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C-570-SA

1. 5 4 6 RS CONTROL SOUR On RI CONTO eseessssssesccoessscesoscoccecocsesocesescocsecccoocccpescee 55 6 2 GComm ftlecatrom SpeGlfTl6catlohg 5 5 MAPETISSWXP SpeCl TIGAULONS lt 55 Details On Screen 55 2 Operating environment 56 9 Operating Instructions 2222222 sie 56 7 MISCELLANEOUS SPECIFICATIONS 7 1 ORG DRIVE machine home detection 57 13 Deserrptlorn cot ORG DRIVE useesieieieeeeieinineeeeieicee eene 5 7 2 Types of machine home detection 58 3 Explanation of symbols used for machine home detection process 58 4 Process charts by machine home detection type 58 57 ORG DRIVE DIRECTION sumus 45359945443 149333 459549 944444444 45995997 6 1 6 HIGH SPEED ORG DRIVE high speed machine home detection 6 1 I PRESET DRIVE 9eeeeeeseeeeeeeeeeeneeeEeeseeeeecceeeeEee reme eee eee seer eee ke 6 2 8 PRESET DIRECTION 6 2 9 MARGIN TIME 62 63 11 Conditions for detecting machine sees sees eeee re erste meee 6 3 192 S
2. t to machine home CWP or S CCNP FLA TTL 2 Acce Dece Drive cycle a process continued until the ORG sensor is detected at HSPD Hz HSPD TSPD CSPD llPrecision Drive cycle a process to detect the edge of ORG sensor with JOG DRIVE JOG None of ORG 0 ORG 1 ORG 10 and ORG 11 involves an edge detection process 5 Preset Drive cycle Automatically positions the motor to the number of preset pulses in the preset direction after the machine home is detected Hz HSPD ISPD starsia Preset pulses Stable home detection operation can be achieved by appropriately adjusting the position for home position ORG in the last process of the ORG detection cycle to avoid the extent to which a mechanical hunting occurs When specifying another electrical zero after ORG detection programming preset pulses eliminates the need for automatically running the motor with PRESET DRIVE to that electrical zero and issuing an SET 57 USER S MANUAL 2 Types of machine home detection No of sensors Sensor state Time Accu Availability Requirements for ORG TYPE required when detecti required racy of backlash position that sta Features on completes compensation rts activation ORG O 11 Available None Fast detection ORG 1 One ORG ON Short Available None Fast detection ORG 2 12 ORG LIMIT
3. MClearing Signal Check Mode Pressing MODE key clears the Signal Check Mode 47 USER S MANUAL 5 SEQUENCER CONTROL 5 1 Introduction of Sequencer Control The sequencer control is a control mode depending on designation of Motion No selected by M LINE signal from the host sequencer When the power supply is turned on or when RESET is input the controller waits for commands from the sequencer and the SEQ LED on the main panel comes on The host sequencer sends out START signal while handshaking operation in each mode with RDY signal and STATUS ST signal When an error occurs C 570 SA informs the error by ERR signal and interlock like control is possible because ERR signal is regarded as the ladder conditions MMotion Selection and Status Grasping tion comand WE WT WE oT oT ORG DRIVE x I NS r Host sequencer L Notification of motion status Rive ancor wwe ORG DRIVE Sequencer Handshaking Method Motion command Next motion command RDY Command wal During processing Command wait STO ST7 Previous status During motion START Status notification ON when RDY L OFF when RDY H 48 USER S MANUAL 5 2 List of Motion Command and Status Signal 1 External Mode Sele
4. gt lt c gt 20 e 001 ES J2 Al J1 B1 lt gt gt 24V X 2H J1 B1 J1 B2 2 1 2 2 co Input Unit 1 10 XSTO J1 B11 J1 B12 J1 B13 1 14 XST4 J1 B15 J1 B16 J1 B17 2 10 YSTO J2 B11 J2 B12 J2 B13 2 14 YST4 J2 B15 J2 B16 J2 B17 C 570 SA OR connec tion inside 29 AC servo driver Servo Motor DO JAT RESET L lt Encorder NORG Sensor m gt L gt JE E E E JLT OV 24V Stepping Motor Driver GND 24V Power source J1 B18 J2 A6 J2 B9 J2 B18 J1 A17 J1 A18 2 17 J2 A18 USER S MANUAL 3 6 Wiring Method 1 Wiring of 1 0 signal connector J1 J2 6 570 SA may be damaged A Caution careful not to wire 1 0 signal connector GND to any connector other than GND 1 0 signal connector return GND is connected to 24V power GND inside Use wires between AWG28 0 075mm2 and AWG22 0 3mm to connect necessary signal cables to the 1 0 signal connectors 2 Wiring of Power Connector 6 570 SA may be damaged A Caution Pay attention to power supply polarity in wiring S F G Match connectors with N gt S GND C gt power signal names of Q 24V C 5 70 SA Power Connector Applicable wires are AWG20 about 0 5mm
