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Closed Loop Stepping Motor and Driver Package αSTEP High

1. Controller Driver 2 7 KQ 2000 p A 10 ka y 2 7 kQ 2000 D juke Y Q 5 to 24 VDC A vov sk c a 10ko YA Q i 10ko YAK Q foe Yh Q e 3kQ mairg zal 3ko i 10 ko E lt 3 ko fne lt 3ko 10 ko YA lt 3ko 10ko YA 30voc lt orlessA 0V v L L K FY A f f E Du Kk Dy 4 26C31 or equivalent Ex uc VOV Note e Use output signals at 30 VDC or less If the current exceeds 10 mA connect an external resistor RO e Connect a termination resistor of 100 Q or more between the driver and the input of the line receiver 28 Connection e When pulse input is of 5 VDC type Controller Driver 5VDC A e When pulse input is of 24 VDC type Controller Driver 24 VDC A K X vOv 29 Connection B Connecting to a current source output circuit e When pulse input is of line driver type Controller Driver 2 7 KQ Pza Y x A 10ko y 2 7 KQ 200 0 Vy z A 10 ka y 3ko p E 10 ka VA a ak 1 l 10 ko YAK 3 kQ J10 ka EAK 3 kQ _ 10 ka
2. Connectto CN4 Connectto CN5 Single phase 100 115 V Single phase 200 230 V Three phase 200 230 V Power supply Circuit breaker or Noise filter Use the power supply ground fault interrupt Use a noise filter to eliminate noise within the rated voltage circuit GFI It has the effect of reducing noise range Be sure to connect a circuit generated from the power supply and driver breaker or ground fault interrupt circuit to protect the wiring on the primary side System configuration Extended functions are made available through use of accessories sold separately Data setter OPX 2A m PC in which the data editing software MEXE02 Or has been installed The customer must provide a PC fA SF TIS EE T p EE I ToT TT L1 CEEI CI Easy setting using switches mci Orientalmotor ARD C POWER ALARM f XS SN CURRENT SAE 2 o z a Set the operating current CURRENT switch Restrict the torque temperature rise e General cable e Connector terminal block conversion unit Both are accessories sold separately Set the speed filter V FIL switch Suppress motor vibration or cause the motor to start stop smoothly
3. 22 8 6 Installing the regeneration unit 22 8 7 Installing and wiring in compliance with EMC Directive ssessussss 23 9 Connection aue tutor rnt rnnt 25 9 1 Connecting the motor 25 9 2 Connecting the I O signals 26 9 3 Connecting the power supply 32 9 4 Grounding the motor and driver 33 9 5 Connecting the 24 VDC power supply input regeneration resistor unit and electromagnetic brake 33 9 6 Connecting the data setter 35 10 Quick operations 36 11 Explanation of I O signals 38 11 1 nputsignals eee 38 11 2 Output signals sssssss 41 TTS TUNING CDs crc rede teen 44 12 Setting Rr 46 12 14 Rosolutionsesenecninanneracnos 46 12 2 Pulse input mode 46 12 3 Operating current sssse 47 12 4 Speed filter eects 47 13 Extended functions 19 1 Setting iiie B Resolution aei reete scere B Pulse input mode ree Bl Pulse sipnal oe iiss eee sienne ien W Motor excitation at power ON E Automatic return operation W Setting the motor rotation direction W Setting the positioning completion END Signal Offset eei 52 19 2 OperatiOhi in oic te eren 53 W Push motion operation eee 53
4. during current on 10 parameter for overflow rotation during e If a torque limit is set using an extended current on APP 5 04 function increase the setting e The load is large or acceleration deceleration rate is too short When the current was turned off the ac DEA RU M e Reduce the amount of rotation at current off to the specified setting or less Overflow rotation 12 exceeded the value set in the parameter for o cance setting 9 during current off overflow rotation during current off APP 5 02 This warning is output when the e Turn the CLR input ON to clear the parameter for auto return SyS 1 03 is set Position deviation to Enable The internal temperature of the driver ean TOR Overheat 21 exceeded the value set in the overheat side ventilation conditioniin the warning parameter APP 5 07 ine voltage of fhe main power Supply a the input voltage of the main power supply exceeded the value set in the overvoltage ER warning parameter APP 5 05 e If this warning generates during Overvoltage 22 MAT operation reduce the load or increase the e A large inertial load was stopped abruptly scceleration deceleration rate or up down operation was performed without connecting a regeneration unit Connect the accessory regeneration unit RGB100 sold separately Do not turn the C ON input ON while the Main power supply 23 The C ON input was turned ON when the main power is cut off P error mai
5. Regeneration resistor terminals CN3 I O signal connector CN5 Main power supply input terminals CN3 Mounting hole at the back Protective Earth Terminals 16 Preparation Name Description Ref POWER LED Green This LED is lit while the main power or 24 VDC power is input This LED will blink when an alarm generates It is possible to check the ROAPMIPED Hen generated alarm by counting the number of times the LED blinks pee This switch adjusts the operating current It is used to limit the torque and 1 temperature rise A desired current can be set as a percentage of the Current setting switch CURRENT rated output current p 47 Factory setting F This switch adjusts the motor response Use this switch if you want to B suppress motor vibration or cause the motor to start stop smoothly 0 and F Speed filter setting switchi V PIL correspond to the minimum and maximum speed filter settings respectively por Factory setting 1 i These two switches are used to set the resolution per revolution of the motor Resolution switches output shaft p 46 D0 D1 CS0 CS1 The factory settings are DO and CS0 1000 P R This switch toggles the driver between the normal mode and current control mode Control mode select switch NORM ei Normal mode Keep the switch in this position in n
6. 200 0 5 VDC 31 35 3 3 23 to 30 A 100 E 32 36 C ON input This signal is used to excite the motor initial value normally open With the OPX 2A or MEXEO2 it is possible to set the C ON input logic and the excitation position at the C ON input ON Refer to p 52 for details Note The factory setting of the C ON input is normally open Be sure to turn the C ON input ON when operating the motor Set the C ON input to normally closed when the C ON input is not used CW PLS input CCW DIR input These input serve as the CW and CCW inputs in the 2 pulse input mode or PLS and DIR inputs in the 1 pulse input mode They are common to all pulse input types including 5 VDC input 24 VDC input and line driver input Note e When no pulse is input be sure to keep the photocoupler in the OFF state e The CW and CCW indicate the rotation direction of the motor as seen from the output shaft The output shaft of the TH geared typed motors with ratios of 20 and 30 as well as all ratios of the Harmonic geared type motors rotate in the opposite direction of the motor shaft 2 pulse input mode e When the CW input is turned ON the motor will rotate s by one step in CW direction CW input ON e When the CCW input is turned ON the motor will OFF rotate by one step in CCW direction ON The minimum interval time needed for switching the COW Input OFF direction of rotation will vary dependi
7. eI Controller Connect a controller that has a pulse generating function Set the resolution D0 D1 and CSO CS1 switches Change the resolution per revolution of the motor output shaft z N Introduction 4 Introduction B Before use Only qualified personnel should work with the product Use the product correctly after thoroughly reading the section 1 Safety precautions on p 3 The product described in this manual has been designed and manufactured for use 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 B Operating Manuals for the AR Series Operating manuals for the AR Series are listed below After reading the above manuals keep them in a convenient place so that you can reference them at any time Applicable product Type of operating manual Description of operating manual Motor OPERATING MANUAL This manual explains the functions as well as the installation method and others for the motor Supplied with motor AR Series Driver This manual explains the functions as well as AC power Ie SERA MANUAL the installation method and others for the driver Pulse input type Supplied with driver This manual explains the function installation USER MANUAL and connection of the motor and d
8. EN 61000 6 2 EN 61800 3 EMI B Other Directive RoHS Directive The products do not contain the substances exceeding the restriction values of RoHS Directive 2011 65 EU 10 Precautions for use 6 Precautions for use This section covers limitations and requirements the user should consider when using the product e Always use the cable supplied or accessory to connect the motor and driver Be sure to use the cable supplied or accessory to connect the motor and driver In the following condition an appropriate accessory cable must be purchased separately Refer to p 67 for details e Ifa flexible cable is to be used e Ifa cable of 3 m 9 8 ft or longer is to be used e f a motor and driver package without a cable was purchased e Perform the insulation resistance test or dielectric strength test separately on the motor and the driver Performing the insulation resistance test or dielectric strength test with the motor and driver connected may result in damage to the product e Do not apply an overhung load and thrust load in excess of the specified permissible limit Operating the motor under an excessive overhung load or thrust load may damage the motor bearings ball bearings Be sure to operate the motor within the specified permissible limit of overhung load and thrust load See p 21 for details e Use the motor in conditions where its surface temperature will not exceed 100 C 212
9. 2 3 representing the cable length Model Motor model Driver model npa Output Voltage Frequency Current current ARA6HAeO ARM460ICe 2 9A 0 49 A AR 6HAeO ARM46LICe l 44A 0 74 A AR69LIAO ARM6901C ARD A eg 6 1A 0 92 A AR9BLIAeO ARM98DCe 55A 1 13A AR9110AO ARM9110C 6 5 A 1 27 A ARA6HCeO ARM4 LICe 19A 0 49 A AR 6HCeO ARM4 LICe l 27A 0 74 A AR 9LICO ARM 9LIC ARD C en 50 60 Hz 3 8A 0 92 A AR98LICeO ARM98DCe 34A 1 13A AR9110CO ARM9110C 41A 1 27A ARA6HSeO ARM460C 1 0A 0 49 A AR660SeO ARM460Ce 14A 0 74 A AR 9LISO ARM 9LIC aos eee 2 0A 0 92 A AR9BLSeO ARM98LCe 18A 1 13A AR9110S0 ARM9110C 22A 1 27 A 15 Preparation 7 5 Names and functions of parts B Driver Example 200 230 V input type Orientalmotor Mounting hole at the back ARD C CN1 POWER LED EE ALARM LED 24 VDC power supply input terminals CN1 4 RE Regeneration resistor thermal input terminals CN1 7 E current 225 Current setting switch Electromagnetic brake terminals CN1 1 m O Speed filter setting switch H Resolution switches L Control mode select switch Pulse input mode select switch Motor connector CN2 Data edit connector CN4 CHARGE LED
10. Change the value assigned to each dial setting of the current setting switch Not available Available Standstill current percentage setting Set the standstill current as a percentage of the operating current Set the pulse input mode using the select switch Available Pulse input mode selection Set the pulse input mode using the applicable parameter Not available Rotation direction Set the rotation direction of the motor Excite the motor Available C ON input Set the logic of the C ON input Enabledisable return Set whether or not to return the motor to its excitation position where the operation to excitation deviation becomes 0 when the current is turned on position at current ON I O input signal mode Not available selection Set whether or not to perform push motion operation Alarm code Output a corresponding alarm code using the READY ALO output TLC AL1 output and TIM2 AL2 output when an alarm generates END signal range Set the output band for END output END signal offset Set the offset for END output 80 Reference Current Parameter operation data Normal control OPX 2A mode mode screen display Name Setting range Initial value SyS 0 00 Electronic gear A1 10 SyS 0 01 Electronic gear A2 1 SyS 0 02 Electronic gear A3 1 to 1000 20 SyS 0 03 Elec
11. Speed filter on p 55 47 Extended functions 13 Extended functions Using the OPX 2A or MEXEO2 the driver parameters can be OPX 2A changed and also test operation and monitoring operations can be performed The key functions are listed below Parameter codes displayed on the OPX 2A screen are shown in brackets Since these codes are also referenced in the main text herein use these codes as keywords Parameters that can be set with the OPX 2A can also be set with MEXEO2 For the method to set parameters with the OPX 2A or MEXEO2 refer to the operating manual for each product OPERATIONAL UNIT OPX 2 c t3 tone FSC a MEXE02 I I I T I T T III Oi Orientalmotor B Application parameters I LIA I 114 I OPX 2A screen Item Description display Ref f APP 0 00 Operating current Arn operating current rate assigned to the current setting i6 p 55 APP 0 15 1 s f APP 1 00 Speed filter E filter time constant assigned to the speed filter setting io p 55 APP 1 15 I O input mode Select the input signal mode APP 2 00 ALO 2 signal output Change the setting to enable disable alarm code output APP 2 01 p 60 C ON input logic Change the C ON input logic APP 2 02 p 52 END signal range Set the output condition f
12. yp mm in N m oz in bolt mm in method 42 1 65 M3 1 142 4 5 0 177 A Standard 60 2 36 M4 2 280 _ B 85 3 35 M6 3 420 42 1 65 M4 2 280 8 0 315 TH geared 60 2 36 280 0 315 90 3 54 M8 4 560 15 0 591 PL geared 42 1 65 M4 2 280 8 0 315 A PN geared PS geared 60 2 36 M5 2 5 350 10 0 394 Harmonic geared 1 90 3 54 M8 4 560 15 0 591 Harmonic geared 2 90 3 54 M8 4 560 B 1 AR46 and AR66 type 2 AR98 type 19 Installation 8 3 Installing a load When connecting a load to the motor align the centers of the motor output shaft and load shaft Flexible couplings are available as accessories Note e When coupling the load to the motor pay attention to the centering of the shafts belt tension parallelism of the pulleys and so on Securely tighten the coupling and pulley set screws e Be careful not to damage the output shaft or bearings when installing a coupling or pulley to the motor output shaft e Do not modify or machine the motor output shaft Doing so may damage the bearings and destroy the motor e Do not apply strong force using hammer or other tools when removing the parallel key Doing so may damage the motor output shaft and bearings ball bearings e Using a coupling Align the centers of the motor output shaft and load shaft in a straight line e Using a belt drive Align the motor output shaft and load shaft in parallel with each o
13. 100 0 APP 2 00 I input mode E DIR 0 APP 6 00 Operating speed of return operation 1 to 4000 r min 30 APP 6 01 Sie aa os ce rate 0 01 to 1000 00 ms 1000 r min 100 00 APP 6 02 Starting speed of return operation O to 4000 r min 30 Available Available APP 1 00 Speed filter at V FIL 0 0 APP 1 01 Speed filter at V FIL 1 1 APP 1 02 Speed filter at V FIL 2 2 APP 1 03 Speed filter at V FIL 3 3 APP 1 04 Speed filter at V FIL 4 5 APP 1 05 Speed filter at V FIL 5 7 APP 1 06 Speed filter at V FIL 6 10 APP 1 07 Speed filter at V FIL 7 20 p 0 to 200 ms APP 1 08 Speed filter at V FIL 8 30 APP 1 09 Speed filter at V FIL 9 50 APP 1 10 Speed filter at V FIL A 70 APP 1 11 Speed filter at V FIL B 100 APP 1 12 Speed filter at V FIL C 120 APP 1 13 Speed filter at V FIL D 150 APP 1 14 Speed filter at V FIL E 170 APP 1 15 Speed filter at V FIL F 200 Not APP 3 01 Speed error gain 1 45 0 to 500 available APP 3 02 Speed error gain 2 45 APP 4 00 Position loop gain 1 to 50 10 APP 4 01 Speed loop gain 10 to 200 180 oom APP 4 02 Speed loop integral time constant 10 0 to 200 0 ms 100 0 APP 4 04 Frequency of anti vibration control 3 00 to 100 00 Hz 7 00 Available APP 4 03 Anti vibration control 0 Disable 0 SyS 1 01 Smooth drive 1 Enable 1 APP 7 00 Operating speed of JOG operation 1 to 4000 r min 30 APRES app 7 01 cceler
14. 32 8 CC150VAFT 15 49 2 CC150VAFBT 15 49 2 CC200VAFT 20 65 6 CC200VAFBT 20 65 6 e Flexible extension cable set e Flexible extension cable set For motor For electromagnetic brake Model Length m ft Model Length m ft CCO10VART 1 3 3 CCO10VARBT 1 3 3 CCO20VART 2 6 6 CCO20VARBT 2 6 6 CCO30VART 3 9 8 CCO30VARBT 3 9 8 CCO50VART 5 16 4 CCO50VARBT 5 16 4 CCO7OVART 7 23 CCO70VARBT 7 23 CC100VART 10 32 8 CC100VARBT 10 32 8 CC150VART 15 49 2 CC150VARBT 15 49 2 CC200VART 20 65 6 CC200VARBT 20 65 6 68 Accessories sold separately e Connector pin assignments e Pin assignment of cable for motor e Motor side Pin No Color Lead size 1 White m AWG26 0 14 mm 2 Purple 3 Red 4 Blue AWG22 0 3 mm Model 5559 10P 210 Molex 5 Green e Driver side 6 Black n AWG26 0 14 mm T Brown 8 Gra y AWG22 0 3 mm 9 Orange 10 Drain wire AWG26 0 14 mm Model 5557 10R 210 Molex e Pin assignment of cable for electromagnetic brake Pin No Color Lead size White AWG20 0 5 mm G 2 Black AWG21 0 5 mm for flexible cable Model 5559 02P 210 Molex Data setter The data setter lets you set parameters for your AR Series with ease and also functions as a monitor Model OPX 2A Data setting software The data setting software lets you set parameters for your AR Series and
15. 76 390 87 PS geared AR66 100 22 PL geared 25 36 330 74 360 81 400 90 450 101 520 117 50 5 7 2 480 108 540 121 600 135 680 153 790 177 10 AR98 25 850 191 940 210 1050 230 1190 260 1380 310 300 67 36 930 200 1030 230 1150 250 1310 290 1520 340 50 1050 230 1160 260 1300 290 1480 330 1710 380 AR46 100 22 120 27 150 33 190 42 5 200 54 220 49 250 56 280 63 320 72 1e 250 56 270 60 300 67 340 76 390 87 100 22 10 22 AR66 25 36 330 74 360 81 400 90 450 101 520 117 PN geared 50 5 480 108 520 117 550 123 580 130 620 139 js 480 108 540 121 600 135 680 153 790 177 BR S 25 850 191 940 210 1050 230 1110 240 1190 260 300 67 36 930 200 1030 230 1150 250 1220 270 1300 290 50 1050 230 1160 260 1300 290 1380 310 1490 330 AR46 180 40 220 49 270 60 360 81 510 114 220 49 a AR66 320 72 370 83 440 99 550 123 720 162 450 101 AR98 1090 240 1150 250 1230 270 1310 290 1410 310 1300 290 21 Installation B Permissible moment load of the Harmonic geared type When installing an arm or table on the flange surface calculate the moment load using the formula below if the flange surface receives any eccentric load The moment load should not exceed the permissible v
16. 8 4 Permissible overhung load and permissible thrust load Installation Note e If the overhung load or thrust load exceeds the specified allowable value repeated load applications may cause the bearing ball bearings or output shaft of the motor to undergo a fatigue failure e With a double shaft type do not apply load torque overhung load or thrust load to the output shaft on the opposite side of the motor output shaft Permissible overhung load N Ib Permissible thrust Type Model Gear ratio Distance from the tip of motor output shaft mm in load N Ib 0 0 5 0 2 10 0 39 15 0 59 20 0 79 AR46 1 03 35 7 8 44 9 9 58 13 85 19 1 PAU AR46M 1 1 37 AR66 8 1 98 AR66M 11 8 2 6 90 20 100 22 130 29 180 40 270 60 ee Standard AR69 13 7 3 AR69M 16 7 3 7 AR98 18 4 AR98M 260 58 290 65 340 76 390 87 480 108 24 5 4 AR911 29 6 5 AR46 10 2 2 14 3 1 20 45 30 67 15 3 3 TH geared AR66 7015 7 80 18 100 22 120 27 150 33 40 9 AR98 220 49 250 56 300 67 350 78 400 90 100 22 5 72 73 16 4 84 18 9 100 22 123 27 10 AR46 50 11 2 25 11 2 36 109 24 127 28 150 33 184 41 50 5 200 54 220 49 250 56 280 63 320 72 1 250 56 270 60 300 67 340
