Vexta EMP400 Series User manual

CN1
CN3
CN2
CN4
24V DC
TB1
EMP400
POWER
ALARM
4
5
6
7
8
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1
Controller for servo and stepping motors
Thank you for purchasing an Oriental Motor product.
This Operating Manual describes product handling procedures and safety precautions.
zPlease read it thoroughly to ensure safe operation.
zAlways keep the manual where it is readily available.
EMP400 Series
OPERATING MANUAL
HP-19036

2
The product described in this manual has been designed and manufactured for use in general industrial
machinery, and must not be used for any other purpose. Use a DC power supply with reinforced
insulation provided on the primary and secondary sides as the power source for the controller and
input/output signals.
Oriental Motor Co., Ltd. is not responsible for any damage caused through failure to observe this
warning.
zDuplicate copies of critically important data should be stored in a separate medium in case a
mishap should occur.
zOriental Motor shall not be liable for damage to or loss of data resulting from the use of this
product.
zUnauthorized reproduction or copying of all or part of this instruction manual is prohibited.
If a new copy is required to replace an original manual that has been damaged or lost, please
contact your nearest branch or sales office.
zThis Operating Manual is subject to change without prior notice for the purpose of product
improvement or changes in specifications, or to improve its general content.
zWhile we make every effort to offer accurate information in the manual, we welcome your input.
Should you find unclear descriptions, errors or omissions, please contact the nearest office. Contact
information may be found at the end of this operating manual.
is a trademark of Oriental Motor Co., Ltd., and is registered in Japan and other countries.
All other product names and company names are the trademarks or registered trademarks of their
respective companies. Any reference made in this Operating Manual to the names of products
manufactured by companies other than Oriental Motor is done so for reference purposes only and is
not intended to enforce or recommend the use thereof. Oriental Motor shall not be liable in anyway
whatsoever for the performance or use of products made by other companies.
Copyright ORIENTAL MOTOR CO., LTD. 2001
ｃ