5. S Curve Mode Data x x x O x la S Curve Mode Adjust x x x O x Data reference and programming enabled x Data reference and programming disabled A Data reference enabled but programming disabled 5 c Oe 5 Switching axis When you press SEL key the LED that corresponds to the selected axis X Y or Z A is lit and the data for that axis appears Se es Y axis number and data appear E g Address of current position 0 You can select neither Z nor A when the CB 10 8A57 has been connected to the C 5 0 SA Pressing SEL key in the S Curve Mode does not allow you to select any axis with Trapezoidal Drive selected for index motions 6 Selecting data display digits Bin External Modes he following example shows a case where INDEX31 is being driven and the current value is 1269 The display is normally in the Upper Lower When UPPER key is pressed the upper Digit Auto Switching Mode five digits are displayed Upper digits lt gt Lower digits approx 0 5 sec approx 1 sec Upper digits fixed NO DATA NO DATA SRS HM NO DATA E Oo UA IA CPC peccat EIE c ERR ERST S EERE UPPER _ MODE ETEEN 588 d OP2 ABS gt OP2 ABS O 2 ABS 44 USER S MANUAL Min Panel Modes following example shows a case wher
6. OFF When the DATA key is set to ON low order display is fixed 5 display The display symbol on the symbo During control key indicate a fun v A ass 109105 Upper lt teaching ction available when the 900900 digit ICT UPPER key is pressed STZSP P lt During 2 The display symbol below teaching in low the control key indicate a 10 10 lt While DATA order function available when is set Valid in the UPPER key is not high order pressed UPPER key H L key Relations with the UPPER ON No INC DEC ABS ON No INC DEC ABS key became easily is changed over and 106 is changed over and 106 understood and 10 DATA are set and 10 DATA are set The H L key was changed to OFF 104 10 digit OFF 104 10 digit the UPPER key DATA are set or teaching DATA are set or teaching 0P2 D was added and the operation operation ABS D P position was shifted to right by one pos ition OPERATION OPO for operator OPO for operator OP2 MODE was added that allo for designer for designer ws referring to DATA only 0 2 for DATA monitor Since the WRITE key is not used from the panel set DATA can be protected during shipment to end users T MASK Available Unavailable Panel operation can be prohi function OP MASK ON bited or the prohibition can Operation OP MASK OFF be cleared from the sequence mask function r
7. 4 1 D SWITCHING Axes NINE 4 1 Selecting data display digits X99 eeeeeeeeeeccce 4 1 7 Programming in Write Mode 42 8 Setting the current value for address in Teaching Mode via panel 4 9 Programming in S Curve Mode S M 4 4 10 Adjusting S Cur Ve Drive sseseseRRRR RR Rh RE ees 45 Cla Using Cheek eee ees 4 7 5 SEQUENCER CONTROL 5 1 Introduction of Sequencer Control 48 5 2 List of Motion Command and Status Signal 4 9 1 External Mode Select Signal and Status Signal 4 9 2 Motion Command in Normal Mode and Status Signal 50 5 9 Motion Example 52 52 Donhe6t Ol ones dece rere PEDEM 52 3 Allocated Signal Table 52 4 Example of Ladder Circuit 539 5 4 List of Timings for External Operations 54 1 How to issue START signal 54 reer tere eee ences 5 4 3 Delay time for START signal