17. F The driver has an overheat protection function but the motor has no such feature The motor surface temperature may exceed 100 C 212 F under certain conditions ambient temperature operating speed duty cycle etc To prevent the motor bearings ball bearings from reaching its usable life quickly use the motor in conditions where the surface temperature will not exceed 100 C 212 F Use the geared type motor in a condition where the gear case temperature does not exceed 70 C 158 F in order to prevent deterioration of grease and parts in the gear case If the motor is to be operated continuously install the motor in a location where heat dissipation capacity equivalent to a level achieved with a heat sink made of aluminum 250x250x6 mm 9 84x9 84x0 24 in is ensured e Holding torque at standstill The motor holding torque is reduced by the current cutback function of the driver at motor standstill When selecting a motor for your application consider the fact that the holding torque will be reduced at motor standstill e Do not use the electromagnetic brake to reduce speed or as a safety brake Do not use the electromagnetic brake as a means to decelerate and stop the motor The brake hub of the electromagnetic brake will wear significantly and the braking force will drop Since the power off activated type electromagnetic brake is equipped it helps maintain the position of the load when the power is cut off but t
18. YA oe 10ko VA Osta S J10 ko WA T sa H I 10ko PASC 3 kQ o o oea 10 mA or less or less RO y y b A Y RI D SY S Ro Y y 2 y neon Del z pe 3 a 5 5 X I 26C 31 or equivalent Nb m 2 Note e Use output signals at 30 VDC or less If the current exceeds 10 mA connect an external resistor RO e Connect a termination resistor of 100 Q or more between the driver and the input of the line receiver 30 e When pulse input is of 5 VDC type Controller Driver 5VDC A 4 LA ga OVV L e When pulse input is of 24 VDC type Controller Driver 24 VDC A OVV Connection 31 Connection 9 3 Connecting the power supply Use the CN3 connector 5 pins to connect the power supply cable AWG16 to 14 1 25 to 2 0 mum to the main power supply connector CN3 on the driver B Power supply current capacity e Single phase 100 115 V e Single phase 200 230 V e Three phase 200 230 V Model cumentcapacty WR curentcapacty Model current capacty AR46 2 9 Aor more AR46 1 9Aor more AR46 1 0 Aor more AR66 4 4 A or more AR66 2 7 Aor more AR66 1 4Aor more AR69 6 1 Aor more AR69 3 8 A or more AR69 2 0 Aor more AR98 5 5 Aor more AR98 3 4 A or more AR98 1 8 A or more AR911 6 5 Aor more AR911 4 1 Aor more AR911 2 2 Aor more Single phase Single phase Three phase 100 115 V 20
19. condition Warning 5 ms or less ON READY output OFF 5 ms or less ALM output M PUE OFF 5 ms or less 5 ms orless whichever 1 ms or more iS longer 5 ms or less ON WNG output OFF 60 ms or less Electromagnetic Hold brake Release 60 ms or less um ON Motor excitation OFF An alarm code is also output at the same timing e This timing chart assumes generation of an alarm that turns off motor excitation e Some alarms do not turn off motor excitation e Some alarms are not preceded by a warning 79 Reference 19 2 Function parameter list Item Overview standard Exiended specification function Control mode Set the control mode s n Available Set the resolution using the resolution switches Change the electronic gear value assigned to each resolution switch The calculated value should fall within the setting range specified below the Resolution value of electronic gear B is common Resolution setting range 100 to 10000 P R Not available Resolution 2 1000 x Electronic gear B Electronic gear A1 to A4 Four resolutions can be set using different combinations of resolution switches Set the operating current using the current setting switch The purpose of the setting varies depending on the control mode Normal mode An operating current is set Available Current control mode A current limit value used for limiting the torque and temperature rise is set Operating current
20. control mode noise and vibration can be reduced although the motor synchronicity drops Be sure to turn the CCM input ON OFF after confirming that the motor has stopped Note Keep the control mode switch in the NORM normal mode If the switch is in the CCM current control mode the CCM input will be disabled B MO input When push motion operation is set with the OPX 2A or MEXEO2 the MO input will become effective Combine this input with the M1 and M2 inputs to select a desired current setting for push motion operation Refer to p 53 for details 11 2 Output signals The driver outputs signals in the photocoupler open collector output mode or line driver output mode The signal state represents the ON Carrying current or OFF Not carrying current state of the internal photocoupler rather than the voltage level of the signal ALM WNG END READY ALO TLC AL1 TIM2 AL2 ASG BSG TIM1 internal circuit Driver internal circuit Driver 9 11 13 10 mA or less 3 5 7 3 15 17 19 26C31 10 12 14 4 6 8 7 or equivalent 16 18 20 Note The ASG output BSG output and TIM1 output are line driver outputs When connecting a line driver output receive the output signal using a line receiver Also be sure to connect pins 2 and 21 of the driver to the GND on the line receiver and connect a termination resistor of 100 O or more between the driver and the input of the line receiver Co
21. function mode J i iti Specification fu mOde screen display Name Setting range Initial value Available 7 7 7 7 Not available 0 Disable APP 2 01 ALO 2 signal output 1 Enable 0 Available E E E ApP 5 01 QVerflow rotation during 5 44 to 300 00 rev 3 00 current on Not available APP 5 03 Overload 0 1 to 30 0 s 5 0 Available Available Available z 2 Available 85 Reference Descriptions of alarms Item Initial sensor error Overview condition A sensor error occurred when the power was turned on Initial rotor rotation error The motor output shaft rotated at a speed of 15 r min or more while the initialization was still in progress following a power on Motor combination error A motor not supported by the driver is connected EEPROM error Data stored in the driver was damaged m Warnings warning functions Item Overview condition Warning check function WNG output When a warning generates the WNG output will turn ON Return to electrical home operation warning output enable disable setting When the CS input is turned ON a return to electrical home operation will be disabled and an operation data error warning will generate Warning detection condition setting Excessive position deviation warning Set the condition under which an excessive position deviation warning generates when the current is turned on S
22. monitor its operating condition using a PC The software comes with a PC interface cable 5 m 16 4 ft The cable is connected to the USB port on the PC Model MEXEO2 Regeneration unit Connect the regeneration unit if gravitational operation or other operations involving up down movement or sudden starting stopping of a large inertial load will be repeated frequently Always connect the regeneration unit if an overvoltage protection warning or alarm generates Model RGB100 Driver cable A shielded cable for driver I O signals 36 pins offering excellent noise resistance Model Length m ft CC36D1 1 1 3 3 CC36D2 1 2 6 6 Connector terminal block conversion unit Use this cable to connect the driver to a host controller via the terminal block Cable length 1 m 3 3 ft Model CC36T1 69 Reference 19 Reference 19 1 Timing charts B Power input ON Main power supply OFF s orless i s or less Output signals Confirmation of output B C ON input e The C ON input is turned ON after turning on the power ON Main power supply oc ON 24 VDC power supply OFF lsormore whichever 2sormore iS longer C ON input oti SSMO RM Oe 300 ms or less _ 9 ms orless READY output 2n QU PU OFF o 250 ms or less 60 ms or less Electromagnetic Hold brake Release 200 ms or less 250 ms
23. ms or less 5 ms or less 800 us or more ON OFF When pulses corresponding to 1 50th the resolution are input assuming that the resolution is a multiple of 50 e This timing chart assumes that an operation starts from the position where the TIM output turns ON e The TIMI output is a line driver output while the TIM2 output is an open collector output B Operation by pulse input e Positioning operation CW CCW input ON READY output 0 s or more ON UU OFF orr 75 Reference e When an error occurs ON Main power supply OFF 2 ON 24 VDC power supply opp CW CCW input O CW Input opp 250 ms or more C ON input an UN IDUC ogg 300 ms or less _ 60 ms or less READY t 2 p output Gee 60 ms or less ALM t es outpu OFF 2 60 ms or less WNG pL output Gee l 1 When the READY output is OFF input pulses are ignored 2 Ifa pulse is input while the main power is cut off a main power supply error alarm will generate B Return to electrical home operation e When operation is interrupted C ON input i REY ape 5 ms or more 5 ms or more RETURN input On IMPUS gpg 5 ms or less 300 ms or less 5msorless READY output oN Ue opf 5 ms or less J 5 ms or less 5msorless END output n OUPUE ace ee 250 ms or less J 200 ms or less Mot itati ut otor excitation opp
24. pins when an electromagnetic brake is used TH1 Regeneration resistor thermal input TH2 If these pins are not used short it using a jumper wire Electromagnetic brake Connect the black lead wire of the electromagnetic brake Electromagnetic brake Connect the white lead wire of the electromagnetic brake MB1 MB2 B Connecting method Flattip screwdriver connector screw size M2 Tightening torque 0 22 to 0 25 N m 7 mm 0 28 in 31 to 35 oz in Lead wire Flat tip screwdriver CN1 connector screw size M2 5 Tightening torque 0 4 N m 56 oz in p CN1 connector ri M 33 Connection B Connecting the 24 VDC power supply input Connect a power supply of 24 5 VDC 0 75 A or more Once a 24 VDC power supply is connected you can check the contents of alarms that have generated even when the main power is cut off If a motor with electromagnetic brake is used be sure to connect a 24 VDC power supply as the electromagnetic brake power The 24 VDC power supply will not be used to drive the motor Connect a 24 VDC power supply as necessary Note If the distance between the motor and driver is extended to 20 m 65 6 ft or longer use a power supply of 24 4 VDC Connecting the regeneration resistor Use the accessory regeneration unit RGB100 sold separately if gravitational operation or other operation involving up down movement or sudden starting stopping of a large inert
25. setting Note Excessively low operating current may cause a problem in starting the motor or holding the load in position Do not lower the operating current more than necessary e To change the basic setting for operating current Refer to Operating current on p 55 12 4 Speed filter The motor response to input pulses can be adjusted with the speed filter setting switch V FIL One of 16 speed filter levels from 0 to F can be set When setting a higher value for the speed filter lower vibration at low speed operation or smoother operation at starting stopping of the motor can be achieved However if this setting is too high synchronization performance is decreased Set a suitable value based on the load or application Dial setting Speed filter time constant ms Dial setting Speed filter time constant ms 0 0 8 30 1 1 factory setting 9 50 2 2 A 70 3 3 B 100 4 5 C 120 5 7 D 150 6 10 E 170 7 20 F 200 e Speed filter setting switch 0 minimum HERE Command speed EH Operating speed H mAH END output e Speed filter setting switch F maximum HE Command speed SON Operating speed H LIEN output e To change the basic setting for speed filter Refer to
26. supplied to excite the motor and the holding torque will be restored The automatic return operation after turning the FREE input OFF can be set using the OPX 2A or MEXEO2 Refer to p 52 Note When operating the motor be sure to turn the FREE input OFF B CS T MODE input The CS input is effective when positioning operation is performed When push motion operation is selected with the OPX 2A or MEXEO2 the T MODE input will become effective e CS input When the resolution switch CSO CS1 is set to CSO the resolution setting can be changed according to the CS input Resolution switch CS0 and DO CSO and D1 CS input OFF The CSO setting is selected The CSO setting is selected Factory setting 1000 P R Factory setting 500 P R ON The CS1 setting is selected The CS1 setting is selected Factory setting 10000 P R Factory setting 5000 P R Note While the resolution switch CS0 CS1 is set to CS1 the CS input is disabled The CS1 setting is maintained e T MODE input When the T MODE input is turned ON the push motion operation will be started m RETURN M1 input The RETURN input is effective when positioning operation is performed When push motion operation is selected with the OPX 2A or MEXEO2 the M1 input will become effective e RETURN input When the RETURN input is turned ON the motor will start a return to electrical home operation Return to electrical home operation is a type of o
27. type motors rotate in the opposite direction of the motor shaft Setting of rotation direction parameter SyS 1 04 CW pulse is input CCW pulse is input e The command position increases e The command position decreases e The motor rotates in CW direction e The motor rotates in CCW direction When CW is set e The command position increases e The command position decreases e The motor rotates in CCW direction e The motor rotates in CW direction When CCW is set B Setting the positioning completion END signal offset The motor stops at the theoretical stopping position as a center point or thereabout If the motor stops at a position deviated from the theoretical stopping position due to the load friction etc and the deviation band exceeds the specified END signal range the END output will not turn ON In this case use the application parameter for END signal offset APP 2 04 to compensate the deviation band 52 Extended functions 13 2 Operation Push motion operation Push motion operation is a type of operation where pulses are input to pressurize the load continuously When selecting a push motion operation with the application parameter for I O input mode APP 2 00 turning the T MODE input ON and inputting pulses push motion operation will start Pulses will be continuously input and accumulate even when the load is balanced with t
28. value set in the overload parameter APP 5 03 The speed of the motor output shaft exceeded 4500 r min excluding geared motors e Reduce the load or increase the acceleration deceleration rate e If the driver is in the current control mode increase the current limit value e Check if the electromagnetic brake is released during operation e Check the electronic gear setting and reduce the speed of the motor output shaft to 4500 r min or less e f the motor is overshooting at the time of acceleration increase the acceleration deceleration rate The command pulse frequency exceeded the specified value e Set the command pulse to 500 kHz or less e Check the electronic gear setting and reduce the speed of the motor output shaft to 4500 r min or less e The regeneration unit is not connected correctly e The regeneration unit is overheating e f no regeneration unit is used short the TH1 and TH2 terminals of CN1 e Connect the regeneration unit correctly e The regenerative power of the regeneration unit exceeds the allowable level Review the load condition and operating conditions e 200 230 VAC was applied to a product specified for 100 115 VAC e A large inertial load was stopped abruptly or up down operation was performed without connecting a regeneration unit e Check the input voltage of the main power supply e f this alarm generates during operation reduce the load or increase the acc
29. will start a return to electrical home operation The electrical home position refers to the motor position effective when the driver power is turned on or the position when the P RESET input is turned ON Set the required conditions for return to electrical home operation using the following parameters e Operating speed of return operation APP 6 00 e Acceleration and deceleration rate of return operation APP 6 01 e Starting speed of return operation APP 6 02 Refer to p 76 for the timing chart Note e Pulses are not counted during return to electrical home operation e f the CS input is turned ON when the application parameter for abnormal operation data warning APP 5 00 is set to Enable a return to electrical home operation will be disabled and an abnormal operation data warning will generate If a return to electrical home operation is to be performed after the CS input is turned ON turn the P RESET input ON to confirm the electrical home position and then turn the RETURN input ON e Turning the P RESET input ON while a return to electrical home operation is still in progress will set the applicable position as the electrical home and the motor will stop 13 3 Adjustment You can adjust the operating current motor operation at start stop and compliance with the command The items that can be adjusted vary between the normal mode and the current control mode Item Description Normal mode Current contro
30. 0 30 FREE Excitation OFF Release the electromagnetic brake input p 39 zi ot CW pulse input Pulse input 5 V or line driver 32 CW PLS 33 CW 24 V PLS 24 V CW pulse input Pulse input 24 V 34 CCW 24 V DIR 24 V CCW pulse input Direction input 24 V Eee 35 CCW DIR 36 CCW DIR CCW pulse input Direction input 5 V or line driver The signal will become effective if the applicable setting has been changed using the OPX 2A or MEXEO2 Note The factory setting of the C ON input is normally open Be sure to turn the C ON input ON when operating the motor Set the C ON input to normally closed when the C ON input is not used Refer to p 38 for details 26 Connection B Assembling the connector Cable clamp Screw M2 5 Tightening torque I O signal cable 0 5 to 0 55 N m 71 to 78 oz in Screw M2 Connector Place the spring washer outside the case Screw M2 5 Align the washer in the depression in the case B Connecting the connector Insert the CN5 connector into the I O signal connector CN5 on the driver and tighten the screw Tightening torque 0 3 to 0 35 N m 42 to 49 oz in Note Be certain the I O signal cable is as short as possible The maximum input frequency will decrease as the cable length increases 27 Connection B Connecting to a current sink output circuit e When pulse input is of line driver type
31. 0 230 V 200 230 V CN3 connector CN3 CN3 connector Single phase 100 115 V 200 230 V 50 60 Hz Three phase 200 230 V 50 60 Hz Note e Pay attention to the polarity of the power supply Reverse polarity connection may cause damage to the driver e Do not wire the power supply cable of the driver in the same cable duct with other power lines or motor cables Doing so may cause malfunction due to noise e When cycling the power or plugging unplugging the connector turn off the power and wait for the CHARGE LED to turn off The residual voltage may cause electric shock B Connecting method of the power supply cable 2 Push the connector wiring W lever in the direction of the arrow Strip gauge b gt ea lt a 3 Insert the cable __ Zz 1 Strip off the cable sheath i based on the strip gauge Cable size capacity AWGI6 to 14 1 25 to 2 0 mm2 Sheath length to be removed 8 to 9 mm 0 31 to 0 35 in You can also connect the power supply cable using a flat tip screwdriver Insert a flat tip screwdriver with a tip of 3 0 to 3 5 mm 0 12 to 0 14 in in width into the insertion port and push In this condition insert the cable Insert the cable while pushing down the screwdriver Screwdriver insertion port 32 Co
