to ABZO
sensor .......................................................112
7-5 Mechanism settings parameter ......113
7-6 Gear ratio.................................................115
7-7 Initial coordinate generation &
wrap coordinate parameter .............115
7-8 Mechanism limit ..................................120
7-9 Mechanism protection.......................120
7-10 Position coordinate information
monitor function..................................121

Flow of setting required for positioning operation
▌16
Operation
1 Flow of setting required for positioning
operation
Assignment of I/O, Input and output conditions, output of the current
value, functions to help saving of wiring, etc. are introduced.
The method to generate the coordinate of the driver according to your
system and the wrap function are introduced.
In addition, if an electronic gear is used, the resolution can be set.
The contents of are explained in this manual.
• Install the motor and the
driver and arrange wiring.
• Set the home position.
Assign I/O.
Set the coordinate and
the resolution.
Select the operation
method and set data.
Set parameters.
Make settings concerning
information and alarms.
Completion of setting
A
ss
i
Part Two
Set
Part Three
Ma
k
i
nf
o
Part Eight
•
In
st
d
ri
v
•
Set
OPERATING
MANUAL
Driver
Stored data operation
+ Sequence function
The motor is operated by setting
the operation data.
Simple sequence functions such as
jump and loop can be also executed.
Macro operation
In JOG operation, continuous
operation, etc., the motor is operated
by inputting a specic signal.
High-speed return-to-home
Return-to-home operation
The motor is returned to the home
position.
_p.17
_p.106

Setting of resolution
17▐
Operation
2 Setting of resolution
Set the resolution for combined use with the mechanism such as the geared motor and actuator.
When the "Electronic gear A" and "Electronic gear B" parameters are set, the resolution per revolution of
the motor output shaft can be set.
Note that the calculated value must fall within the setting range specied below:
Resolution setting range: 100 to 10000 P/R
Related parameters
MEXE02 tree view Parameter name Description Initial
value
Motor and mechanism
Manual setting of the
mechanism settings
To change the resolution, select manual setting.
Setting range
0: Encoder setting is prioritized
1: Manual setting
0
Electronic gear A
Sets the denominator of electronic gear.
Setting range
1 to 65535
1
Electronic gear B
Sets the numerator of electronic gear.
Setting range
1 to 65535
•When the "Manual setting of the mechanism settings" parameter is changed, cycle the power
of the driver.
•If the value out of the setting range is set, the information of electronic gear setting error
is generated. If the power is cycled or conguration is executed while the information of
electronic gear setting error is present, an alarm of electronic gear setting error is generated.
•If the resolution was changed after executing preset with the "Preset position" parameter other
than "0," execute preset again. When the "Preset position" parameter is "0," the present position
is recalculated automatically even if the resolution is changed.
If you use the pulse-input type, refer to p.457. (_p.457)

Setting of resolution
▌18
Operation
Calculation of electronic gears A and B
Calculation of electronic gears A and B is explained with examples of a ball screw and rotary table.
zCalculation example 1: Ball screw
•When a ball screw with a lead of 12 mm (0.47 in.) should be moved 0.01 mm (0.00039 in.) per step.
•Gear ratio: 1 (No speed reduction mechanism between the motor and ball screw)
Mechanical resolution = 1000 ×
Electronic gear B
Electronic gear A =
Lead of ball screw
Minimum travel amount ×
1
Gear ratio
1000 × Electronic gear B
Electronic gear A =12 mm (0.47 in.) 0.01 mm (0.00039 in.) ×
In this example,
1
1
Electronic gear B
Electronic gear A =12
10
Therefore, =6
5
Therefore, Electronic gear A is 5 and Electronic gear B is 6, and the resolution is 1200 P/R.
zCalculation example 2: Rotary table
•When a rotary table that moves by 360° per revolution should be moved by 0.01° per step.
•Gear ratio: 10 (a geared motor with a gear ratio of 10 is used)
Mechanical resolution = 1000 ×
Electronic gear B
Electronic gear A =
Travel amount per revolution
Minimum travel amount ×
1
Gear ratio
1000 × Electronic gear B
Electronic gear A =360° 0.01°
1
10
×In this example
Electronic gear B
Electronic gear A =36
10
Therefore, = 18
5
Therefore, Electronic gear A is 5 and Electronic gear B is 18, and the resolution is 3600 P/R.