8. Preset pulses MARGIN TIME E 511 Set address adjacent to the machine home machin OPULSE ehome offset when bl has been set to shorten the ORG detection time 0 255PULSE 34 USER S MANUAL tem Description and Setting Range Enable or disab Enable or disable Shortest Distance Indexing when 0 Disable le Shortest Dis controlling the rotation system tance Indexing 0 Disable 1 Enable Number of pulse Set the number of pulses per revolution when No CO 4000PULSE s per revolutio has been set to enable Shortest Distance Indexing n for Shortest 1 8 388 607PULSE Distance Index ng RIN DRIVE direc Set the direction for RTN DRIVE that takes the 0 RTN DRIVE tion for Shorte shortest path when No 60 has been set to enable taking the st Distance Ind Shortest Distance Indexing shortest exing 0 RIN DRIVE taking the shortest path path CW RTN DRIVE ORG HSPD CCW DRIVE ORG TSPD Set the speed ORG TEACHING SPEED at which an ORG 1000Hz DRIVE is executed at a safe speed when operating the motor in the External Teaching or External Tra ce Mode or at which the motor is operated in the teaching mode via the panel s x x Set the maximum speed ORG HIGH SPEED at which ORG 3000Hz DRIVE is executed in the External Normal Mode or via the panel ORG LSPD Set the self start speed ORG LOW SPEED at which 500Hz x ORG DRIVE is a
9. 200 lt 400ms lt 15 When Servo is specified output 10ms is added to time until RDY L RESET gt 6ms lt 15ms lt 1s When Servo is specified output 10ms is added to time until RDY L LIMIT Stop gt 400 us Within 1 pulse after From pulse stop When Servo is specified detection S300 us output 10ms is added to time until RDY L STOP gt 400 us lt 300 us From pulse stop When Servo is specified DRST Immediate Unti RDY LOW Within 1 pulse after lt 300 output 10ms is added to the stop detection time until RDY L STOP gt 400 us S300 us From pulse stop In the acceleration decel erat Stop after Until RDY LOW The output pulse dep 300 u s ion drive the speed depends deceleration ends on the speed at on pulse number to be output the time of STOP at the time of deceleration Within 1 pulse at the time of constant speed MPOWER ON When the power supply is correctly turned on the inside of C 5 0 SA is initialized and the sequencer control turns into the Normal Mode Turn on the 24V power supply of C 5 0 SA before or at the same time when turning on the power supply of the sequencer When stepping motor is specified as the motor type the DRST signal is not output MRESET Signal When the RESET signal is input the motion stops and when the signal is released the inside of C 570 SA is initialized Address 0 and the sequencer control turns into the Normal Move The RESET signal to each axis is OR connected
10. AWG12 about 3 2mm Prepare two wires up to AWG15 about 1 5mm for 2 wire connection daisy chain and remove the cover bmm mm from the tips with a special tool like stripper Before inserting signal cables fully loosen the signal cable fixing screws of the accessory connectors When signal cables are inserted in the loosening direction rear space contrary to the tightening direction they cannot be tightened firmly Insert three power cables in holes of accessory connectors to the end paying attention to the direction of accessory connectors and polarity of the power cable At the time of daisy chain connection twist same power cables together first and insert the two cables of the same polarity Tighten each power cable firmly with the signal cable fixing screw at the accessory connector Turn the screw clockwise to fix the cable REFERENCE The following screwdriver is available especial ly for connectors Omron product XW4Z 00C Crimped terminal for wire is as follows Phoenix Contact product Al Series Crimped terminal Wire _ The dedicated crimping tool is as follows Phoenix Contact product Type ZA3 the detail contact each maker 30 USER S MANUAL 3 7 Check of Execution Point No Contents Result When CB 10 SA57 1 Did you assemble CB 10 SA57 according to the adding method is added El you firmly tighten the removed screws accessory spacers and reinforci