32. 2 in is ensured Allowable current consumption Connecting the electromagnetic brake Refer to p 25 34 Connection 9 6 Connecting the data setter Connect OPX 2A cable or supplied cable with the MEXEO2 to Cable for OPX 2A or the data edit connector CN4 on the driver cable supplied with the MEXEO2 A Caution The data edit connector CN4 and I O signal connector CN5 of the driver are not electrically insulated When grounding the positive terminal of the power supply do not connect any equipment PC etc whose negative terminal is grounded Doing so may cause the driver and these equipment to short damaging both 35 Quick operations 10 Quick operations If you are new to the AR Series driver read this chapter and you will be able to perform basic motor operations quickly Note Before operating the motor check the condition of the surrounding area to ensure safety STEP 1 Check the installation and connection Check CN1 connector connection Check Motor connection Check C ON input and CW CCW pulse connection Check Motor and driver installation Pulse generator or programmable controller Check Power supply connection ammmm Response Starting stopping E becomes quicker becomes smoother LI 3 Confirm that the moto
33. 3 Preparation 7 3 Combinations of motors and drivers e O indicates A single shaft B double shaft or M with electromagnetic brake For the AR911 O indicates A single shaft or B double shaft For geared type O indicates A single shaft or M with electromagnetic brake e E in the model names indicates a number representing the gear ratio e When a connection cable is included O in the model names indicates a number 1 2 3 representing the cable length B Standard type B PN geared type Model Motor model Driver model Model Motor model Driver model ARA6LIAO ARMA6LIC ARA6LIA NBO ARM4601C Nm AR66LIAO ARM6601C AR66LIA NBO ARM6601C Nm ARD A AR69LIAO ARM 9LIC ARD A AR98LIA NO ARM98LIC NI AR98LIAO ARM98LIC ARA6LIC NBO ARM4601C Nm AR9110A0 ARM91101C AR66LIC NBO ARM LIC NI ARD C ARA6LICO ARM4601C AR98OC N O ARM98LIC NI AR66LICO ARM LIC ARAGLIS NBO ARMA LIC NI AR69LICO ARM69LIC ARD C AR66LIS NBO ARM LIC NI ARD S AR98LICO ARM98LIC AR980S N O ARM98LIC NI AR911LICO ARM91101C AR460SO ARM4601C AR66LISO ARM LIC AR69LISO ARM 9LIC ARD S AR98LISO ARM98LIC AR911LISO ARM911 0C B TH geared type B PS geared type Model Motor model Driver model Model Motor model Driver model ARAG6LIA TRO ARMA6GLIC TI ARAG6LIA PSO ARMA6LIC PSB A
34. 4 VDC power supply is used also cycle the 24 VDC power supply 13 1 Setting E Resolution The resolution can be set using the applicable driver switches or CS input e Using the switches Use the resolution switches DO D1 and CSO CS1 to set a desired resolution per revolution of the motor output shaft bo i cso 0 Resolution 1000 P R oof H cs1 i D1 esol Resolution 500 P R g le LH cs1 Resolution 10000 P R Resolution 5000 P R The new settings of the resolution switches will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply The values of resolution switches CSO CS1 D0 D1 can be changed with the system parameters for electronic gear SyS 0 00 to SyS 0 04 as shown in the table below Note that the calculated value must fall within the setting range specified below Resolution setting range 100 to 10000 P R Factory setting 1000 P R Resolution switches CSO CS1 DO 1000 x Electronic gear B SyS 0 04 Electronic gear A1 SyS 0 00 1000 x Electronic gear B SyS 0 04 Electronic gear A2 SyS 0 01 D1 1000 x Electronic gear B SyS 0 04 Electronic gear A3 SyS 0 02 1000 x Electronic gear B SyS 0 04 Electronic gear A4 SyS 0 03 Note e When a system parameter has been changed the new parameter will become effective aft
35. 9 for connector pin assignments of the cable e Connection cable set e Connection cable set For motor For electromagnetic brake Model Length m ft Model Length m ft CCO10VAF 1 3 3 CCO10VAFB 1 3 3 CCO20VAF 2 6 6 CCO20VAFB 2 6 6 CCO30VAF 3 9 8 CCO30VAFB 3 9 8 CCOS50VAF 5 16 4 CCO50VAFB 5 16 4 CC070VAF 7 23 CCO70VAFB 7 23 CC100VAF 10 32 8 CC100VAFB 10 32 8 CC150VAF 15 49 2 CC150VAFB 15 49 2 CC200VAF 20 65 6 CC200VAFB 20 65 6 CC300VAF 30 98 4 CC300VAFB 30 98 4 e Flexible connection cable set e Flexible connection cable set For motor For electromagnetic brake Model Length m ft Model Length m ft CCO10VAR 1 3 3 CCO10VARB 1 3 3 CCO20VAR 2 6 6 CCO20VARB 2 6 6 CCO30VAR 3 9 8 CCO30VARB 3 9 8 CCOS50VAR 5 16 4 CCOS50VARB 5 16 4 CCO70VAR 7 23 CCO70VARB 7 23 CC100VAR 10 32 8 CC100VARB 10 32 8 CC150VAR 15 49 2 CC150VARB 15 49 2 CC200VAR 20 65 6 CC200VARB 20 65 6 CC300VAR 30 98 4 CC300VARB 30 98 4 e Extension cable set e Extension cable set e Extension cable set For motor For electromagnetic brake Model Length m ft Model Length m ft CCO10VAFT 1 3 3 CCO10VAFBT 1 3 3 CCO20VAFT 2 6 6 CCO20VAFBT 2 6 6 CCO30VAFT 3 9 8 CCO30VAFBT 3 9 8 CCO50VAFT 5 16 4 CCO50VAFBT 5 16 4 CCO70VAFT 7 23 CCO70VAFBT 7 23 CC100VAFT 10 32 8 CC100VAFBT 10
36. B Test operation csiis 53 E Return to electrical home operation 54 13 3 Adjustment ssssssssss 54 W Control mode 5 2 etn mem 54 W Operating current eeeen 55 B Standstill currentis 55 B Speed AEE orca EERE 55 B Smooth drive nett 55 B Speed error g in ineo enc 55 W Position loop gain speed loop gain speed loop integral time constant 56 W Anti vibration control eeee 56 14 IOSDOCHOFL sero ritate 57 15 General specifications 58 16 Alarms and warnings 59 16 1 SATB iere tee tes ones 59 16 2 Warnings ierat eere 64 17 Troubleshooting and remedial actions asc ctore 66 18 Accessories sold separately 67 EI IIo TT m 70 19 3 Timing charts ice certe trente 70 19 2 Function parameter list 81 19 3 Alarm warning lists 85 Safety precautions 1 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 N Warnin Handling the product without observing the instructions that accompany a Warning g symbol may result in serious injury or death N Caution Handling the product without observing the instructions that accompa
37. Change the CS input when the current is turned off B T MODE input MO to M2 input The motor current waveform in the above chart assumes that the standstill current is set to 50 while the push current is set to 100 ON T MODE input MOi M1i M2 i OFF ON READY output OFF 5 ms or less 5 ms or less 5 ms or less 9 ms or less Motor current 3 45 to 65 ms 3 5 ms or less 3 10096 5096 20 to 45 ms 096 1 When the T MODE is ON the motor current rises to the push current at a rate of approx 0 9 per millisecond 2 When the T MODE is OFF the motor current drops to the push current at a rate of approx 1 8 per millisecond 3 When the value of push current is changed using the MO to M2 inputs the change is reflected immediately 72 Reference e When the T MODE input is turned ON the value of push current set by the MO to M2 inputs will become effective and the overload protection alarm will become invalid e Input the T MODE signal while the motor is at standstill e The combinations of MO to M2 inputs and corresponding initial values of push current percentage are shown below M2 M1 MO Initial value 96 OFF OFF OFF 30 0 OFF OFF ON 40 0 OFF ON OFF 50 0 OFF ON ON 60 0 ON OFF OFF 70 0 ON OFF ON 80 0 ON ON OFF 90 0 ON ON ON 100 0 B CLR in
38. Cumulative position commands Operating speed of return to electrical home operation Internal speed command Acceleration and deceleration rate Acceleration and deceleration rate of return to electrical home operation of return to electrical home operation The output time of the END signal varies depending on the speed filter and operating speed e If the C ON input is turned OFF while a return to electrical home operation is still in progress the operation will be interrupted When the C ON input is turned ON again and then the RETURN input is turned ON the operation will resume from the position where it was interrupted e Return to electrical home operation can also be interrupted with the FREE input or CLR input Note however that when a return to electrical home operation is interrupted using the CLR input motor excitation will not turn off 76 Reference e Operation is terminated with the P RESET input ON OFF MT RETURN input Spp P RESET input 9 OFF ON READY output OFF 5 ms or less m kita pee on a END output OFF Motor excitation C ON input 5 ms or more 5 ms or more N OFF 5 ms or less Cumulative position commands 5 ms or less Operating speed of return etal speea command to electrical home operation Acceleration and deceleration rate of return to electrical home operation The output time of th
39. Each pulse signal input should specify either the CW input or CCW input but not both Make sure the terminal not receiving the signal input remains OFF The pulse signal is connected to DIR input in the 1 pulse input mode Connect the pulse signal to the PLS input An electromagnetic brake motor is used and the electromagnetic brake is not released Check the connection between the electromagnetic brake and driver The motor rotates in the direction opposite to the specified direction The gear output shaft rotates in the direction opposite to the motor The CW input and CCW input are connected in reverse in the 2 pulse input mode Connect CW pulse signals via the CW input and connect CCW pulse signals via the CCW input The DIR input is set in reverse in the 1 pulse input mode The system parameter for rotation direction SyS 1 04 is set wrong A gear that rotates in the direction opposite to the motor shaft is used Turn the DIR input ON to cause the motor to rotate in CW direction and turn the input OFF to cause the motor to rotate in CCW direction Check the setting of the rotation direction parameter SyS 1 04 e With TH geared motors the gear rotates in the direction opposite to the motor when the gear ratio is 20 or 30 e With Harmonic geared motors the gear always rotates in the direction opposite to the motor Motor operation is unstable Pulse signals are not connected prope
40. FF 5 ms or less 9 ms or less READY t le Output rE j gt ms or less 5 ms or less END t oN Output opp 5 ms or less 1 8 Position deviation 0 L3 Position deviation occurs due to external force Note e When performing a return to mechanical home operation using a stopper etc do not use the CLR input If the CLR input is used the home position may become offset e Pulse input is disabled while the CLR input is ON e When the CLR input is turned ON the automatic return operation and return to electrical home operation will stop ALM RST input When an alarm generates the ALM output will turn OFF When the _ 2 ms or more ALM RST input is turned from ON to OFF the ALM output will turn ON ON and the alarm will be reset The alarm will be reset at the OFF edge of ALM RST input OFF the ALM RST input Before resetting an alarm always remove the cause 5 ms or less of the alarm and ensure safety ON For details refer to ALM output on p 43 and 16 1 Alarms on p 59 ALM output ofp Note Alarms that cannot be reset with the ALM RST input need to be reset by cycling the power If a normal condition cannot be restored after cycling the power contact your nearest Oriental Motor sales office 40 Explanation of I O signals B CCM input When the CCM input is turned ON the control mode will change from the normal mode to the current control mode In the current
41. N BHD Tel 01256 347090 Fax 01256 347099 Tel 03 22875778 Fax 03 22875528 ORIENTAL MOTOR FRANCE SARL ORIENTAL MOTOR THAILAND CO LTD Tel 01 47869750 Fax 01 47 824516 Tel4662 251 1871 Fax 66 2 251 1872 ORIENTAL MOTOR ITALIA s r l INA ORIENTAL MOTOR CO LTD Tel 02 93906346 Fax 02 93906348 KOREA Tel 080 777 2042 Fax 02 2026 5495 ORIENTAL MOTOR CO LTD Headquarters Tokyo J apan Tel 03 6744 0361 Fax 03 5826 2576
42. Orientalmotor AANA N HM 60156 4 Closed Loop Stepping Motor and Driver Package OsTEP High efficiency AR Series AC power input Pulse input type USER MANUAL Wis CE A Thank you for purchasing an Oriental Motor product This Operating Manual describes product handling procedures and safety precautions e Please read it thoroughly to ensure safe operation e Always keep the manual where it is readily available Table of contents 1 Safety precautions 3 2 Overview of the AR Series 5 3 System configuration 6 4 ItrodUCtHON essiensa 8 5 Standards and CE Marking 9 5 1 UL Standards and CSA Standards 9 5 2 EU Directives sssussss 10 6 Precautions for use 11 PPI GD ANAM isce eie nm ercuenonau D iEE 13 7 1 Checking the product 13 7 2 How to identify the product model 13 7 3 Combinations of motors and drivers 14 7 4 Input output power ratings 15 7 5 Names and functions of parts 16 B InstallatlOft uu int oe dass 19 8 1 Location for installation 19 8 2 Installing the motor 19 8 3 Installing a load 20 8 4 Permissible overhung load and permissible thrust load 21 8 5 Installing the driver
43. R66LIA TRO ARM 6LIC TI ARD A AR66LIA PSBO ARM GLIC PSB ARD A AR98LIA TRO ARM98LIC TI AR98LIA PSO ARM98LIC PSB ARA6LIC TRO ARMA6 LIC TB AR4601C PS O ARM4601C PSm AR66LIC TRO ARM 6GLIC TI ARD C AR66LIC PSBO ARM GLIC PSB ARD C AR98LIC TNO ARM98LIC TB AR98LIC PSO ARM98LIC PSI ARA6GLIS TRO ARMA6 LIC TI ARAGLIS PSO ARMA6 LIC PSB AR660S THO ARM 6GLIC TI ARD S AR66LIS PSO ARM GLIC PSB ARD S AR98 LIS TRO ARM98LIC TB AR98 IS PSO ARM98LIC PSm PL geared type B Harmonic geared type Model Motor model Driver model Model Motor model Driver model ARAGLIA PBO ARMA LIC PI ARA6LIA HRBO ARM4601C H AR660 A P8O ARM6601C P ARD A AR66LIA HBO ARM66OC Hm ARD A AR980A P O ARM980C PE AR980A H O ARM980C HE AR460C P O ARM460C P E ARA6LIC HiO ARM4601C Hm AR660C P O ARM6601C Pl ARD C AR66LIC HBO ARM LIC HI ARD C AR98LIC PNO ARM98LIC PI AR98LIC HiO ARM98LIC HiN AR4601S P O ARM4601C P AR460S H O ARM460C Hm AR660OS PHO ARM LIC PI ARD S AR660S H O ARM6601C Hm ARD S AR98LIS PRO ARM98LIC PI AR980S H O ARM980C Hm 14 7 4 input output power ratings e O indicates A single shaft B double shaft or M with electromagnetic brake For the AR911 O indicates A single shaft or B double shaft For geared type O indicates A single shaft or M with electromagnetic brake For geared type 6 represents the type of gear and number indicating the gear ratio Preparation When a connection cable is included O in the model names indicates a number 1
44. a location where heat dissipation capacity equivalent to a level achieved with a heat sink made of aluminum 350x350x3 mm 13 78x13 78x0 12 in is ensured Affix the RGB100 on a smooth metal plate offering high heat conductivity using two screws M4 not supplied e Plate cutout for mounting unit mm in Screw M4 para _ not supplied es m Regeneration unit RGB100 089 SOT G0 d 012 22 Installation 8 7 Installing and wiring in compliance with EMC Directive Effective measures must be taken against the EMI that the motor and driver may give to adjacent control system equipment as well as the EMS of the motor and driver itself in order to prevent a serious functional impediment in the machinery The use of the following installation and wiring methods will enable the motor and driver to be compliant with the EMC directive Refer to 5 Standards and CE Marking on p 9 for the applicable standards B Connecting noise filter for power supply line Connect a mains filter in the AC input line to prevent the noise generated in the driver from propagating externally through the power supply line Use a mains filter or equivalent as below table Single phase 100 115 V Manufacturer Single phase 200 230 V Three phase 200 230 V SOSHIN ELECTRIC CO LTD HF2010A UPF HF3010C SZA Schaffner EMC FN2070 10 06 FN251 8 07 Install the mains filter as close to the driver as possible Use cable clamps and
45. able SyS 1 03 Auto return 4 Enable 0 APP 2 00 l O input mode 0 positioning operation normal 0 P 1 push motion operation 0 Disable APP 2 01 ALO 2 signal output 1 Enable 0 APP 2 03 END signal range 0 0 to 18 0 7 1 8 APP 2 04 END signal offset 1 8 to 1 8 7 0 0 81 Reference Item Pulse input operation Overview Perform operation based on input of CW CCW pulses Standard specification Available Push motion operation Set the current for push motion operation Set the input signal mode Select the current for push motion operation using the MO to M2 inputs Not available Output the TLC signal during push motion operation The output condition varies depending on the control mode Normal mode The TLC output will turn ON when misstepping 1 8 or more is detected Current control mode The TLC output will turn ON when the specified torque is reached Available Setting for return to electrical home operation Set the operating speed of return to electrical home operation Set the acceleration and deceleration rate of return to electrical home operation Set the starting speed of return to electrical home operation Not available ASG BSG output Check the motor output TIM output The TIM outputs TIM1 TIM2 will turn ON every time the motor output shaft rotates by 7 2 Speed filter V FIL setting Apply a filter to the operatio
46. able driver parameter is changed using the OPX 2A or MEXEO2 the motor can be excited automatically after the power ON Use the accessory regeneration unit RGB100 sold separately if gravitational operation or other operation involving up down movement or sudden starting stopping of a large inertial load will be repeated frequently The overvoltage alarm will generate depending on the operating condition If an overvoltage protection alarm is detected adjust the driving condition or use the accessory regeneration unit RGB100 sold separately Note on connecting a power supply whose positive terminal is grounded The communication connector CN4 and I O signal connector CN5 are not insulated When grounding the positive terminal of the power supply do not connect any equipment PC etc whose negative terminal is grounded Doing so may cause the driver and these equipment to short damaging both Use the data setter OPX 2A to set data etc 12 Preparation 7 Preparation This chapter explains the items you should check as well as the name and function of each part 7 1 Checking the product Verify that the items listed below are included Report any missing or damaged items to the branch or sales office from which you purchased the product Verify the model number of the purchased unit against the number shown on the package label Check the model number of the motor and driver against the number shown on the nameplate T
47. alue specified in the table Moment load M N m oz in F x L Model Permissible moment L load N m oz in F AR46 5 6 790 AR66 11 6 1640 8 5 Installing the driver The driver is designed so that heat is dissipated via air convection and conduction 35 1 38 0 0 79 or more through the enclosure Install the driver on a flat metal plate material aluminium 200x200x2 mm 7 87x7 87x0 08 in equivalent having excellent heat conductivity When two or more drivers are to be installed side by side provide 20 mm 0 79 in and 25 mm 0 98 in clearances in the horizontal and vertical directions respectively When installing the driver in an enclosure use two screws M4 not supplied to affix the driver through the mounting holes Note e Install the driver in an enclosure whose pollution degree is 2 or better environment or whose degree of protection is IP54 minimum e Do not install any equipment that generates a large amount of 6 S OST T heat or noise near the driver e Do not install the driver underneath the controller or other equipment vulnerable to heat e Check ventilation if the ambient temperature of the driver exceeds 50 C 122 F e Be sure to install the driver vertically vertical position aou 40 8670 SZ Unit mm in 8 6 Installing the regeneration unit Install the accessory regeneration unit RGB100 sold separately in