3
Introduction
1.1 Main features ....................................................................1-2
1.2 System configuration ........................................................1-2
Safety precautions
2.1 Important safety instructions.............................................2-2
2.2 Precautions for use...........................................................2-4
Preparations
3.1 Checking the product........................................................3-2
3.2 Names of parts .................................................................3-3
3.3 Specifications of EMP400 series ......................................3-4
Installation
4.1 Location for installation .....................................................4-2
4.2 Orientation ........................................................................4-2
4.3 Installation method............................................................4-3
Connection
5.1 Assembling the connector ................................................5-2
5.2 Connecting to the power supply .......................................5-3
5.3 Connecting the host controller (CN1) ...............................5-4
5.3.1 Connection method .......................................................... 5-4
5.3.2 Internal input circuit .......................................................... 5-5
5.3.3 Internal output circuit........................................................ 5-6
5.3.4 Connection example for a host controller ........................ 5-7
5.4 Connecting the driver (CN3·CN4 ∗EMP402 only) ......................5-8
5.4.1 Connection method .......................................................... 5-8
5.4.2 Internal input circuit .......................................................... 5-9
5.4.3 Internal output circuit...................................................... 5-10
5.4.4 Connection example for a driver.................................... 5-11
5.5 Terminal connection (CN2).............................................5-12
5.5.1 Connection method ........................................................ 5-12
Contents
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3
4
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Writing and editing a program
6.1 How to write a sequence program ....................................6-2
6.2 Additional information on program composition................6-3
6.2.1 Sequence program .......................................................... 6-3
6.2.2 Parameter settings for motor operation ........................... 6-3
6.3 Starting and exiting HyperTerminal ..................................6-4
6.3.1 Verifying the communication method .............................. 6-4
6.3.2 How to start HyperTerminal ............................................. 6-5
6.3.3 How to exit HyperTerminal............................................... 6-8
6.4 Writing a program with a line editor ..................................6-9
6.5 Writing a program with a text editor ................................6-10
6.5.1 How to write a program .................................................. 6-11
6.5.2 Downloading a program................................................. 6-12
6.5.3 Uploading a program ..................................................... 6-14
6.6 Editing the program ........................................................6-17
6.6.1 Checking the number of steps ....................................... 6-17
6.6.2 How to edit the program................................................. 6-18
6.6.3 Quitting the program editing .......................................... 6-24
6.7 List of messages associated with program.....................6-25
Executing the program
7.1 How to execute a program................................................7-2
7.2 Program execution via the host controller ........................7-3
7.2.1 Example of program execution ........................................ 7-4
7.2.2 Emergency stop ............................................................... 7-5
7.2.3 Alarm signal input from the driver .................................... 7-6
7.3 Automatic program execution ...........................................7-7
7.4 Program execution via command .....................................7-8
Program command
8.1 Command input ................................................................8-2
8.2 Command classification....................................................8-3
8.2.1 Hardware configuration commands ................................. 8-3
8.2.2 Common commands........................................................ 8-4
8.2.3 Operation commands....................................................... 8-5
8.2.4 Other commands ............................................................. 8-7
8.3 Special keys......................................................................8-8
8.4 List of commands..............................................................8-9
8.5 Command details............................................................8-11
ABS ............................................................................................. 8-11
ACTL ........................................................................................... 8-12
CJMP .......................................................................................... 8-13
D.................................................................................................. 8-14
DEL ............................................................................................. 8-15
DELAY ........................................................................................ 8-16
DOWEL....................................................................................... 8-17
DWNLD ....................................................................................... 8-18
EDIT ............................................................................................ 8-19
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EEN............................................................................................. 8-20
END ............................................................................................ 8-21
ENDL .......................................................................................... 8-22
ETIME ......................................................................................... 8-23
H.................................................................................................. 8-24
ID................................................................................................. 8-25
IN................................................................................................. 8-26
INC .............................................................................................. 8-27
JMP ............................................................................................. 8-28
LOOP .......................................................................................... 8-29
MHOME ...................................................................................... 8-30
MU............................................................................................... 8-32
OFS............................................................................................. 8-33
OUT............................................................................................. 8-34
PULSE ........................................................................................ 8-35
R.................................................................................................. 8-36
RAMP.......................................................................................... 8-37
RESET ........................................................................................ 8-38
RTNCR ....................................................................................... 8-39
RUN ............................................................................................ 8-40
S.................................................................................................. 8-41
SCAN .......................................................................................... 8-42
SEN............................................................................................. 8-43
T .................................................................................................. 8-44
TIM .............................................................................................. 8-45
UNIT............................................................................................ 8-46
UPLD .......................................................................................... 8-47
V.................................................................................................. 8-48
VS ............................................................................................... 8-49
Controlling with the operational unit
9.1 Installing and connecting the operational unit...................9-2
9.2 Basic operations ...............................................................9-3
9.2.1 Names of parts................................................................. 9-3
9.2.2 Switching between operation modes ............................... 9-4
9.2.3 Entering and saving numeric values................................ 9-4
9.2.4 Entering the sign .............................................................. 9-5
9.2.5 Entering a numeric value with a decimal point ................ 9-5
9.3 Monitor mode....................................................................9-6
9.4 Edit mode..........................................................................9-7
9.5 Teaching mode .................................................................9-8
9.5.1 Operation in teaching mode............................................. 9-9
9.5.2 Operation in HOME mode ............................................. 9-10
9.5.3 Operation in step execution mode ................................. 9-11
9.5.4 Operation in speed setting mode................................... 9-13
9.6 Quick chart......................................................................9-14
9.7 Error display....................................................................9-15
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Troubleshooting
10.1 When ALARM LED illuminates .......................................10-2
10.1.1 Main causes of an alarm................................................ 10-2
10.2 Error messages ..............................................................10-3
Sample programs
11.1 Operation by the host controller......................................11-2
11.2 Speed change operation by the host controller ..............11-3
11.3 Speed change operation at a specified time...................11-4
11.4 Repeating positioning operations ...................................11-5
11.4.1 When movement amount is set in pulses ...................... 11-5
11.4.2 When movement amount is set in degrees ................... 11-6
11.4.3 When movement amount is set in mm .......................... 11-7
11.5 Conditional jump procedure............................................11-8
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1
Introduction
Explains the items you should know before using this product.

