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1 Introduction
1 Introduction ................................................... 8
2 Operating Manuals for the AR Series .......... 9
3 Overview of the product ............................. 10
4 System conguration .................................. 12
5 Safety precautions ...................................... 13
6 Precautions for use ..................................... 16
7 General specications ................................ 18
8 CE Marking ................................................... 19
9 Preparation .................................................. 20
9.1 Checkingtheproduct................................... 20
9.2 Howtoidentifytheproductmodel............... 20
9.3 Combinationsofmotorsanddrivers............ 21
9.4 Namesandfunctionsofparts...................... 22
2 Installationand
connection
1 Installation ................................................... 26
1.1 Locationforinstallation................................ 26
1.2 Installingthemotor...................................... 26
1.3 Installingaload............................................ 27
1.4 Permissibleradialloadand
permissibleaxialload.................................. 28
1.5 Installingthedriver...................................... 29
1.6 Installingthebattery.................................... 30
1.7 Installingandwiringincompliancewith
EMCDirective.............................................. 30
2 Connection ................................................... 32
2.1 Connectionexample
(electromagneticbrakemotor)..................... 32
2.2 Groundingthemotoranddriver................... 36
2.3 Connectingthedatasetter.......................... 36
2.4 ConnectingtheRS-485communication
cable............................................................ 37
2.5 Connectingandchargingthebattery........... 38
3 Explanation of I/O signals .......................... 39
3.1 AssignmentofdirectI/O.............................. 39
Assignmenttotheinputterminals.....................39
Changingthelogiclevelsettingofinput
signals...............................................................40
Assignmenttotheoutputterminals...................41
3.2 AssignmentofnetworkI/O.......................... 43
Assignmentofinputsignals...............................43
Assignmenttotheoutputterminals...................45
3.3 Inputsignals................................................ 47
3.4 Outputsignals.............................................. 52
3.5 Sensorinput................................................ 56
3.6 Generalsignals(R0toR15)........................ 57
3 Operationtypeandsetting
1 Adjustment and setting .............................. 60
1.1 Resolution.................................................... 60
1.2 Operatingcurrent......................................... 61
1.3 Standstillcurrent.......................................... 61
1.4 Acceleration/decelerationrateand
acceleration/decelerationtime..................... 61
1.5 Smoothdrive............................................... 62
1.6 Speedlter.................................................. 62
1.7 Movingaveragelter................................... 63
1.8 Speederrorgain.......................................... 63
1.9 Controlmode............................................... 63
1.10 Positionloopgain,speedloopgain,
speedloopintegraltimeconstant................ 64
1.11 Absolute-positionbackupsystem................ 64
2 Operation ..................................................... 65
2.1 Positioningoperation................................... 66
Operationdata...................................................66
Startingmethodofpositioningoperation...........67
Operationfunction;Single-motion.....................71
Operationfunction;Linked-motionoperation.....72
Operationfunction;Linked-motionoperation2...73
Operationfunction;Push-motionoperation.......75
2.2 Return-to-homeoperation........................... 79
Additionalfunction.............................................79
Parametersrelatedtoreturn-to-home
operation............................................................80
Operationsequence..........................................81
Positionpreset...................................................86
2.3 Continuousoperation.................................. 86
Operationdata...................................................86
Startingmethodofcontinuousoperation...........87
Variablespeedoperation...................................89
2.4 Otheroperation............................................ 91
JOGoperation...................................................91
Testoperation....................................................92
Automaticreturnoperation................................92
Stopoperation...................................................93
Positioncoordinatemanagement......................93
Wrapfunction....................................................94
3 Operation data ............................................. 96
4 Parameter ..................................................... 97
4.1 Parameterlist.............................................. 97
4.2 I/Oparameter.............................................. 98
4.3 Motorparameter.......................................... 99
4.4 Operationparameter................................. 100
4.5 Return-to-homeparameter........................ 100
4.6 Alarm/warningparameter.......................... 101
4.7 Coordinationparameter............................. 101
4.8 Commonparameter................................... 101
4.9 I/Ofunctionparameter............................... 102
4.10 I/Ofunction[RS-485]parameter............... 103
4.11 Communicationparameter........................ 104