48. as possible so that no potential difference is generated Choose a large thick and uniformly conductive surface for the grounding point See p 33 for grounding the motor and driver B Wiring the power supply cable and signal cable Use a shielded cable for the power supply cable and signal cable and keep it as short as possible An accessory driver cable is available sold separately Refer to p 69 To ground a shielded cable use a metal cable clamp or similar device Shielded cable that will maintain contact with the entire circumference of the cable amp Attach a cable clamp as close to the end of the cable as possible and lt 52 connect it as shown in the figure N SA Cable clamp 23 Installation B Notes about installation and wiring e Connect the motor driver and other peripheral control equipment directly to the grounding point so as to prevent a potential difference from developing between grounds e When relays or electromagnetic switches are used together with the system use noise filters and CR circuits to suppress surges generated by them e Keep cables as short as possible without coiling and bundling extra lengths Place the power cables such as the motor and power supply cables as far apart 200 mm 7 87 in as possible from the signal cables If the power cables and signal cables have to cross cross them at a right angle Place the AC input cable and output cable of a noise filter separately
49. ation and deceleration rate o o4 to 1000 00 ms 1000 r min 100 00 of JOG operation APP 7 02 Starting speed of JOG operation 0 to 4000 r min 30 83 Reference Item varie Standard Extended specification function Motor excitation position Select the position at which the motor is excited after the power has been at power on turned on Show the speed on the data setter with a sign or as an absolute value Not available Available Data setter Set the gear ratio for geared motor used for speed monitor 19 3 Alarm warning lists B Alarms protective functions Item Overview condition Alarm check function LED indicator When an alarm generates the ALARM LED on the front face of the driver will blink The number of times the LED blinks varies depending on the content of the alarm ALM output ALM output This signal will be output when an alarm generates Alarm code output ALO These outputs are used by the host controller to detect the content of each to AL2 outputs alarm that has generated Alarm code output Alarm code output enable disable setting Enable alarm code output if you want alarm codes to be output Alarm reset Power cycle reconnection ALM RST input Cycle the power to reset alarms Input the ALM RST signal to reset alarms Alarm detection condition setting Excessive position deviation alarm Set the condition under whic
50. ceeded the value set in the overheat ibas warning parameter APP 5 07 e The voltage of the main power supply exceeded the value set in the overvoltage warning parameter APP 5 05 Overvoltage e A large inertial load was stopped abruptly or up down operation was performed without connecting a regeneration unit Main power supply error The C ON input was turned ON when the main power was cut off e The DC voltage of the main power supply became lower than the value set Undervoltage in the undervoltage warning parameter APP 5 06 e The main power was cut off momentarily or the voltage became low e Aload exceeding the maximum torque was applied for the time set in the Overload overload warning parameter APP 5 08 or longer e The load is large or acceleration deceleration rate is too short Overspeed The detected motor speed exceeded the value set in the overspeed warning parameter APP 5 09 Operation data error e The CS input was changed when the current was on e The traveled distance from the electrical home exceeded the control range 2 147 483 648 pulses This alarm generates when the application parameter for abnormal operation data warning APP 5 00 is set to Enable Electronic gear setting error The resolution set by the electronic gear is outside the specified range 86 Reference C t Pa
51. ctor Eleotroiisanetle brake t nminals Connect the lead wires from the electromagnetic brake 24 VDC CN1 MBI MB2 MB1 Electromagnetic brake black MB2 Electromagnetic brake white Motor connector CN2 Connect the motor p 25 This LED is lit while the main power is input After the main power has been CHARGE LED Red turned off the LED will turn off once the residual voltage in the driver drops to a safe level Regeneration resistor terminals CN3 RG1 RG2 Connect the accessory regeneration unit RGB100 sold separately p 34 e Single phase 100 115 V single phase 200 230 V f L N Connect a single phase 100 115 VAC or 200 230 VAC x eal supply input terminals e Three phase 200 230 V p 32 L1 L2 L3 Connect a three phase 200 230 VAC e NC Not used Mounting holes These mounting holes are used to affix the driver with screws p 22 2 locations at the back 17 Preparation B Motor Example ARM66MC Motor Protective Earth Terminal M4 Mounting holes 4 locations Output shaft Electromagnetic brake Motor cable Electromagnetic brake cable Connector cover 18 Installation 8 Installation This chapter explains the installation location and installation methods of the motor and driver The installation and wiring methods in compliance with the EMC Directive are also explained 8 1 Location for installation The motor and driver has been designed and manufactured t
52. de Set the desired pulse input mode of the driver according to the pulse output mode of the controller pulse generator used with the driver The pulse input mode is set using the applicable driver switch or parameter e pulse input mode A pulse signal is input via the PLS input and the rotation direction is selected using the DIR input e 2 pulse input mode When a pulse signal is input via the CW input the motor will rotate in forward direction If a pulse signal is input via the CCW input the motor will rotate in reverse direction e Phase difference input mode set by a parameter The motor will rotate in forward direction when the CCW input phase is delayed by 90 relative to the CW input The motor will rotate in reverse direction when the CCW input phase is advanced by 90 relative to the CW input Using the switch Set a desired mode using the pulse input mode select switch 2P 1P 1P 1 pulse input mode active low 2P 2 pulse input mode active low Each mode can only be set with the low active using the pulse input mode select switch To select the high active set the applicable parameter using the OPX 2A or MEXEO2 Note e The new setting of the pulse input mode select switch will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply e The factory setting of the pulse input mode depends on the destination country Using the parame
53. e END signal varies depending on the speed filter and operating speed e When the P RESET input is turned ON the cumulative value of position commands will be reset to 0 and the current position will be set as the electrical home position Accordingly the return to electrical home operation will end B Automatic return operation e Position deviation occurs due to cutoff of the main power supply 3 ON 4 Main power supply OFE N 24 VDC power supply bu N C ON input OFF 60 ms or less ON READY output OFF 5 ms orless ON END output Fp 60 ms or less 500 ms or less gt gt igs ON Motor excitation OFF Position deviation Operating speed of return to Internal speed command electrical home operation variable 4 Position deviation occurs due to external force Acceleration and deceleration rate of return to electrical home operation variable The output time of the END signal varies depending on the speed filter and operating speed 77 Reference e Position deviation occurs due to turning OFF of the C ON input ON C ON input OFF 5 ms or less READY output OUTDO Gir 250 ms or less jk END output O OHO GRE J 200 ms or less 250 ms or less 250 ms or less 250 ms or less Motor excitation ON OFF Position deviation Opera
54. e While 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 o Orientalmotor and Q srer are registered trademark or trademark of Oriental Motor Co Ltd in Japan and other countries Other product names and company names mentioned in this manual may be registered trademarks or trademarks of their respective companies and are hereby acknowledged The third party products mentioned in this manual are recommended products and references to their names shall not be construed as any form of performance guarantee Oriental Motor is not liable whatsoever for the performance of these third party products O Copyright ORIENTAL MOTOR CO LTD 2011 Please contact your nearest Oriental Motor office for further information ORIENTAL MOTOR U S A CORP ORIENTAL MOTOR EUROPA GmbH SHANGHAI ORIENTAL MOTOR CO LTD Technical Support Tel 800 468 3982 Headquarters and D sseldorf Office Tel 400 820 6516 Fax 021 6278 0269 8 30 AM to 5 00 P M P S T M F Tel 0211 52067 00 Fax 0211 52067 099 7 30 a m to 5 00 PM C S T M F Munich Office Lees ae dicc E mail techsupport g orientalmotor com Tel 089 3181225 00 Fax 089 3181225 25 f www orientalmotor com Hamburg Office SINGAPORE ORIENTAL MOTOR PTE LTD Tel 040 76910443 Fax 040 76910445 Tel 65 6745 7344 Fax 65 6745 9405 ORIENTAL MOTOR UK LTD ORIENTAL MOTOR MALAYSIA SD
55. e output Reset using the Number of ALARM Alarm Motor operation Alarm type ALM RST input LED blink blinks AL2 AL1 ALO code upon alarm OPX 2A MEXEO2 Overheat protection 21 Overload 30 Possible O d 31 odd 2 OFF ON OFF Command pulse error 34 Regeneration unit overheat 51 x Not possible Overvoltage protection 22 3 OFF ON ON Main power supply error 23 Undervoltage 25 Overflow rotation during 10 Possible current on 4 ON OFF OFF Overflow rotation during 12 current off Overcurrent protection 20 5 ON OFF ON Not possible Drive circuit error 2D Abnormal operation data 70 O Possible 7 ON ON ON Electronic gear setting error 71 x Not possible The symbols in the Motor operation upon alarm field are explained below X When an alarm generates the motor current will be cut off and the motor will lose its holding torque In the case of an electromagnetic brake motor the motor will become unexcited and the electromagnetic brake will hold the load automatically O Even when an alarm generates the motor current will not be cut off and the motor position will be held 60 Alarms and warnings Cause Action The internal temperature of the driver exceeded 85 C 185 F Review the ventilation condition in the enclosure The cumulative value of applied loads exceeding the maximum torque reached or exceeded the
56. ection pulse is input can be set using the system parameter for rotation direction SyS 1 04 Refer to p 52 Note When a system parameter has been changed the new parameter will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply Pulse signal Input a pulse with sharp rising and falling edges as shown in the figures The figure shows the voltage levels of pulse signals e 1 pulse input mode 2 pulse input mode 2 us or more ON 90 FE 9 OFF 10 0 8 us or more e Phase difference mode 2 us or more 2 us or less _2 Hs or less 90 Pie L 0 8 us or more 10 2 us or less E us or less 0 4 us or more 0 4 us or more 2 us or less 2 us orless 9096 1096 0 4 us or more 0 4 us or more 51 Extended functions B Motor excitation at power ON When the power is turned on and the C ON input switched ON the motor will be excited at the current position If the system parameter for excite position at first current on SyS 1 02 is set to Electrical angle 0 the motor will be excited at the position corresponding to electrical angle 0 where the TIM output turns ON If the C ON input is set to normally closed however the motor will be excited automatically at the electrical angle 0 position after the power has been turned on The C ON input logic can be set using the ap
57. eleration deceleration rate e Connect the accessory regeneration unit RGB100 sold separately The motor was started when the main power was cut off Check if the main power is input properly The main power was cut off momentarily or the voltage became low Check the input voltage of the main power supply e When the current was turned on the deviation between the command position and actual position at the motor output shaft exceeded the value set in the parameter for overflow rotation during current on APP 5 01 e The load is large or acceleration deceleration rate is too short e Reduce the load or increase the acceleration deceleration rate e If the driver is in the current control mode increase the current limit value The C ON input was turned ON while an overflow rotation during current off warning was present e Do not turn the C ON input ON while an overflow rotation during current off warning is present e Set the auto return parameter SyS 1 03 to Disable The motor cable or driver output circuit was shorted Turn off the power and check the motor cable and driver output circuit for shorting and then cycle the power The motor cable was disconnected Turn off the power and check the connection between the motor cable and driver and then cycle the power Return to electrical home operation was performed while an abnormal operation data warning was present Do n
58. eleration safety brake Doing so may result in injury or damage to the equipment e When the driver generates an alarm any of the driver s protective functions is triggered the motor will stop and lose its holding torque Accordingly provide measures to hold the moving part in place in the event of an alarm Failure to do so may result in injury or equipment damage e When the driver generates an alarm any of the driver s protective functions is triggered first remove the cause and then clear the protection function Continuing the operation without removing the cause of the problem may cause malfunction of the motor and driver leading to injury or damage to equipment Installation The motor and driver are Class I equipment When installing the motor and driver do not touch the driver without grounding the driver first Failure to do so may result in electric shock e Install the motor and driver in the enclosure in order to prevent electric shock or injury Connection e Keep the driver s input power voltage within the specified range Failure to do so may result in fire or electric shock Connect the cables securely according to the wiring diagram Failure to do so may result in fire or electric shock e Do not forcibly bend pull or pinch the cable Doing so may fire and electric shock Operation e Turn 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 in
59. en 500 VDC megger megger is applied between the is applied between the following places following places i inal insulatiorresistence gp ol Protective Earth Terminal Power e Case Motor and sensor windings supply terminals e Case Electromagnetic brake e Signal I O terminals Power supply windings terminals Sufficient to withstand 1 5 kKVAC Sufficient to withstand the following for at 50 60 Hz applied between the 1 minute following places for 1 minute 7 i inal Dielectric strength gp Protective Earth Terminal Power e Case Motor and sensor windings supply terminals 1 5 kKVAC 50 60 Hz e Case Electromagnetic brake e Signal I O terminals Power supply windings terminals 1 8 KVAC 50 60 Hz Excluding the mounting surface and connectors 2 When installing a motor to a heat sink of a capacity at least equivalent to an aluminum plate 250 X 250 mm 9 84 X 9 84 in thickness 6 mm 0 24 in 3 When installing a motor to a heat sink of a capacity at least equivalent to an aluminum plate 200 X 200 mm 7 87 X 7 87 in thickness 2 mm 0 08 in 58 Alarms and warnings 16 Alarms and warnings The driver provides alarms that are designed to protect the driver from overheating poor connection error in operation etc protective functions as well as warnings that are output before the corresponding alarms generate warning functions 16 1 Alarms When an alarm generates the ALM output wi
60. en the command position and actual position exceeded the value set in the parameter for overflow rotation during current on APP 5 01 e The load is large or acceleration deceleration rate is low Overflow rotation during current off The C ON input was turned ON while an excessive position deviation warning at current OFF was present Overcurrent protection The motor cable or driver output circuit was shorted Drive circuit error The motor cable was disconnected Abnormal operation data Return to electrical home operation was performed while an abnormal operation data warning was present Electronic gear setting error The power was turned on when the resolution set by the electronic gear was outside the specified range Sensor error during operation A sensor error occurred while the motor was operating 84 Reference Current Parameter operation data Normal control OPX 2A mode i i iti mode screen display Name Setting range Initial value zs 0 Detected position SyS 1 02 Excite position at first current on 1 Electrical angle 0 0 Available Available 0 Signed APP 8 00 Displayed speed on OPX 2A 1 Absol te valve 0 APP 8 01 Deceleration rate of speed monitor 1 0 to 100 0 1 0 Current Parameter operation data Standard Extended Normal control OPX 2A E ificati
61. ent e Be sure to maintain a protective ground in case hands should make contact with the product Securely ground the protective earth terminals of the motor and driver e 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 e When using a circuit breaker MCCB use a unit conforming to the EN or IEC standard e Isolate the motor cable power supply cable and other drive cables from the signal cables CN1 CN4 CN5 by means of double insulation e The temperature of the driver s heat sink may exceed 90 C 194 F depending on the driving conditions Accordingly take heed of the following items Do not touch the driver Do not use the driver near flammable objects Always conduct a trial operation to check the driver temperature e EMC Directive This product has received EMC compliance under the conditions specified in Example of motor and driver installation and wiring on p 24 The conformance of your mechanical equipment to the EMC Directive will vary depending on such factors as the control system equipment used with this product configuration of electrical parts wiring and layout It therefore must be verified through conducting EMC measures in a state that all parts including this product have been installed in the equipment Applicable Standards EN 61000 6 4 EN 61800 3 EN 55011 group 1 class A EN 61000 3 2 EN 61000 3 3 EMS
62. er the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply e f the calculated resolution exceeds the setting range an electronic gear setting error warning will generate Check all of four combinations in the above table Refer to p 64 e f the power is cycled while an electronic gear setting error warning is present an electronic gear setting error alarm will generate Refer to p 59 49 Extended functions e Using the CS input When the resolution switch CSO CS1 is set to CSO the resolution setting can be changed according to the CS input Resolution switch CSO and DO CSO and D1 CS input OFF The CSO setting is selected The CSO setting is selected Factory setting 1000 P R Factory setting 500 P R ON The CS1 setting is selected The CS1 setting is selected Factory setting 10000 P R Factory setting 5000 P R Note e When the resolution switch CS0 CS1 is set to CS1 the CS input is disabled The CS1 setting is maintained e When the CS input is turned ON while the application parameter for abnormal operation data warning APP 5 00 is set to Enable a return to electrical home operation will be disabled and an abnormal operation data warning will generate When performing a return to electrical home operation after the CS input is turned ON turn the P RESET input ON to confirm the electrical home position and then turn the RETURN input ON Pulse input mo