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1 Introduction
1-2
1.1 Main features
Writing a sequence program on a personal computer
You can download the sequence program you have written on your personal computer and execute
the program by activating the START input from the host controller.
The sequence program can be written and modified using Windows HyperTerminal or a text editor.
No special software is required.
Superior expandability
The controller features eight and six general-purpose inputs and outputs points, respectively.
Motor control via multiple sources
The EMP400 Series allows motor operation either from the host controller or a personal computer.
The motor can be operated via the host controller by selecting 32 different sequence programs
through unique combinations of different states of program selection inputs connected to the host
controller and activating the START input.
The motor can also be operated via a personal computer by transmitting commands from a terminal
program via an RS-232C communication interface.
Easy teaching
The workpiece position can easily be adjusted using the optional OP300 operational unit.
1.2 System configuration
A sample system configuration using the EMP400 series is provided below.
24 VDC power supply
(for I/O)
Host controller
24 VDC power supply
(for the main unit)
+24V
RS-232C
Modular cable (option)
GND
+24V
GND
Personal computer
Driver
Motor or
Motorized slider
Driver
Motor or
Motorized slider
Data setter (option)
∗The unit cannot be used to write
a sequence program.
only

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Safety precautions
This section covers safety precautions to ensure safe operation of
the product.

2
Safety precautions
2-2
2.1 Important Safety Instructions
Only qualified personnel should work with the product.
Use the product correctly after thoroughly reading the section “Safety precautions.”
The precautions described below are intended to prevent danger or injury to the user and other
personnel through safe, correct use of the product.
Use the product only after carefully reading and fully understanding these instructions.
Please read “Safety Precautions” in the Operating Manual for the motor you are using with this
product.
Warning
Handling the product without observing the instructions that accompany a “Warning” symbol may
result in serious injury or death.
Caution
Handling the product without observing the instructions that accompany a “Caution” symbol may
result in injury or property damage.
Note
The items under this heading contain important handling instructions that the user should observe to
ensure safe use of the product.
This contains information relative to the description provided in the main text.
Warning
General zDo not use the product in explosive or corrosive environments, in the presence of flammable
gases, locations subjected to splashing water, or near combustibles.
Doing so may result in fire or injury.
zAssign qualified personnel the task of installing, wiring, setting, operating/controlling, and inspecting
the product.
Failure to do so may result in fire, electric shock or injury.
Installation zInstall the controller and data setter in enclosures in order to prevent injury.
Connection zKeep the controller’s input-power voltage within the specified range to avoid fire.
zFor the controller’s input-power voltage within the specified range to avoid fire.
zConnect the cables securely according to the wiring example in order to prevent fire.
zDo not forcibly bend, pull or pinch the power cable.
Doing so may result in fire.
Operation zTurn off the driver power in the event of a power failure, or the motor may suddenly start when the
power is restored and may cause injury or damage to equipment.
zStop the motor in the event the controller’s ALM (alarm) output is detected.
Failure to do so may result in fire or damaged driver.
Repair, disassembly and modification
zDo not disassemble or modify the controller.
Referall such internalinspections and repairsto the branchorsales office fromwhich you purchased
the product.

2
Safety precautions
2-3
Caution
General zDo not use the controller beyond their specifications, or injury or damage to equipment may
result.
zKeep your fingers and objects out of the openings in the controller, or fire may result.
Installation zKeep the area around the controller, and data setter free of combustible materials in order to
prevent fire or a burn.
zTo prevent the risk of damage to equipment, leave nothing around the controller and data setter
that would obstruct ventilation.
Operation zUse a controller and driver only in the specified combination. An incorrect combination may
cause a fire.
zTo avoid injury, remain alert during operation so that the motor can be stopped immediately in an
emergency.
zBefore switching on the controller, disconnect all of its output signals.
Failure to do so may cause the motor to start unexpectedly, resulting in fire or equipment damage.
zSet the speed and acceleration/deceleration rate well within the respective capacities in order to
prevent abrupt load fluctuations.
Failure to do so may cause the motor to misstep and the moving part to move in unexpected
directions, possibly resulting in injury or equipment damage.
zWhen an abnormality is noted, stop the operation immediately, or fire, or injury may occur.
Disposal zWhen disposing of the controller, treat them as ordinary industrial waste.