11. Example of angular conversion 0 009 Conversion constant 900 0 0198 Conversion constant 1800 0 036 Conversion constant 3600 0 045 Conversion constant 4500 1 um Conversion constant 100 0 072 Conversion constant 7200 2 um Conversion constant 200 0 09 Conversion constant 9000 Au Im Conversion constant 400 0 18 Conversion constant 18000 5 um Conversion constant 500 0 225 Conversion constant 22500 10 onversion constant 1000 0 36 Conversion constant 36000 20 onversion constant 2000 0 45 Conversion constant 45000 25 onversion constant 2500 0 72 Conversion constant 72000 40 onversion constant 4000 0 0 Conversion constant 90000 50 onversion constant 5000 Where a certain value cannot be divided by the conversion constant entered the remainder is dropped before being written to the C 5 0 SA Example Where the metric angular conversion constant is set to 5 and the distance 0 143mm the remainder of this division is rounded to 0 140mm before being written to the C 570 SA the result 0 140 being display on the panel Where the metric angular conversion constant is set to 0 no conversion is performed the values being in pulses Where a step angle cannot be divided by a specific constant you cannot use the metric angular conversion Use conversion constant 0 pulses instead 66 USER S MANUAL 7 5 Shor
12. J 4 WRITEEF 2 a 5 55 USER S MANUAL Menus File menu Provides file functions such as read save print and to quit the program Auxiliary Menu Provides an auxiliary function to set speed data in one step Controller Select Menu Select dual axis C 570 SA stand alone or 4 axis 10 57 expanded version RS232 Parameter Configuration Menu Sets the baud rate for the RS232C Both C 570 SA and MAP 11 SWXP are initially set to 57 6 kbps 2 Select Axis buttons Select the axis axes to which you want to program data The axes X Y Z and A to which you can program data are restricted according to the number of axes provided to the controller s you selected ISIRS232C Send Write Receive Read Compare Check buttons Select the data operation executed between the C 5 0 SA and The data sent to the C 5 0 SA via these buttons is backed up onto an EEROM in the C 5 0 SA Mode Selection tags Select the modes of data to be programmed in the C 5 0 SA Write Mode 1 Sets distances for INDEXOO through INDEX50 and SENSOR DRIVE and HSPD values Write Mode 2 Sets system data for the 570 5 S Curve Mode 1 Sets SCSPD1 and SCSPD2 for INDEXOO through INDEX50 in the S Gurve Drive Mode S Curve Mode 2 Sets parameters required for S Curve Drive Title Enter a title to manage the data you programmed You can program data only when S Curve Drive has been selected with Write
13. Stepping amp Servo Motor Controller C 570 SA Instructions Manual For designers use Before using this product carefully read this Instructions Manual to have a sufficient understanding of the functions Keep this Instructions Manual on hand so that you can refer to it whenever you want PRO764 4 USER S MANUAL PREFACE This manual provides the information necessary to properly and securely use the C 570 SA Stepping Servo Motor Controller It is intended for engineers who design a controller that uses a stepping or servo motor Before using the C 5 0 SA thoroughly read this manual to make sure you understand the specifications and the basic operation of your machine Please keep this manual handy General Safety Considerations It is important to handle your machine in a proper way Misuse of the machine should cause unexpected hazards that may result in personal or property damage Most of these hazards can be avoided if you know possible dangerous situations beforehand he following safety symbols and signal words are used throughout the manual to alert you to possible hazardous situations Indicates a hazard which if the machine is misused can result A WARNING in serious injury including death Indicates a hazard which if the machine is misused will result A CAUTION in minor injury or equipment and property damage Before Using 6 5 0 SA B his product is neither designed nor manufactured