63. es the WNG output turns ON The warning can be generated before a corresponding alarm generates To use the WNG output the applicable parameter must be changed using the OPX 2A or MEXEO2 The initial value is to use the same conditions applicable to alarms For details on warning refer to p 64 ALM output When an alarm generates the ALM output will turn OFF At the same time the ALARM LED of the driver will blink and the motor current will be cut off and stop In the case of an electromagnetic brake motor the electromagnetic brake will switch to the holding mode Set the programmable controller so that it will stop motor operation commands upon detection of an OFF status of the ALM output The cause of the alarm can be checked by counting the number of times the ALARM LED blinks For details refer to p 59 Abnormal operation data alarm is not supported by this function because the current will not be cut off even after these errors occur Blink ALARM LED LH UT ALM t a output ofp Motor operation The motor stops due to inertial force When the driver is When a protective operating normally function is triggered 43 Explanation of I O signals 11 3 Timing chart B When no 24 VDC power supply is connected to CN1 When turning the main power supply on and turning the C ON input ON the motor will be excited The READY output will turn ON and pulse input will be enabled 9 Main
64. et the condition under which an excessive position deviation warning generates when the current is turned off Overvoltage warning Set the condition under which an overvoltage warning generates Undervoltage warning Set the condition under which an undervoltage warning generates Overheat warning Set the condition under which a driver overheat warning generates Overload warning e Set the condition under which an overload detection warning generates The overload condition varies depending on the control mode Normal mode A position deviation of 1 8 or more has occurred Current control mode The operating current has reached the limit Overspeed warning Set the condition under which a motor overspeed warning generates Descriptions of warnings Overflow rotation during current on Overflow rotation during current off e When the current was turned on the deviation between the command position and actual position exceeded the value set in the parameter for overflow warning rotation during current on APP 5 04 e The load is large or acceleration deceleration rate is too short When the current was turned off the deviation between the command position and actual position exceeded the value set in the parameter for overflow rotation during current off APP 5 02 This warning is output when the parameter for auto return SyS 1 03 is set to Enable The internal temperature of the driver ex
65. f the control mode select switch will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply e Inthe normal mode the CCM input becomes effective 54 Extended functions B Operating current Set a desired operating current using the current setting switch CURRENT The operating current to be set is the maximum output current multiplied by the operating current rate set to each dial setting of the current setting switch where F corresponds to 100 One of 16 operating current levels from 0 to F can be set If the load is small and there is an ample allowance for torque you can suppress rise in motor temperature by setting a lower operating current Note If the operating current is too low starting of the motor and its position hold function may be affected Do not lower the operating current more than necessary You can change the value assigned to each dial setting of the current setting switch by using a corresponding application parameter for operating current at CURRENT one of APP 0 00 to APP 0 15 B Standstill current When the motor stops the current cutback function will be actuated to lower the motor current to the standstill current The standstill current is a value that the operating current which was set with the current setting switch is multiplied by a value of the standstill current Set a desired sta
66. from each other e When extending the distance between the motor and driver it is recommended that an accessory motor connection cable sold separately should be used The EMC measures are conducted using the Oriental Motor extension cable B Example of motor and driver installation and wiring Motor OPX 2A EEEHEH Motor cable ielded cable PE Shielded cable Noise 24 VDC Driver filter power supply S hielded cable Controller EEEE Surge Noise arrester filter Driver cable A Cable clamp B Precautions about static electricity Static electricity may cause the driver to malfunction or suffer damage While the driver is receiving power handle the driver with care and do not come near or touch the driver Always use an insulated screwdriver to adjust the driver s switches Note The driver uses parts that are sensitive to electrostatic charge Before touching the driver turn off the power to prevent electrostatic charge from generating If an electrostatic charge is impressed on the driver the driver may be damaged 24 Connection 9 Connection This chapter explains how to connect the motor I O signals and power supply to the driver as well as grounding method 9 1 Connecting the motor Connection example electromagnetic brake motor Refer to p 33 for the connect
67. grease may ooze out from the geared motor If there is concern over possible environmental damage resulting from the leakage of grease check for grease stains during regular inspections Alternatively install an oil pan or other device to prevent leakage from causing further damage Oil leakage may lead to problems in the customer s equipment or products e Rotating direction of the gear output shaft The relationship between the rotating direction of the motor shaft and that of the gear output shaft changes as follows depending on the gear type and gear ratio Type of gear Gear ratio Rotating direction yp 9 relative to the motor rotating direction 3 6 7 2 10 Same direction TH geared EEE 20 30 Opposite direction PL geared PS geared All gear ratios Same direction PN geared Harmonic geared All gear ratios Opposite direction e Do not perform push motion operation with geared motors Doing so may result in damage to the motor or gear part e Saving data to the NV memory Do not turn off the main power supply or 24 VDC power supply while data is being written to the NV memory and 5 seconds after the completion of a data write Doing so may abort writing the data and cause a EEPROM error alarm to generate The NV memory can be rewritten approx 100 000 times e Motor excitation at power ON Simply turning on the power will not excite the motor To excite the motor always turn the C ON input ON If the applic
68. h an excessive position deviation alarm generates when the current is turned on Overload alarm Set the condition under which an overload detection alarm generates when the current is turned off The overload condition varies depending on the control mode Normal mode A position deviation of 1 8 or more has occurred Current control mode The operating current has reached the limit Descriptions of alarms Overheat protection The internal temperature of the driver exceeded 85 C 185 F Overload The cumulative value of applied loads exceeding the maximum torque reached or exceeded the value set in the overload parameter APP 5 03 Overspeed The speed of the motor output shaft exceeded 4500 r min excluding geared motors Command pulse error The command pulse frequency exceeded the specified value Regeneration unit overheat e The regeneration unit is not connected correctly e The regeneration unit is overheating Overvoltage protection e 200 230 VAC was applied to a product specified for 100 115 VAC e A large inertial load was stopped abruptly or up down operation was performed without connecting a regeneration unit Main power supply error The motor was started when the main power was cut off Undervoltage The main power was cut off momentarily or the voltage became low Overflow rotation during current on e When the current was turned on the deviation betwe
69. he pulse output mode of the controller pulse generator used with the driver Set a desired mode using the pulse input mode select switch 2P 1P 1P 1 pulse input mode when the PLS input and DIR input are used 2P 2 pulse input mode when the CW input and CCW input are used Note The new setting of the pulse input mode select switch will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply e To change the basic setting for pulse input mode Refer to Pulse input mode on p 50 46 12 3 Operating current Set a desired operating current using the current setting switch CURRENT The operating current to be set is the maximum output current multiplied by the operating current rate set to each dial setting of the current setting switch where F corresponds to 100 One of 16 operating current levels from 0 to F can be set If the load is small and there is an ample allowance for torque motor temperature rise can be suppressed by setting a lower operating current Setting The dial settings and corresponding operating current rates are listed below Dial setting Operating current rate Dial setting Operating current rate 0 6 3 8 56 3 1 12 5 9 62 5 2 18 8 A 68 8 3 25 0 B 75 0 4 31 3 C 81 3 5 37 5 D 87 5 6 43 8 E 93 8 7 50 0 F 100 factory
70. he torque Note Do not perform push motion operation with geared type motors Doing so may cause damage to the motor or gearhead Setting the current for push motion operation Set a desired current for push motion operation using any of the application parameters for push motion current 0 to 7 any one of APP 2 05 to APP 2 12 The current value set in the parameter will be used to limit the output torque You can select a desired current setting by a combination of ON OFF statuses of MO to M2 inputs Setting range 0 to 100 Push motion current parameter Initial value M2 M1 MO 0 APP 2 05 30 0 OFF OFF OFF 1 APP 2 06 40 0 OFF OFF ON 2 APP 2 07 50 0 OFF ON OFF 3 APP 2 08 60 0 OFF ON ON 4 APP 2 09 70 0 ON OFF OFF 5 APP 2 10 80 0 ON OFF ON 6 APP 2 11 90 0 ON ON OFF 7 APP 2 12 100 0 ON ON ON Performing the push motion operation 1 Set the application parameter for I O input mode APP 2 00 to Push motion operation 2 Select a current value using the MO to M2 inputs 3 Turn the T MODE input ON 4 Input CW or CCW pulses The load is pressurized continuously while the T MODE input is ON The output torque is limited at the current value selected for the parameter in step 2 If the output torque reaches the current value selected for the parameter in step 2 the TLC output will turn ON Refer to p 72 and p 74 for the timing charts 5 Stop the pulse input 6 Turn the T MODE input OFF Note e During push moti
71. he unit models and corresponding motor driver combinations are listed on p 14 CNI connector 6 pins CN3 connector 5 pins see ss CNS connector 36 pIDS cisci epai ana Genesee Connector wiring lever for CN3 sene AR Series Motor OPERATING MANUAL AR Series AC power input Driver OPERATING MANUAL 1 copy AR Series USER MANUAL CD ROM Cable for dmoLOE oin odere tirer ttes Included in a motor and driver package product e Cable for electromagnetic brake see 1 pc Supplied with electromagnetic brake motor package Parallel Key cinereo uet mE Bed vavon ESA 1 pc Supplied with geared types except for the AR46TH AR46PL and AR66TH 7 2 How to identify the product model AR 6 6 A A H 50 3 Ex Number Length of supplied connection cable m None Without connection cable Gear ratio T TH geared type P PL geared type PS PS geared type N PN geared type H Harmonic geared type Blank Standard type Power supply voltage A Single phase 100 115 V C Single phase 200 230 V S Three phase 200 230 V Motortype A Single shaft B Double shaft M Electromagnetic brake type Motor length Motor size 4 42 mm 1 65 in 6 60 mm 2 36 in 9 85 mm 3 35 in 90 mm 3 54 in for geared types Series name AR series The model name is 7 for the gear ratio 7 2 1 of the PS geared type 1
72. his brake cannot securely hold the load in place Accordingly do not use the electromagnetic brake as a safety brake To use the electromagnetic brake to hold the load in place do so after the motor has stopped e Double shaft type motor Do not apply a load torque overhung load or thrust load to the output shaft on the opposite side of the motor output shaft e Preventing leakage current Stray capacitance exists between the driver s current carrying line and other current carrying lines the earth and the motor respectively A high frequency current may leak out through such capacitance having a detrimental effect on the surrounding equipment The actual leakage current depends on the driver s switching frequency the length of wiring between the driver and motor and so on When providing a leakage current breaker use the following products for example which have high frequency signal protection Mitsubishi Electric Corporation NV series Fuji Electric FA Components amp Systems Co Ltd EG and SG series e Preventing electrical noise See 8 7 Installing and wiring in compliance with EMC Directive on p 23 for measures with regard to noise e Maximum torque of geared type motor Always operate the geared type motor under a load not exceeding the maximum torque If the load exceeds the maximum torque the gear will be damaged 11 Precautions for use e About grease of geared motor On rare occasions a small amount of
73. ia load will be repeated frequently Regeneration unit RGB100 To TH1 and TH2 terminals on CN1 E99 cs i e The two thin lead wires AWG22 0 3 mm of the regeneration unit are the thermostat outputs Connect them to the TH1 and TH2 terminals using the CN1 connector e Regenerative current flows through the two thick lead wires AWG18 0 75 mm of the regeneration unit Connect them to the RG1 and RG2 terminals using the CN3 connector Note e Before connecting the regeneration unit be sure to remove the jumper wire from the CN1 connector e f the current consumption of the regeneration unit exceeds the allowable level the thermostat will be triggered and a regeneration unit overheat alarm will generate If a regeneration unit overheat alarm generates turn off the power and check the content of the error Regeneration unit specifications Model RGB100 Continuous regenerative power 50 W Instantaneous regenerative power 600 W Resistance 1500 Operating temperature of thermostat Operation Opens at 15047 1G 302143 Ty P 9 P Reset Closes at 145 12 C 293454 F normally closed Electrical rating of thermostat 120 VAC 4A 30 VDC 4A minimum current 5 mA Install the regeneration unit in a location where heat dissipation capacity equivalent to a level achieved with a heat sink made of aluminum 350x350x3 mm 13 78x13 78x0 1
74. ilure to do so may result in injury e Do not leave anything around the motor and driver that would obstruct ventilation Doing so may result in damage to equipment Connection e The communication connector CN4 and I O signal connector CN5 are not insulated When grounding the positive terminal of the power supply do not connect any equipment PC etc whose negative terminal is grounded Doing so may cause the driver and these equipment to short damaging both Operation Use a motor and driver only in the specified combination An incorrect combination may cause a fire e Provide an emergency stop device or emergency stop circuit external to the equipment so that the entire equipment will operate safely in the event of a system failure or malfunction Failure to do so may result in injury e Before supplying power to the driver turn all input signals to the driver OFF Otherwise the motor may start suddenly at power ON and cause injury or damage to equipment Do not touch the rotating part output shaft during operation Doing so may cause injury e The motor surface temperature may exceed 70 C 158 F even under normal operating conditions If the operator is allowed to approach the running motor attach a warning label as A shown below in a conspicuous position Failure to do so may result in skin burn s e Before moving the motor directly with the hands confirm that the FREE input turns ON Failure to do so may result in i
75. in The speed error gain is used to suppress vibration while the motor is operating or accelerating decelerating Set the required conditions using the following application parameters e Speed error gain 1 APP 3 01 Adjusts vibration during operation e Speed error gain 2 APP 3 02 Adjusts vibration during acceleration deceleration Note The initial values reflect results of adjustment Do not change the initial values in normal conditions of use 55 Extended functions B Position loop gain speed loop gain speed loop integral time constant These items are effective in the current control mode Vibration that occurs while the motor is accelerating decelerating or at standstill can be adjusted to an optimal value The optimal value varies depending on the equipment and operating conditions Set the required conditions using the following application parameters Position loop gain APP 4 00 e Speed loop gain APP 4 01 e Speed loop integral time constant APP 4 02 B Anti vibration control This item is effective in the current control mode Adjusts the compliance with respect to position deviation When this value is increased the deviation between the command position and actual position will decrease However an excessively high value may increase the motor overshoot or cause hunting Adjusts the compliance with respect to
76. ion method of 24 VDC power supply 24 VDC power supply CN1 connector 24VDCH5 gt CN1 connector 0 75 A or more Connector cover Keep 30 m 98 4 ft or less for the wiring distance between the motor and driver Note e The lead wires of the cable for electromagnetic brake have polarities so connect them in the correct polarities If the lead wires are connected with their polarities reversed the electromagnetic brake will not operate properly e f the distance between the motor and driver is extended to 20 m 65 6 ft or longer use a power supply of 24 VDC 4 e Have the connector plugged in securely Insecure connector connection may cause malfunction or damage to the motor or driver e When unplugging the connector do so while pressing the latches on the connector e When plugging unplugging the connector turn off the power and wait for the CHARGE LED to turn off before doing so The residual voltage may cause electric shock e When installing the motor to a moving part use an accessory flexible cable offering excellent flexibility Refer to p 67 for details 25 Connection 9 2 Connecting the I O signals Solder the I O signal cable AWG28 to 24 0 08 to 0 2 mm to the 18161412108 6 4 2 CN5 connector 36 pins while checking the pin numbers in the Connector function table provided be