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Safety precautions
2-4
2.2 Precautions for use
This section covers limitations and requirements the user should consider when using the controller
EMP400 series and the data setter OP300.
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
Power capacity
For the controller, use a DC power supply capable of supplying 24VDC ±5% at 0.45A or greater, with
reinforced insulation provided on the primary and secondary sides.
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Connecting the OP300 operational unit
Be sure to use the cable supplied with the OP300 operational unit when connecting it to the controller.
The cable comes with two ferrite cores intended for noise prevention. Do not remove these ferrite
cores, since doing so may diminish noise resistance and possibly cause a malfunction.
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Preventing electrical noise
Take the following anti-noise measures to prevent malfunction of the controller, driver, and motor
due to external noise:
zz
zz
zWiring the motor
Use an extension cable (sold separately) for connection between the driver and motor.
zz
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zWiring the I/O cable
For I/O cables, use a shielded cables with connectors (sold separately).
Minimize the length of the I/O cable.
Wire the I/O cables by maintaining a minimum distance of 300mm (11.8in.) from the inductive loads
of electromagnetic relays, etc., as well as the power lines (the power source and motor, etc.) Do not
wire the I/O cables in the same duct or pipe in which power lines are wired.
zz
zz
zConnecting mains filter for power source line
Connect a mains filter to the AC power source input part of the driver in order to prevent externally
generated noise from being transmitted to the driver via the power-source line.
Ground the noise filter’s contact terminal using a cable of AWG16 (1.25mm2) or more in diameter.
The use of a cable smaller than AWG16 may cause heat generation.

3
Preparations
This section covers the items that needs to be checked after
purchasing the product, along with the names, functions and main
specifications of components in the controller.

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3 Preparations
3-2
3.1 Checking the product
Upon opening the package, verify that the items listed below are included.
In case any of these items is missing or damaged, check the model number shown on the package
label and contact the branch or sales office from which you purchased the product.
CN1
CN3
CN2
CN4
24V DC
TB1
EMP400
POWER
ALARM
Series
Controller for servo motor and stepping motor
Thankyou for purchasing an Oriental Motor product.
ThisOperating Manual describes product handling procedures and safety precautions.
l Pleaseread it thoroughly to ensure safe operation.
l Alwayskeep the manual where it is readily available.
OPERATING MANUAL
1
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3
4
5
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HP-19036
series controller 1 unit I/O connector (50 pins) 1 set
∗and only
∗and only
AXIS connector (26 pins) 1 set
2 set
Operating manual 1 copy Appendix 1 copy
Series
Controller for servo motor and stepping motor
UNIT
HP-19034-2
Model number Connector included Equivalent
I/O connector (50 pins) Connector 54306-5011 (MOLEX) 10150-3000VE (SUMITOMO 3M)
Cover 54331-0501 (MOLEX) 10350-52A0-008 (SUMITOMO 3M)
AXIS connector (26 pins) Connector 54306-2611 (MOLEX) 10126-3000VE (SUMITOMO 3M)
Cover 54331-0261 (MOLEX) 10326-52A0-008(SUMITOMO 3M)


How to identify the product model
Connector
1: No connector
2: Solder type
series
Axis number
1: 1 axis
2: 2 axes

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3 Preparations
3-3
3.2 Names of parts
This section covers the names and functions of parts in the controller.
POWER LED
Lit when the power is on.
Terminal block (TB1)
Used to connect the 24VDC
power supply and frame ground.
ALARM LED
Lit when an alarm event occurs.
AXIS 1 connector (CN3)
Used to connect the first
axis I/O and sensor.
I/O connector (CN1)
Used for external-signal and
general-purpose inputs and outputs.
Modular connector (CN2)
Used to connect the cable for
communication with terminals
such as a PC and operational
unit.
AXIS 2 connector (CN4)
Used to connect the second
axis I/O and sensor.
∗Only