14. ON OFF is controlled by command 80 Available RS LED is added on the panel When the External Sequenc e Control Mode is RDY the SEQ LED comes on When the External RS RS232c Mode is RDY the RS LED comes on D SUB 9P connector is added Communication Specificati on Parameters necessary for communication through RS232C are set with WRITE DATA INDEX00 49 Previously set positioning DRIVE NDEX50 INDEX DRIVE is possible during positioning by 1 0 or during transfer NDEX00 49 Previously set positioning DRIVE USER S MANUAL 1 Unavailable An application software which allows loading and sav ing DATA optionally is read ily available The RS232C cable allows conn ecting commercial D SUB 9P cross cable to it directly INDEX 50 allows changing tra vels and speeds on the seque ncer side The previous DATA remains as DATA at a place where no DATA was set Transferred DATA is retained change of HSPD DATA until the power supply is turned off or until RESET is DATAT input DATA2 Transfer of necessary portions only is acceptable Write Data and S Curve Data Programing Modes DATA at omitted position is regarded as O The same DATA writing procedures as 6 570 S are acceptable without trouble DATAI It is necessa No particular ry to write DATA3 DATA4 order is set all data in or omis sible the regular lt Ne
15. TRACE MODE 16 NORMAL MODE D D b VU Input logic from EXTERNAL is 2 LOW ACTIVE when negative logic is input MO marked with is either or D Status Signal Motion co Status output s signal Header status status mmand app Meaning of output signal H MODE is being set 2 nee wet sers PH n TH TH D O D undefined input occurs PHP PA LH Lu LT TA undefined input occurs ooon JH D O An undefined input occurs G TH 4 MASK is not ON any mre DO D O TH TH H G JO MASK is OFF any mre LH LH LTD undefined input occurs PH OTH TH H JD H H A undefined input occurs 2 qa Oo D JD D S Curve Data Reading Mode is set qm _O D D D n D Data Reading Mode is set a2 D D D s Curve Data Programming Mode is set 3 D JD D H D Write Data Programming Mode a0 D D JD D H D leaching mode se amp D D V D 0 D Trace mode set a6 D D D TOTO H D Normal mode set When an undefined input is available for Setting inhibited is displayed the panel and an error status Err 04H is output Wh
16. 0M 6 6 SOK 5 0 5M 4 2 t 50 100 150 200 ms sJan USER S MANUAL 3 Speed Difference in RATE TYPE RATE TYPE L TYPE 1 M2 TYPE H TYPE Speed difference 51Hz STEP 500Hz STEP 1kHz STEP 10kHz STEP 62Hz STEP 2kHz STEP 4kHz STEP 68kHz STEP Speed difference indicates the difference of speeds before and after speed changes in acceleration or deceleration he speed difference is not constant in all speed ranges and increasesgradually as the speed rises from low to high The drive type is often set to M Type when servo motors are used but motor rotating noise and vibration are supposed to occur as an influenced of speed difference in acceleration and deceleration sometimes depending on conditions such as use of high gain servo and mechanical rigidity In this case Type M1 RESO 10 can be selected to reduce noise and vibration However the rate accelerating time 1kHz setting range of Drive Type M1 RESO 10 becomes slower than that of RESO 20 USER S MANUAL 8 MAINTENANCE You may get an electric shock in case of misoperation No person other than specialist engineer is allowed to conduct inspection and replacement works Be sure to turn off the power supply before starting inspection and replacement work of the product You may face the danger of electric shock injury or fire Do not disassemble 6 270 5 and CB 10 SA57 for r