77. iver Orientalmotor ARD C o Current setting switch Factory setting F S peed filter setting switch Factory setting 1 SG Ae Bb ake Resolution switch Factory setting DO CS0 Keep this switch in the NORM position Pulse input mode select switch The factory setting depends on the destination country Note Before operating any switch turn off the driver power and wait for the CHARGE LED to turn off Failure to do so may cause electric shock 12 1 Resolution Use the resolution switches DO D1 and CSO CS1 to set a desired resolution per revolution of the motor output shaft Do T 1 b1 Doj O i D1 cso F1 cs1 cso IT cso I1e Os Resolution 1000 P R Resolution 500 P R DO T 1 D1 to Fae gt NO Resolution 10000 P R Resolution 5000 P R Note e The new settings of the resolution switches will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply e When changing the resolution using the CS input use the switches in CSO DO or CSO D1 combination If the CS input is turned ON when CS1 is selected the resolution will not be changed e To change the basic resolution setting Refer to Resolution on p 49 12 2 Pulse input mode Set a desired pulse input mode of the driver according to t
78. jury or damage to equipment e Do not turn the FREE input to ON while the motor is operating The motor will stop and lose its holding power Doing so may result in injury or damage to equipment Maintenance and inspection e Do not touch the connection terminals on the driver while the power is supplied or for at least 10 minutes after turning off the power Before making wiring connections or carrying out checks also wait for the CHARGE LED to turn off and check the voltage with a tester etc Failure to do so may result in electric shock Repair disassembly and modification e Do not disassemble or modify the motor and driver This may cause electric shock or injury Refer all such internal inspections and repairs to the branch or sales office from which you purchased the product Safety precautions A Caution General e Do not use the motor and driver beyond its specifications Doing so may result in electric shock injury or damage to equipment e Keep your fingers and objects out of the openings in the motor and driver Failure to do so may result in fire electric shock or injury e Do not touch the motor and driver during operation or immediately after stopping The surface is hot and may cause a skin burn s Transportation e Do not carry the motor by holding the motor output shaft or motor cable Doing so may cause injury Installation e Provide a cover over the rotating parts output shaft of the motor Fa
79. l mode Operating current Adjust the current during operation Can be adjusted Standstill current Adjust the current at standstill Can not be adjusted Apply a filter to input pulses to make the pulses smooth Insert interpolation pulses between input pulses Suppress vibration while the motor is accelerating decelerating Position loop gain Vibration that generates while the Speed filter Can be adjusted Can be adjusted Smooth drive Speed error gain Can not be adjusted Speed loop gain motor is accelerating decelerating or at Speed integral time standstill can be adjusted to an optimal constant level Can not be adjusted Can be adjusted Enclosure vibration that occurs with Anti vibration control an equipment of low rigidity can be adjusted to an optimal level Control mode The driver operates in one of two control modes the normal mode and the current control mode The desired mode can be set using the control mode select switch NORM CCM If noise is heard during high speed operation or there is notable vibration it may be effective to switch to the current control mode Note however that a slight delay may occur in the current control mode compared to the normal mode depending on the condition of the load Keep the driver in the normal mode during normal conditions of use NORM Normal mode CCM Current control mode CCM Note e The new setting o
80. ll turn OFF and the motor will stop The motor will continue to operate after generating the abnormal operation data alarm because abnormal operation data alarm does not cut off the motor current When the application parameter for ALO 2 signal output APP 2 01 is set to Enable the READY output TLC output and TIM2 output will automatically switch to the ALO output AL1 output and AL2 output respectively When an alarm generates the ALARM LED will blink The present alarm can be checked by counting the number of times the ALARM LED blinks or using the OPX 2A or MEXEO2 Example Overvoltage alarm number of blinks 3 Approx 0 2 s Approx 0 2 s Interval Approx 1 4 s B Alarm reset Perform one of the reset operations specified below Before resetting an alarm always remove the cause of the alarm and ensure safety Refer to p 73 for the timing chart e Turn the ALM RST input to ON and then OFF The alarm will be reset at the OFF edge of the input e Perform an alarm reset using the OPX 2A or MEXEO2 e Cycle the power DT Some alarms cannot be reset with the ALM RST input OPX 2A or MEXEO2 Check the following table to identify which alarms meet this condition To reset these alarms you must cycle the power If a 24 VDC power supply is connected also cycle the 24 VDC power supply 59 Alarms and warnings B Descriptions of alarms See p 85 for more information about the alarm parameters Alarm cod
81. low Use a shielded cable for I O signals We provide an accessory driver cable allowing simple and easy connection with a driver as well as connector terminal block conversion unit Refer to p 69 for details 35 33 31 29 27 25 23 21 19 B Connector function table Operating mode Name Pin No Positioning Push motion Positioni Ref operation operation ositioning operation Push motion operation 1 2 GND Ground connection z Si A phase differential output Line driver p 42 5 BSG B phase differential output Line driver 6 BSG 4 a Timing differential output Line driver p 42 8 TIM1 2 BEME Alarm output p 43 10 ALM a Warning output p 43 12 WNG 13 END ET 14 END Positioning complete output p 42 15 READY ALO 16 READY ALO Operation ready complete output Alarm code output 0 p 41 ui ea Torque limit output Alarm code output 1 p 41 18 TLC AL1 2 E Timing output open collector Alarm code output 2 p 42 20 TIM2 AL2 21 GND Ground connection 22 IN COM Input common 23 C ON Current on input p 38 24 CLR ALM RST Deviation clear input Alarm reset input p 40 25 CCM Current control mode ON input p 41 26 CS T MODE Resolution selection input Push motion operation ON p 39 27 MO p 41 as meum gw Fewmielecrcainome Put S 29 P RESET M2 Position reset input p 4
82. motor is running the AR Series performs closed loop control under overload and similar conditions to continue its operation at the maximum torque e Energy saving Motor and driver losses have been substantially reduced to achieve low heat generation and save energy Since the motor and driver generate much less heat they can now be operated for longer hours at high speed which was not possible with conventional stepping motors drivers e Easy adjustment using a speed filter Even after the motor has been installed in the equipment the motor response can be adjusted to suppress vibration using a digital switch with ease e Separate main power supply and control power supply A separate 24 VDC power supply is connected to supply control power independently of the main power supply This way the motor position can be detected and contents of alarms can be checked while the 24 VDC power is supplied even when the main power is cut off e Supporting sink output and source output The driver supports both the current sink output circuit and the current source output circuit Line driver output is not supported e Automatically controlled electromagnetic brake Since the driver automatically controls the electromagnetic brake all you need is to connect a 24 VDC power supply and the electromagnetic brake will operate This saves time to adjust the timings of control signal inputs and design a ladder program e Alarm and warning functions The dri
83. n commands using the speed filter setting switch Adjust the filter according to the load condition Available Change the value assigned to each dial setting of the speed filter setting Switch Adjustment in normal mode Suppress vibration during rotation Suppress vibration during operation and acceleration deceleration Gain adjustment in current control mode Adjust the position loop gain Adjust the speed loop gain Adjust the speed loop integral time constant Set the frequency of anti vibration control Set anti vibration control to be enabled Smooth drive Set the smooth drive JOG operation Set the operating speed of JOG operation Set the acceleration and deceleration rate of JOG operation Set the starting speed of JOG operation Not available Extended function Available 82 Reference Current Parameter operation data Normal control OPX 2A us mode mode screen display Name Setting range Initial value APP 2 05 Push motion current 0 30 0 APP 2 06 Push motion current 1 40 0 APP 2 07 Push motion current 2 50 0 APP 2 08 Push motion current 3 60 0 0 0 to 100 0 APP 2 09 Push motion current 4 70 0 APP 2 10 Push motion current 5 80 0 APP 2 11 Push motion current 6 90 0 APP 2 12 Push motion current 7
84. n power was cut off e Check the C ON input logic e The DC voltage of the main power supply became lower than the value set in the undervoltage warning parameter APP 5 Check the input voltage of the main power Undervoltage 25 06 supply e The main power was cut off momentarily or the voltage became low Reduce the load or increase the e A load exceeding the maximum torque acceleration deceleration rate was applied for the time set in the overload ae Overload 30 warning parameter APP 5 08 or longer ds alee Is le A e mode e The load is large or acceleration oe eae i deceleration rate is too short e Check if the electromagnetic brake is released during operation e Check the electronic gear setting and reduce the speed of the motor output shaft The detected motor speed exceeded to the value set in the parameter or less Overspeed 31 the value set in the overspeed warning P parameter APP 5 09 e f the motor is overshooting at the time of acceleration increase the acceleration deceleration rate 64 Alarms and warnings Warning type Warning code Cause Action Abnormal operation The CS input was changed when the current was on Do not change the CS input when the current is on The traveled distance from the electrical home exceeded the control range 70 data 2 147 483 648 pulses This alarm Turn the P RESET input ON and set the generates when the applica
85. ndstill current using the application parameter for standstill current APP 3 00 The initial value is 50 B Speed filter You can use the speed filter setting switch V FIL to adjust how the motor responds to input pulses One of 16 speed filter levels from 0 to F can be set When the speed filter level is raised vibration can be suppressed during low speed operation and starting stopping of the motor will become smooth Note however that an excessively high filter level will result in lower synchronicity with commands Set an appropriate value according to the specific load and purpose You can change the value assigned to each dial setting of the speed filter setting switch by using a corresponding application parameter for speed filter at V FIL one of APP 1 00 to APP 1 15 B Smooth drive When the smooth drive function is used the driver automatically implements microstep control over input pulses This helps suppress motor vibration If the smooth drive function is not used vibration may increase in the low speed range although starting characteristics will improve Set whether or not to use the smooth drive using the system parameter for smooth drive SyS 1 01 Note When a system parameter has been changed the new parameter will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply B Speed error ga
86. ng on the operating speed and size of the load Do not shorten the interval cw d time more than necessary Motor operation CCW Note While one pulse is input the other pulse should always be turned OFF If both pulses are turned ON simultaneously no pulse will be input 1 pulse input mode e When the PLS input is turned ON while the DIR input is ON the motor will rotate by one step in CW ON Hh direction PESanput OFF e When the PLS input is turned ON while the DIR input ON is OFF the motor will rotate by one step in CCW DIR input OFF direction The minimum interval time needed for switching the direction of rotation will vary depending on the operating Motor operation speed and size of the load Do not shorten the interval time more than necessary CCW 38 Explanation of I O signals e Pulse signal Input a pulse with sharp rising and falling edges as shown in the figure The figure shows the voltage levels of pulse signals ON 2 us or more OFF 0 8 us or more 0 8 us or more 2 us or less 2 us or less B FREE input When the FREE input is turned ON current supplied to the motor will be cut off thereby allowing the motor output shaft to be turned by external force If the motor is equipped with an electromagnetic brake the electromagnetic brake will also be released When the FREE input is turned OFF current will be
87. njury Warning label e Use a 24 VDC power supply that has been given reinforced insulation between the primary side and secondary side Failure to do so may cause electric shock e Immediately when trouble has occurred stop running and turn off the driver power Failure to do so may result in fire electric shock or injury e To prevent electric shock use only an insulated screwdriver to adjust the driver s switches Maintenance and inspection e To prevent the risk of electric shock do not touch the terminals while performing the insulation resistance test or dielectric strength test Disposal To dispose of the motor and driver disassemble it into parts and components as much as possible and dispose of individual parts components as industrial waste Overview of the AR Series 2 Overview of the AR Series The AR Series high efficiency stepping motor and driver package is a product consisting of a stepping motor equipped with a rotor position detection sensor and a high performance microstep driver When the AR Series is used with an accessory data setter OPX 2A or data setting software MEXEO2 both are sold separately push motion operation can be performed in addition to accurate positioning operation B Main features e Introducing closed loop control The AR Series can continue its operation even upon encountering quick acceleration or an abrupt change in load Monitoring the speed and amount of rotation while the
88. nnection 9 4 Grounding the motor and driver B Grounding the motor Be sure to ground the Protective Earth Terminal of the motor Tightening torque 1 2 N m 170 oz in Use a grounding wire of AWGIS 0 75 mm or more Use a round terminal in combination with an inner clip washer and bolt it in place to secure the grounding connection Ground wires and crimp terminals are not supplied B Grounding the driver Be sure to ground the protective earth terminal screw size M4 of the driver Tightening torque 1 2 N m 170 oz in You can ground either of the two protective earth terminals The terminal not grounded should be connected to the protective earth lead of the motor cable Use a grounding wire AWGI6 to 14 1 25 to 2 0 mm and do not share the protective earth terminal with a welder or any other power equipment When grounding the protective earth terminal use a round terminal and affix the grounding point near the driver Protective Earth Terminal Ground one of these terminals 9 5 Connecting the 24 VDC power supply input regeneration resistor unit and electromagnetic brake Use the CN1 connector 6 pins to connect the 24 VDC power supply input regeneration resistor thermal input and electromagnetic brake Connect the lead wire AWG24 to 16 0 2 to 1 25 mm to the connector while checking the pin numbers in below Display Description 24V 24 VDC power supply input 24V Be sure to connect these
89. ntroller Driver amp Lx a 4 5 6 L 26C31 or 7 equivalent 3 AA Termination resistor of 100 Q or more B READY ALO output When the driver becomes ready the READY output turns ON Input pulse signals to driver after the READY output has turned ON If an alarm generates an alarm code indicating the cause of the alarm can be output and checked via the combination of ALO ALI and AL2 outputs To use alarm codes the applicable parameter must be changed using the OPX 2A or MEXEO2 For details on alarm refer to p 59 B TLC AL1 output This signal will be output when the torque characteristic exceeds the specified range If a push current is set using an extended function this signal is output while pushing If an alarm generates an alarm code indicating the cause of the alarm can be output and checked via the combination of ALO ALI and AL2 outputs To use alarm codes the applicable parameter must be changed using the OPX 2A or MEXEO2 For details on alarm refer to p 59 41 Explanation of I O signals B END output When the motor has completed its movement the END output will turn ON Specifically the END output will turn ON when the rotor position falls within 1 8 of the command position while no pulse signal is input A desired output condition for the END signal can be set using the OPX 2A or MEXE02 Refer to 19 2 Func
90. ny a Caution symbol may result in injury or property damage Note The items under this heading contain important handling instructions that the user should gt observe to ensure safe use of the product AN Warning General e Do 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 electric shock or injury e Assign qualified personnel the task of installing wiring operating controlling inspecting and troubleshooting the product Failure to do so may result in fire electric shock injury or damage to equipment Do not transport install the product perform connections or inspections when the power is on Always turn the power off before carrying out these operations Failure to do so may result in electric shock e The terminals on the driver s front panel marked with symbol indicate the presence of high voltage Do not touch these terminals while the power is on to avoid the risk of fire or electric shock e Take measures to keep the moving parts in position for vertical operations such as elevator applications The motor loses holding torque when the power is shut off allowing the moving parts to fall and possibly cause injury or damage to equipment e The brake mechanism of an electromagnetic brake motor is used to keep the moving part and motor in position Do not use it as a dec
91. o be installed within another device Install them in a well ventilated location that provides easy access for inspection The location must also satisfy the following conditions Inside an enclosure that is installed indoors provide vent holes Operating ambient temperature Motor 10 to 50 C 14 to 122 F non freezing Harmonic geared type 0 to 40 C 32 to 104 F non freezing Driver 0 to 50 C 32 to 122 F non freezing Operating ambient humidity 85 or less non condensing Area that is free of explosive atmosphere or toxic gas such as sulfuric gas or liquid Area not exposed to direct sun Area free of excessive amount of dust iron particles or the like Area not subject to splashing water rain water droplets oil oil droplets or other liquids Area free of excessive salt Area not subject to continuous vibration or excessive shocks Area free of excessive electromagnetic noise from welders power machinery etc Area free of radioactive materials magnetic fields or vacuum 1000 m 3300 ft or lower above sea level 8 2 Installing the motor The motor can be installed in any direction To allow for heat dissipation and prevent vibration install the motor on a metal surface of sufficient strength Installation method A Installation method B Through hole for pilot Metal plate Metal plate Type Frame size Bolt size Tightening torque Effective depth of Installation
