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
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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