Stored data (SD) operation
19▐
Operation
3 Stored data (SD) operation
Stored data operation is an operation executed by setting the motor operating speed, position (travel
amount) and other items as operation data.
* Before starting operation, set the position coordinate.
3-1 Types of stored data (SD) operation
Speed
START input
Time
Speed
START input
Time
Speed
START input
Time
0
Speed
START input
Time
0
Speed
START input
Time
0
0 0
Loop operation
Operation types
Linked method
Extended linked method
Positioning push-motion SD operation Continuous SD operation
Positioning SD operation
Speed
START input
Position0
Speed
START input
Event trigger input
Without trigger
Position0
Event jump operation
No link (single-motion operation)
Speed
START input
Time
0
Automatic sequential operation
Speed
Time
0
SSTART input
Manual sequential operation Type connection operation
Absolute positioning
Incremental positioning (based on command position)
Incremental positioning (based on feedback position)
Wrap absolute positioning
Wrap proximity positioning
Wrap forward direction absolute positioning
Wrap reverse direction absolute positioning
Continuous operation (Position control)
Continuous operation (Speed control)
Continuous operation (Push-motion)
Continuous operation (Torque control)
Absolute positioning push-motion
Incremental positioning push-motion (based on command position)
Incremental positioning push-motion (based on feedback position)
Wrap absolute push-motion
Wrap proximity push-motion
Wrap forward direction push-motion
Wrap reverse direction push-motion
With trigger

Stored data (SD) operation
▌20
Operation
Operation types
Operation types Description
Positioning stored data (SD)
operation
By setting the motor operating speed, position (travel amount) and other items as
operation data, trapezoidal operation is performed from the present position to
the target position. The motor is started at the starting speed and accelerates until
the operating speed is reached. Once the operating speed is reached, that speed is
maintained. Then the motor decelerates when the stopping position approaches, and
nally comes to a stop.
How to set target
position Operation mode Description
Absolute positioning Absolute positioning Positioning operation is performed from the present
position to the set target position.
Incremental positioning
Incremental positioning (based
on command position)
Positioning operation of the set travel amount is
performed from the present command position.
Incremental positioning (based
on feedback position)
Positioning operation of the set travel amount is
performed from the present feedback position.
Wrap absolute positioning
Wrap absolute positioning Positioning operation is performed to the target
position within the wrap range.
Wrap proximity positioning
Positioning operation in the shortest distance is
performed to the target position within the wrap
range.
Wrap forward direction
absolute positioning
Positioning operation in the forward direction is
performed to the target position within the wrap
range.
Wrap reverse direction absolute
positioning
Positioning operation in the reverse direction is
performed to the target position within the wrap
range.
Positioning push-motion stored
data (SD) operation
By setting the motor operating speed, position (travel amount) and other items as
operation data, rectangular operation (drive without acceleration/deceleration time) is
performed from the present position to the target position. If you use the TLC output as a
completion signal of push-motion operation, you can judge whether or not push-motion
against the load occurred during operation.
How to set target
position Operation mode Description
Absolute positioning Absolute positioning push-
motion
Positioning push-motion operation is performed from
the present position to the set target position.
Incremental positioning
Incremental positioning push-
motion
(based on command position)
Positioning push-motion operation of the set travel
amount is performed from the present command
position.
Incremental positioning push-
motion
(based on feedback position)
Positioning push-motion operation of the set travel
amount is performed from the present feedback
position.
Wrap absolute positioning
Wrap absolute push-motion Positioning push-motion operation is performed to
the target position within the wrap range.
Wrap proximity push-motion
Positioning push-motion operation in the shortest
distance is performed to the target position within the
wrap range.
Wrap forward direction push-
motion
Positioning push-motion operation in the forward
direction is performed to the target position within
the wrap range.
Wrap reverse direction push-
motion
Positioning push-motion operation in the reverse
direction is performed to the target position within
the wrap range.