92. on operation the automatic current cutback function does not operate even when the pulse input is stopped In other words the value of push current selected for the parameter is maintained e f the load is removed during push motion operation the motor will move at high speed the number accumulated pulses e Since pulses are input continuously during push motion operation a prolonged push condition may generate an excessive position deviation alarm If the push condition continues for a prolonged period stop the pulse input Whether or not the motor is pushing the load can be determined using the TLC output Test operation Test operation is performed using the data setter OPX 2A or the data setting software MEXEO2 Conduct test operation JOG operation to check the levels of vibration and noise or to check how operations are performed in a push motion operation and or a return to electrical home operation Set the required conditions for JOG operation using the following parameters e Operating speed of JOG operation APP 7 00 e Acceleration and deceleration rate of JOG operation APP 7 01 e Starting speed of JOG operation APP 7 02 Note JOG operation is performed only while each applicable operation button is pressed on the OPX 2A or clicked in MEXEO2 External signals cannot be used to start stop the motor 53 Extended functions B Return to electrical home operation When the RETURN input is turned ON the motor
93. on rate of return to electrical APP 6 01 p 54 rate of return operation home operation Starting speed of return Set the starting speed of return to electrical home operation APP 6 02 operation Operating speed of JOG i operation Set the operating speed of JOG operation APP 7 00 Acceleration deceleration rate of JOG operation Set the acceleration and deceleration rate of JOG operation APP 7 01 p 53 Starting speed of JOG Set the starting speed of JOG operation APP 7 02 operation 48 m System parameters Extended functions m OPX 2A screen Item Description display Ref SyS 0 00 Electronic gear A1 to A4 Set the denominator of the electric gear to SyS 0 03 p 49 Electronic gear B Set the numerator of the electric gear SyS 0 04 Pulse input mode Select the pulse input mode SyS 1 00 p 50 Smooth drive Change the setting to enable disable the smooth drive SyS 1 01 p 55 Excite position at first current Select the position at which the motor is excited after the power SyS 1 02 p 52 on has been turned on Set whether or not to automatically return the motor when the V Autoren current is turned on to the position where it was stopped Sy 1 03 pese Rotation direction Select rotation direction of the motor SyS 1 04 p 52 Note When a system parameter has been changed the new parameter will become effective after the power is cycled If a 2
94. ontrol mode i ON CW input OFF Push motion operation is in progress ON CCW input MA CCM input O OFF n ON T MODE input OFF ON TLC output OFF Motor current 15 ms orless Current limit 15 ms or less 15 ms or less 15 ms or less 1 8 Position deviation 0 Internal speed command AH AB LL o gt M Input the T MODE signal while the motor is at standstill 2 When the motor current reaches the operating current the TLC signal will be output even during acceleration deceleration Push motion operation is in progress 74 B END output ON CW CCW input ON END output Position devi Reference OFF 5 ms or less 5msorless k 5msorless OFF 1 8 ation 0 Internal speed command Internal speed command under active speed filter Internal speed command External force is applied The output time of the END signal varies depending on the speed filter and operating speed e The END output will turn ON when the position deviation becomes 1 8 and internal speed command is 0 m TIM1 output TIM2 output CW CCW input ON TIM1 output TIM2 output ON AMAAN IRERRRRRRI NANA OFF 150 us or less 150 us or less 50 us or more 150 us orless OFF 5 ms or less 5
95. or MEXEO2 For details on alarm refer to p 59 ASG output BSG output The ASG output is used to output pulses according to motor operation The motor position can be monitored by counting the ASG output pulses The number of output pulses per motor revolution varies depending on the resolution effective when turning the power on The BSG output has a 90 phase difference with respect to the ASG output The motor rotation direction can be determined by detecting the BSG output level at the rise of the ASG output Regardless of the resolution the accuracy of the pulse output is in a range of 0 36 CW rotation CCW rotation O ASG output opp L 71 LI jJ L 90 ON BSG output OFF Note e The ASG output and BSG output are subject to a maximum delay of 0 1 ms with respect to motor operation Use these outputs to check the position at which the motor is stopped e Connect a termination resistor of 100 Q or more between the driver and the input of the line receiver 42 Explanation of I O signals Electrical characteristics of ASG output and BSG output 250 ns or more _ 250 ns or more 500 ns or more ON 90 ASG output OFF 10 250 ns or more 250 ns or more 250 ns or more ON 90 BSG output OFF LL The electrical characteristics vary depending on the IC specification of the line driver WNG output When a warning generat
96. or END output APP 2 03 p 42 If the position at which the motor stops deviates from the END signal offset theoretical position due to the effect of the load friction etc set APP 2 04 p 52 an offset for the output position corresponding to the END output APP 2 05 Push motion current Set the operating current rate applicable to push motion operation to p 53 APP 2 12 Standstill current Set the standstill current as a percentage of the operating current APP 3 00 p 55 Speed error gain 1 Set the speed error gain When this value is increased motor APP 3 01 vibration will decrease p 55 Set the speed error gain When this value is increased motor e f Speed error gain 2 vibration at the time of speed change will decrease APP 3 02 Position loop gain Set the position loop gain When this value is increased the APP 4 00 response will increase Speed loop gain Set the speed loop gain When this value is increased the APP 4 01 p 56 response will increase Speed loop integral time Set the integral time constant for speed loop When this value is APP 4 02 constant decreased the response will increase Anti vibration control Change the setting to enable disable anti vibration control APP 4 03 er 56 Aisa das ot anti vibration Set the frequency of anti vibration control APP 4 04 P E speedor return Set the operating speed of return to electrical home operation APP 6 00 Acceleration deceleration Set the acceleration and decelerati
97. or less Mot itati otor excitation o e f 24 VDC power is not input the electromagnetic brake does not operate e When the C ON input is OFF motor excitation will turn off after the electromagnetic brake is actuated 70 Reference e The power is turned on after turning the C ON input ON or the main power is cut off ON Main power supply oc ON 24 VDC power supply OFF C ON i p AN PUS Ej READY output MUNI OFF ON WNG output OFF Electromagnetic Hold brake Release o 0 Motor excitation OFF 1s orless Whichever 2 s or less is longer 60 ms or less 60 ms or less 5 ms or less 1s orless Whichever 2 s or less S longer 60 ms or less 1s orless Whichever 2 s or less S longer 60 ms or less e If the main power is cut off electromagnetic brake operation and motor excitation will turn off simultaneously m FREE input FREE input O BE eer ON C ON input OFF 5 ms or less 250 ms or less 5 ms or less READY output SUPUT cie Electromagnetic Hold 60 ms or less 60 ms or less 60 ms or less brake Release 250 ms or less 200 ms or less 250 ms or less Mot itati ik otor excitation oc B P RESET input Alarm Generation condition ON CW CCW in
98. ormal conditions of ae GOM CCM Current control mode Set the switch to this position if you want to suppress noise or vibration Factory setting NORM This switch is used to toggle between the 1 pulse input mode and 2 pulse input mode according to the pulse output mode of the controller Pulse input mode select switch 1P 1 pulse input mode active low 46 2P 1P 2P 2 pulse input mode active low P The factory setting of the pulse input mode depends on the destination country Data edit connector CN4 Connect a PC in which the MEXEO2 has been installed or the OPX 2A p 35 I O signal connector CN5 Connect the O signals of the controller p 26 2 Protectiv Earth Terminals Used for grounding via a grounding cable of AWG16 to 14 1 25 to 2 0 mm p 33 or more Connect 24 VDC Once a 24 VDC power supply is connected you can check 24 VDC power supply input the contents of alarms that have generated even when the main power is cut terminals CN1 24V off If a motor with an electromagnetic brake is used be sure to connect a 24 VDC power supply as the electromagnetic brake power Connect the accessory regeneration unit RGB100 sold separately If no Reg neration resistor thermal input regeneration unit is connected plug in the CN1 connector to short the TH1 33 ee CN1 TH1 TH2 p and TH2 terminals The driver is shipped with a jumper wire preassembled p in the CN1 connector so you can short the terminals by simply plugging the conne
99. ot perform return to electrical home operation while an abnormal operation data warning is present The power was turned on when the resolution set by the electronic gear was outside the specified range Turn on the power again after setting the electronic gear parameter correctly so that the resolution is in a range of 100 to 10000 P R 61 Alarms and warnings Alarm code output Reset using the Number of ALARM Alarm Motor operation Alarm type ALM RST input LED blink d inks AL2 AL1 ALO code upon alarms OPX 2A MEXEO2 Sensor error during 28 operation Initial sensor error 42 8 OFF OFF OFF Initial rotor rotation error 43 x Not possible Motor combination error 45 EEPROM error 9 OFF OFF ON 41 The symbols in the Motor operation upon alarm field are explained below X When an alarm generates the motor current will be cut off and the motor will lose its holding torque In the case of an electromagnetic brake motor the motor will become unexcited and the electromagnetic brake will hold the load automatically O Even when an alarm generates the motor current will not be cut off and the motor position will be held 62 Alarms and warnings Cause Action A sensor error occurred while the motor was operating A sensor error occurred when the power was turned on Turn off the power and check the connection between the mo
100. other means to secure the input and output cables firmly to the surface of the enclosure Connect the ground terminal of the mains filter to the grounding point using as thick and short a wire as possible Do not place the AC input cable AWG18 0 75 mm or more parallel with the mains filter output cable AWGI8 0 75 mm or more Parallel placement will reduce mains filter effectiveness if the enclosure s internal noise is directly coupled to the power supply cable by means of stray capacitance B Connecting surge arrester Use a surge arrester or equivalent as below table Single phase 100 115 V Manufacturer Single phase 200 230 V Three phase 200 230 V OKAYA ELECTRIC INDUSTRIES CO LTD F A V 781BWZ 4 R A V 781BXZ 4 Note When measuring dielectric strength of the equipment be sure to remove the surge arrester or the surge arrester may be damaged B Connecting the AC power line reactor When inputting single phase 230 V insert a reactor 5 A 5 mH in the AC power line to ensure compliance with EN 61000 3 2 B Connecting the 24 VDC power supply Use a 24 VDC power supply conforming to the EMC Directive Use a shielded cable for wiring and wire ground the power supply cable over the shortest possible distance Refer to Wiring the power supply cable and signal cable for how to ground the shielded cable B How to ground The cable used to ground the motor driver and noise filter must be as thick and short
101. peration that moves the motor to its electrical home position where the cumulative value of command positions becomes 0 The electrical home position is initially at the motor position when the power is turned on and it can be changed to a desired position using the P RESET input e M1 input Combine this input with the MO and M2 inputs to select a desired current setting for push motion operation Refer to p 53 for details 39 Explanation of I O signals M P RESET M2 input The P RESET input is effective when positioning operation is performed When push motion operation is selected with the OPX 2A or MEXEO2 the M2 input will become effective e P RESET input When the P RESET input is turned ON the cumulative value of command positions will become 0 and the electrical home position will be set Input this signal while the motor is at standstill CW CCW input ON i E T OFF 5 ms or more ON P RESET input OFF ON _ 9 ms or less Cumulative position commands e M2 input Combine this input with the MO and M1 inputs to select a desired current setting for push motion operation Refer to p 53 for details B CLR ALM RST input This input is used to clear the position deviation counter If an alarm generates the CLR ALM RST input will function as an input signal to reset the alarm e CLR input 500 us or more CLR i si input O
102. plication parameter for C ON input logic APP 2 02 Note e f the parameter for excite position at first current on SyS 1 02 is set to Electrical angle 0 the motor output shaft may move by a maximum of 3 6 when the C ON input is turned ON e When a system parameter has been changed the new parameter will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply Automatic return operation This is a return operation when the motor is in a state of current ON If the system parameter for auto return SyS 1 03 is set to Enable the motor can automatically return when the C ON input is turned ON or FREE input is turned OFF to the position where it was stopped Note When a system parameter has been changed the new parameter will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply Setting the motor rotation direction Set a desired motor rotation direction using the system parameter for rotation direction SyS 1 04 Note e When a system parameter has been changed the new parameter will become effective after the power is cycled If a 24 VDC power supply is used also cycle the 24 VDC power supply e The CW and CCW indicate the rotation direction of the motor as seen from the output shaft The output shaft of the TH geared typed motors with ratios of 20 and 30 as well as all ratios of the Harmonic geared
103. power supply OFF CWICCW input 9 DUN GRE C ON input O HUS NDUE off READY output ONDUN FE ON OFF ON OFF ALM output WNG output ON END output OFF Motor excitation ON OFF Motor operation 10 s or more je Effective at 2 s or less 300 ms or less 60 0 ms or less 5 ms or less 60 0 ms or less 5msorless 200 ms or less 250 ms or less 44 Explanation of I O signals B When a 24 VDC power supply is connected to CN1 10 s or more ON Main power supply OFF ON 24 VDC power supply orr 1 CW CCW i vi ICCW input gee Lc W 1s or more ON OFF C ON input 700 ms or less Whichever 300 ms orless iS longer 5 ms or less PE tae eae che READY p output oct 600 ms or less ON gt OFF ON OFF ALM output WNG output 600 ms or less 5 ms or less END p output opp 250 ms or less E 60 ms or less Hold Release Electromagnetic brake 200 ms or less 250 ms or less Mot itati s otor excitation opp Motor operation The specific time varies depending on the timing at which the C ON input is turned ON 45 Setting 12 Setting This chapter explains how to change and set the driver functions using the switches on the front face of the dr
104. put orr ON P RESET input 5 ms or more 0 s or more READY output OPUN GFF Cumulative position commands 5 ms or less 5ms orless p e When the P RESET input is turned ON the cumulative value of position commands will be reset to 0 and the current position will be set as the electrical home e If an alarm generates the P RESET input will become invalid e Input the P RESET signal while the motor is at standstill 71 Reference B CS input C ON input FAAN ODUN OFE ON CS input ON OFF RETURN input READY p output Gre ON WNG output OFF ALM output OUI OFF Mot itati ON otor excitation oc 5 ms or more 5 ms or more 1 OFF 5 ms or more 300 ms or less 60 ms or less 5 ms or less 200 ms or less 60 ms or less 2 1 Ifthe CS input is changed while the C ON input is ON an operation data error warning will generate 2 Ifa return to electrical home operation is performed while an operation data error warning is present an operation data error alarm will generate Note that the motor will remain excited e This timing chart assumes that the application parameter for abnormal operation data warning APP 5 00 is set to Enable If this parameter is set to Disable no warning will be output and an alarm will generate right away e
105. put 500 us or more ON CLR input OFF i 5 ms or less ON O READY output OFF gt mS or less 9 ms or less END out PUE OFF 5 ms or less 1 8 Position deviation 0 k B ALM RST input OS Position deviation occurs due to external force Alarm Generation condition 10 ms or more 1 5 ms or more 350 ms or less ALM RST input o ame PUE gpf 5 ms or less READY t gi SUIDUE opp 5 ms or less_ 5 ms or less ALM t a OUPUE eee 60 ms or less Electromagnetic Hold brake Release 0 ms or less 2s 0 Motor excitation OFF The specific time varies depending on when an alarm record is saved 2 An alarm is reset at the OFF edge of the ALM RST input 300 ms or less 250 ms or less e This timing chart assumes generation of an alarm that turns off motor excitation 73 Reference B TLC output e Normal mode cw input O MPU ogg ON CCW input E HE EH NW OFF CCM input a ro EE ON T MODE input OFF 5 ms or less 5 ms or less 5 ms or less 5 ms or less TLC output veer GEE 1 8 2 Position deviation 0 intemal speed command a lM d K Input the T MODE signal while the motor is at standstill 2 When the position deviation exceeds 1 8 the TLC signal will be output even during acceleration deceleration e Current c
106. r rotates without problem H LI To change the resolution CS0 CS1 DO D1 n LH D1 csi cso l cso IH 1 Resolution 1000 P R Resolution 500 P R vr EH LH cs1 H cs1 Resolution 10000 P R Resolution 5000 P R lt 1 Turn the C ON input ON to excite the motor 2 Input pulses 36 Quick operations STEP 3 Were you able to operate the motor properly How did it go Were you able to operate the motor properly If the motor does not function check the following points e Is the C ON input ON e Are the regeneration resistor thermal input terminals TH1 and TH2 on the CN1 shorted with a jumper wire e Is any alarm present e Are the power supply and motor connected securely For more detailed settings and functions refer to 13 Extended functions on p 48 37 Explanation of I O signals 11 Explanation of I O signals Check the timing charts on p 70 11 1 Input signals The following input signals of the driver are photocoupler inputs The signal state represents the ON Carrying current or OFF Not carrying current state of the internal photocoupler rather than the voltage level of the signal IN COM C ON CLR ALM RST CCM CW CCW CS RETURN P RESET FREE Driver internal circuit 3kQ Driver intemal circuit 2 7 KQ 22 24 VDC 33 34