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3 Preparations
3-4
3.3 Specifications of EMP400 series
Control axis number 1 or 2
Number of sequence programs 32 (sequence programs 0 through 31)
The sequence program 99 is a CONFIG program.
Number of program lines 1,000 lines
Parameters Starting speed: 10 to 200kHz (1Hz increments)
Operating speed: 10 to 200kHz (1Hz increments)
Acceleration rate: 0.5 to 1,000ms/kHz (0.1ms/kHz increments)
Acceleration mode: Linear acceleration/deceleration, jerk limit control
Pulse count: ± 16,777,215 pulses
Pulse range -8,388,608 to 8,388,607 pulses
Operation mode Positioning operation (two-axis linear interpolation operation available
with EMP402 only)
Continuous operation
Mechanical home seeking operation
Mode for mechanical home Three-sensor mode (high-speed home seeking)
seeking Two-sensor mode (constant-speed home seeking)
Mechanical home seeking is possible via TIM or SLIT input
Data transmission format RS-232C based (3-wire)
General-purpose input 8 points, photocoupler inputs
General-purpose output 6 points, open-collector outputs, +5~24VDC, 25mA max. each
Power source 24VDC ± 5% at 0.45A min.

4
Installation
This section covers the conditions and method for controller
installation.

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4 Installation
4-2
4.1 Location for installation
This controller is designed and manufactured for installation in equipment.
Since heat generated from the controller is dissipated via air convection, install the controller in a well
ventilated area that ensures easy maintenance.
The conditions of the installation location are as follows:
zInside an enclosure that is installed indoors (provide vent holes)
zOperating ambient temperature 0°C to +50°C (+32°F to + 122°F) (non-freezing)
zOperating ambient humidity 20 to 85%, maximum (no condensation)
zArea that is free from an explosive nature or toxic gas (such as sulfuric gas) or liquid
zArea not exposed to direct sun
zArea free of excessive amount dust, iron particles or the like
zArea not subject to splashing water (storms, water droplets), oil (oil droplets) or other liquids
zArea free of excessive salt
zArea not subject to continuous vibration or excessive shocks
zArea free of excessive electromagnetic noise (from welders, power machinery, etc.)
zArea free of radioactive materials, magnetic fields or vacuum
4.2 Orientation
When installing the controller inside an enclosure, place it in a vertical orientation by mounting it on
a DIN rail or securing it with screws through the two mounting holes provided on the controller.
There must be a clearance of at least 25mm (0.98in.) and 50mm (1.97in.) in the horizontal and
verticaldirections, respectively, between the controller and the enclosure or other equipment within
the enclosure.
50mm (1.97in.) minimum
25mm (0.98in.) minimum

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4 Installation
4-3
4.3 Installation method
Mount the controller on a DIN rail. In case the DIN rail produces significant vibrations, mount the
controller on an appropriate metal plate.
Warning
z Do not place any equipment that generates excessive heat or noise in the vicinity of the controller.
z Check and reexamine the means of ventilation if the ambient temperature of the controller exceeds
50°C (122°F).


Mounting the controller on a DIN rail
Use a DIN rail of 35mm (1.38in.) in width. Use the end
plates to secure the controller mounted on the DIN rail.
1. Engage the hook on the back of the controller over the
DIN rail by pulling down the controller’s DIN lever, and
push the controller until the DIN lever locks in place.
2. Secure each end of the controller using the end plates.


Installing the controller with screws
Install the controller on a metal plate and secure it using
two screws (M3 or M4, two pieces).
There should be no gap between the controller and plate.
The screws are not included in the package.


Removing the controller from the DIN rail
125±0.1mm
(4.92±0.004in.)
1. Use a flat-head screwdriver to pull down the DIN lever
until it locks in place.
Pull the DIN lever with a force of 10 to 20N (2.2 to
4.41lb.).
Applying excessive force may damage the DIN lever.
2. Raise the controller upward to remove from the DIN
rail.
Tab
DIN rail
DIN lever
DIN lever

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4 Installation
4-4