107. r loose driver connections in the motor lead wires Check for a blocked opening of the driver case Are any of the driver mounting screws or power connection terminal screws loose Are there any strange smells or appearances within the driver Note The driver uses semiconductor elements Handle the driver with care since static electricity may damage semiconductor elements 57 General specifications 15 General specifications Motor Driver IP65 1 IP20 for the double shaft type Iren Degree of protection 10 to 50 C 414 to 122 F 2 Ambient non freezing 0 to 50 C 32 to 122 F 3 temperature Harmonic geared type 0 to 40 C non freezing Operation 32 to 104 F 2 non freezing environment Humidity 85 or less non condensing Altitude Up to 1000 m 3300 ft above sea level Surrounding No corrosive gas dust water or oil atmosphere Ambient o i temperature 20 to 60 C 4 to 140 F non freezing Storage Humidity 85 or less non condensing environment Altitude Up to 3000 m 10000 ft above sea level Surrounding No corrosive gas dust water or oil atmosphere Amp ier 20 to 60 C 4 to 140 F non freezing temperature Shipping Humidity 85 or less non condensing environment Altitude Up to 3000 m 10000 ft above sea level Surrounding No corrosive gas dust water or oil atmosphere 100 MQ or more when 500 VDC 100 MQ or more wh
108. rameter operation data Standard Extended Normal OE OPX2A P specification function mode z i iti peciti mode screen display Name Setting range Initial value Available Available Available Available i p i 7 C t Parameter operation data Standard Extended Normal bud OPX2A P ificati functi d j i iti specitication tunction mode mode screen display Name Setting range Initial value Abnormal operation data 0 Disable BPESEDU warning 1 Enable AEN etr ga otaton 200 Overil imc 0 01 to 300 00 rev APP 5 02 verflow rotation during 100 00 current off APP 5 05 Overvoltage warning 320 to 450 V 435 APP 5 06 Undervoltage warning 120 to 280 V 120 APP 5 07 Overheat warning 40 to 85 C 85 APP 5 08 Overload warning 0 1 to 30 0 s 5 0 APP 5 09 Overspeed warning 1 to 5000 r min 4500 Not available Available Available Available 87 e Unauthorized reproduction or copying of all or part of this Operating Manual is prohibited If a new copy is required to replace an original manual that has been damaged or lost please contact your nearest Oriental Motor branch or sales office e Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use of any information circuit equipment or device provided or referenced in this manual e Characteristics specifications and dimensions are subject to change without notice
109. river as well as operating method This manual explains how to set data using Data setter OPX 2A OPERATING MANUAL the accessory data setter OPX 2A sold separately Data setting software This manual explains how to set data using the MEXE02 OPERATING MANUAL accessory data setting software MEXEO2 Standards and CE Marking 5 Standards and CE Marking 5 1 UL Standards and CSA Standards This product is recognized by UL B Applicable Standards Applicable Standards UL 1004 1 UL 1004 2 Motor UL 1004 6 CSA C22 2 No 100 CSA C22 2 No 77 UL 508C Driver SSA C222 No 14 Certification Body UL UL Standards File No E64199 E171462 m COMPLIANCE WITH UL STANDARDS e Driver e Drivers have no provision for solid state motor overload protection Motor overload protection is required at end application e Drivers have no provision for motor over temperature protection Motor over temperature protection is required at end application e For UL standard UL 508C the product is recognized for the condition of Maximum Surrounding Air Temperature 50 C 122 F e Use a Class 2 power supply UL recognized to the 24 VDC control circuit e Drivers shall be used in Pollution degree 2 environment e Motor AR series motor AC power input type is recognized under UL 1004 1 6 based on the condition shown herein The following shows the stepping motor specifications Maxim
110. rly e Check the connection between the controller and driver e Check the pulse signal specifications voltage width Notable vibration occurs The load is small Lower the current using the current setting switch If the motor output torque is too large relative to the load vibration will increase The electromagnetic brake does not hold the load The power is input to the electromagnetic brake Check the connection between the electromagnetic brake and driver The FREE input is turned ON Turn the FREE input OFF The electromagnetic brake is not released The power is not supplied to the electromagnetic brake Check the connection between the electromagnetic brake and driver The TIM output does not turn ON The CS input was turned OFF while the motor was operating The TIM output may not turn ON if the CS input is switched from ON to OFF va I O signals can be monitored using the OPX 2A or MEXEO2 Use these options to check the wiring conditions of I O signals 66 Accessories sold separately 18 Accessories sold separately B Motor connection cable The AR Series has models supplied with a cable for motor to connect the motor and driver and also it has models without a cable for motor If the distance between the motor and driver is extended more than 3 m 9 8 ft when cable for motor use the connection cable set In the case of the model witho
111. speed deviation When this value is increased the deviation between the command speed and actual speed will decrease However an excessively high value may increase the motor overshoot or cause hunting Decreases the deviation that cannot be adjusted with the speed loop gain An excessively high value will slow the motor movement An excessively low value on the other hand may cause hunting Even when the motor is assembled into a machine of low rigidity residual vibration can be suppressed during positioning in order to shorten the positioning time The optimal value varies depending on the equipment and operating conditions Set the required conditions using the following application parameters e Anti vibration control APP 4 03 e Frequency of anti vibration control APP 4 04 Sets whether or not to enable anti vibration control Set the frequency of anti vibration control 56 Inspection 14 Inspection It is recommended that periodic inspections be conducted for the items listed below after each operation of the motor If an abnormal condition is noted discontinue any use and contact your nearest Oriental Motor sales office B During inspection Are any of the motor mounting screws loose Check for any unusual noises in the motor bearings ball bearings or other moving parts Are the motor output shaft and load shaft out of alignment Are there any scratches signs of stress o
112. ter Set a desired mode using the system parameter for pulse input mode SyS 1 00 Pulse input mode Input pattern Timing chart 0 8 us or more 0 8 us or more ON m PLS input opp LB LR Active high DIR input NPU iie Rotation direction Forward rotation Reverse rotation 1 pulse input mode 0 8 us or more E 0 8 us or more ON l PLS input off b T T i Active low DIR input IPM OFf Rotation direction Forward rotation Reverse rotation 50 Extended functions Pulse input mode Input pattern Timing chart os us or more ON o CW input LE Active high CCW input O p OFF Rotation direction Forward rotation Reverse rotation 2 pulse input mode 0 8 us or more CW input uii a a OFF Active low CCW input O m1 Pu OFF Rotation direction Forward rotation Reverse rotation 2 us or more ON CW input opp nni LE M x1 CCW input O OFF Rotation direction Forward rotation Reverse rotation os us or more ON CW input 1 Phase difference x2 OFF Lf Lf Ll Lf Lf mode ON CCW input opp Rotation direction Forward rotation Reverse rotation 0 4 us or more ON CW input OFF x4 ON CCW input oe DL ALAS m Rotation direction Forward rotation Reverse rotation Whether to cause the motor to rotate in CW direction or CCW direction when a forward dir
113. ther and position both pulleys so that the line connecting their centers is at a right angle to the shafts e Using a gear drive Align the motor output shaft and gear shaft in parallel with each other and let the gears mesh at the center of the tooth widths e Using a coupling e Using a belt drive e Using a gear drive e Using a parallel key geared motor When connecting the load and gear output shaft with a key slot secure the load using the key supplied with the gear output shaft after machining the key slot on the load e Installing on the flange surface Harmonic geared type With a Harmonic geared type excluding AR98 a load can be installed directly to the gear using the load mounting holes provided on the flange surface Load f Load mounting holes Flange Bolts y ot Metal plate F Number Tightening torque Effective depth of Model Bolt size Sf bolts N m oz in bolt mm in AR46 M3 6 1 4 198 5 0 197 AR66 M4 6 2 5 350 6 0 236 Note e When installing a load on the flange surface the load cannot be mounted using the key slot in the output shaft e Design an appropriate installation layout so that the load will not contact the metal plate or bolts used for installing the motor 20
114. ting speed of return to Internal speed command P electrical home operation Position deviation occurs due to external force Acceleration and deceleration rate of return to electrical home operation The output time of the END signal varies depending on the speed filter and operating speed e If the C ON input is turned OFF while automatic return operation is still in progress the operation will be interrupted When the C ON input is turned ON again the return operation will resume e Automatic return operation can also be interrupted using the FREE input e Operation is terminated with the CLR input ON C ON input dE J 500 us or more ON CLR input OFF 5 ms or less READY output on OFF 5msorless END en in output OFF 250 ms or less Motor excitation OFF 5 ms or less Position deviation E 5 ms or less Operating speed of return to Internal speed command electrical home operation Acceleration and deceleration rate of return to electrical home operation The output time of the END signal varies depending on the speed filter and operating speed e When the CLR input is turned ON the position deviation will be cleared Accordingly the return operation will end 78 Reference B ALM output WNG output 0s ormore Generation condition Alarm Generation condition Generation
115. tion parameter electrical home again for abnormal operation data warning APP 5 00 is set to Enable Set the electronic gear parameter correctly Electronic gear 74 The resolution set by the electronic gear is so that the resolution is in a range of 100 setting error outside the specified range to 10000 P R 65 Troubleshooting and remedial actions 17 Troubleshooting and remedial actions During motor operation the motor or driver may fail to function properly due to an improper speed setting or wiring When the motor cannot be operated correctly refer to the contents provided in this section and take appropriate action If the problem persists contact your nearest office Phenomenon Possible cause Remedial action e The motor is not excited e The motor can be moved by hand The motor does not operate The C ON input is turned OFF e Turn the C ON input ON and confirm that the motor will be excited e Check the setting of the application parameter for C ON input logic APP 2 02 The FREE input is turned ON The CLR input is turned ON Turn the FREE input OFF Turn the CLR input OFF The CW input or CCW input is not connected properly e Check the connection between the controller and driver e Check the pulse signal specifications voltage width The CW input and CCW input are turned ON simultaneously in the 2 pulse input mode
116. tion parameter list on p 81 Motor operation END t z output opp The output time of the END signal varies depending on the position command filter and operating speed TIM1 output The TIM output will turn ON every time the motor output shaft rotates by 7 2 Two types of TIM outputs are available the line driver output TIM1 output and the open collector output TIM2 output Change the TIM output according to the pulse input mode of the programmable controller ON DER 207 n 40 When setting to 1000 P R Pulse input lb oo JUlll OoOo ON Motor output shaft TIM output o rotates by 7 2 Motor operation Note e The TIM1 output will turn ON when the pulse speed is 10 kHz or less and the TIM2 output will turn ON when the pulse speed is 500 Hz or less e When changing the resolution using the CS input do so while the TIM output is ON and the motor is at standstill If the CS input is turned ON OFF when one or both of these conditions are unsatisfied the TIM output will not turn ON even after the motor output shaft rotates by 7 2 TIM2 AL2 output Refer to TIMI output for the TIM2 output If an alarm generates an alarm code indicating the cause of the alarm can be output and checked via the combination of ALO ALI and AL2 outputs To use alarm codes the applicable parameter must be changed using the OPX 2A
117. tor cable and driver and then cycle the power The motor output shaft rotated at a speed of 15 r min or more while the initialization was still in progress following a power on Adjust the load and make sure the motor output shaft does not turn due to an external force when the power is turned on A motor not supported by the driver is connected Check the driver model and motor model and use the driver and motor in the correct combination Data stored in the driver was damaged Initialize the parameters using the OPX 2A or MEXEO2 63 Alarms and warnings 16 2 Warnings When a warning generates the WNG output will turn ON The motor will continue to operate Once the cause of the warning is removed the WNG output will turn OFF automatically Present warnings can be checked using the OPX 2A or MEXEO2 You can also check the records of up to ten most recent warnings starting from the latest one or clear the warning records Note You can also clear the warning records by turning off the driver power B Descriptions of warnings See p 86 for more information about the warning parameters Warning type Warning code Cause Action Overflow rotation e When the current was turned on the deviation between the command position and actual position at the motor output shaft exceeded the value set in the e Reduce the load or increase the acceleration deceleration rate
118. tronic gear A4 2 SyS 0 04 Electronic gear B 10 APP 0 00 Operating current at CURRENT 0 6 3 Avatianle APP 0 01 Operating current at CURRENT 1 12 5 APP 0 02 Operating current at CURRENT 2 18 8 APP 0 03 Operating current at CURRENT 3 25 0 APP 0 04 Operating current at CURRENT 4 31 3 APP 0 05 Operating current at CURRENT 5 37 5 APP 0 06 Operating current at CURRENT 6 43 8 APP 0 07 Operating current at CURRENT 7 50 0 70 0 to 100 0 APP 0 08 Operating current at CURRENT 8 56 3 APP 0 09 Operating current at CURRENT 9 62 5 APP 0 10 Operating current at CURRENT A 68 8 APP 0 11 Operating current at CURRENT B 75 0 APP 0 12 Operating current at CURRENT C 81 3 Available APP 0 13 Operating current at CURRENT D 87 5 APP 0 14 Operating current at CURRENT E 93 8 APP 0 15 Operating current at CURRENT F 100 0 Nol APP 3 00 Standstill current 0 0 to 50 50 0 available 2P 0 Setting by the pulse input mode select switch 1 2 pulse input mode active low 2 2 pules input mode active high SyS 1 00 Pulse input mode 3 1 pulse input mode active low 0 4 1 pules input mode active high 5 Phase difference mode x1 6 Phase difference mode x2 7 Phase difference mode x4 D 0 2 COW SyS 1 04 Rotation direction 1 CW 1 Available 0 Contact A normally open AP P 2 02 CON input logic 1 Contact B normally closed 0 Dis
119. um Voltage Maximum current Holding torque and Maximum speed Characteristic Motor model at Maximum Voltage Maximum Current Heat sink size Holding Torque Maximum Speed V A mm 2 Nem r min ARM4601C 0 49 115x115x5 0 3 ARM6601C 0 74 1 2 ARM 9LIC 340 0 92 4000 ARM98LIC 1 13 a 5 ARM91 10C 1 27 4 L1 Enter the motor type A standard single shaft B standard double shaft M Electromagnetic Brake Type in the box L1 within the model name 1 All models may or may not be followed by a hyphen and any letters and or any numbers 2 he material of the heat sink is aluminum Standards and CE Marking 5 2 EU Directives B CE MARKING This product is affixed the CE Marking under the Low Voltage Directive and EMC Directive e Low Voltage Directive This product is certified by TUV Rheinland under the EN 60034 1 and EN 61800 5 1 Applicable Standards Motor EN 60034 1 EN 60034 5 Driver EN 50178 EN 61800 5 1 Installation conditions Motor is to be used as a component within other equipment Overvoltage category II Motor Pollution degree 3 2 for the double shaft type Protection against electric shock Class Driver is to be used as a component within other equipment Driver Overvoltage category II Pollution degree 2 Protection against electric shock Class e This product cannot be used with cables normally used for IT equipm
120. ut a cable using the model with a for motor use an extension cable set A cable set for the electromagnetic brake motor consists of a motor cable and an electromagnetic brake cable When installing the motor on a moving part use a flexible cable offering excellent flexibility e Extending the wiring length using a connection cable set Do not use the supplied cable Connection cable set For electromagnetic brake I m For motor G CO ae EA bE ir D Only when the motor is of electromagnetic brake type e Extending the wiring length using an extension cable set Connect an extension cable to the supplied cable Extension cable set 7 7 Cable for electromagnetic brake For electromagnetic brake supplied For motor Cable for motor supplied a Only when the motor is of electromagnetic brake type Note When extending the wiring length by connecting an extension cable to the supplied cable keep the total cable length to 30 m 98 4 ft or less 67 Accessories sold separately e Connection cable set The cable set for electromagnetic brake motors consists of two cables one for motor and the other for electromagnetic brake See p 6
121. ver provides alarms that are designed to protect the driver from overheating poor connection error in operation etc protective functions as well as warnings that are output before the corresponding alarms generate warning functions B Various operation modes Positioning operation and return to electrical home operation can be performed When the AR Series is used with an accessory OPX 2A or MEXEO2 both are sold separately push motion operation can also be performed B Extended functions When used with the OPX 2A or MEXEO2 the desired parameters operation mode resolution and other items can be set according to your equipment For details refer to p 48 System configuration 3 System configuration All you need is to tum the C ON input ON gei and input pulses 24 VDC power supply Be sure to connect a 24 VDC power Regeneration unit D supply if the motor is equipped An optional regeneration unit RGB100 with an electromagnetic brake sold separately Connect this unit if gravitational operation Driver 24 VDC or other operations involving up down movement or sudden starting stopping of alarge inertial load will be repeated frequently N Orientalmotor ARD C Y cNi POWER Thermostat output 7 Connect to CN1 AWG22 2 pcs g Regeneration unit AWG18 2 pcs e E Cable for motor This cable is used to connect the motor and driver Connect to CN2

Closed Loop Stepping Motor and Driver Package αSTEP High

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Closed Loop Stepping Motor and Driver Package &alpha;STEP High

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Closed Loop Stepping Motor and Driver Package αSTEP High