17. 10 SA57 Accessoris Remarks Spacers 13 Length 32mm Metallic ornaments Object for C 570 SA CB 10 SA57 attachment reinforcement M3x7 Square washer screw Remove 3 square washer screws fixing the bottom plate of C 5 0 SA he removed square washer screws 3 pieces are used later So keep them surely Square washer screw gt lf Ik lt Square washer screws at 2 places Bottom plate Remove the bottom plate of C 5 0 SA 3 places where screws are Remove 3 screws from the spacer fixing the base removed from The remove bottom plate and screws 3 pieces are used later So keep them surely O lt O with inner clip washer O gt g o Spacer 9 Connector S Remove the screws Bottom plate 2 Remove the bottom plate 4 Attach the accessory spacers of CB 10 SA57 at 3 places from where screws were removed 5 Insert the expansion controller CB 10 SA57 straight from the bottom of C 570 SA while keeping the connectors free from stress controller CB 10 SA57 lAlAttach 3 accessory spacers of 10 5 57 19 USER S MANUAL 6 Fix CB 10 SA57 with the screws 3 pieces removed 3 Ii CB 10 SA57 with screws at 3 places 7 Place the bottom plate on CB 10 SA57 Fix the bottom plate with the square washer screws removed in at the 3 places Place the removed inner clip washers where they were an
18. CWP POUT CCWP CWSEL Photo coupler High level 2 41 min Source current 10mA C 570 SA CB 10 SA57 Low level 0 5V max Sink current 20mA 1 For the procedure for connecting the TTL level interface with a COM see the technical information zB USER S MANUAL 3 5 Connection Example 1 Example of Connection with Motor Driver Use twisted wire or shielded wire to connect signal cables in order to prevent malfunction due to noise Separate the signal cables more than 50mm from the power cable and make the wiring distance less than 10m llConnection Example of Line Driver Example of 2 pulse independent type 1 0 connector input driver E 2 45 2 CWP 87 0 075mm 0 3mm twisted wire shielded POUT PS CWP Nw POUT ES CCWP CWSEL que V Ns K CCWP ded CWSEL Hr 0 5mm 3 5mm 0 F G C 570 SA m pes Servo motor driver etc Signals in are for direction specifying type llConnection Example of Encoder Z Phase Connection when Z phase is line driver output 1 0 connector 2 pue 2 70RG 0 075 mm 0 3mm twisted wire X X X XK ZORG When ZORG are connected the ORG signal is not connected 6 570 SA Servo motor driver Connection when Z phase is open collector output 0 connector E ORG 82 ON P s eae 2 2 ZORG i 25 74 oa GND 6 570 SA Servo motor driver 105 min 2 Example of Connection with Power Supply
19. DRIVEs a minimum number of parameters required for it have been automatically set It is therefore not necessary to set the S curve data When the S Curve Drive needs fine adjustments set the following S curve data To externally set or read S curve data or to do the same via the panel it is required to preset Write Data No AO to 1 Description for legends and AJ in OPO and OP2 columns 1 both data reference and entry are available neither data reference nor entry is available indicates only data reference is available Description and Setting Range Factory Setting OPO OP1 ALL INDEX SCSPD1 Used to enter the same value for the rate at 1333Hz x which linear acceleration starts and for the rate at which linear deceleration ends SCSPD1 in one step when the S Gurve Drive is applied to INDEXOO through INDEX5O ALL INDEX SCSPD2 Used to enter the same value for the rate at 2166Hz x which linear acceleration starts and for the rate at which linear deceleration ends SCSPD2 in one step when the S Gurve Drive is applied to INDEXOO through INDEX5O INDEXOO SCSPD1 Set the rate at which linear acceleration starts 1333Hz x and the one at which linear deceleration ends whe n the S Curve Drive is applied to INDEXOO DRIVE INDEX0O SCSPD2 set the rate at which linear acceleration ends an 2166Hz the one at which linear deceleration starts
20. Data No entry list pane Displays a list of data entries based on the mode selected with the relevant mode selection tag entry area Used to enter or alter data Message area Displays messages that outline each of the data entries 2 0perating environment Operating systems supported Microsoft Windows95 Microsoft Windows98 Microsoft WindowsME Microsoft WindowsNT4 0 Microsoft Windows2000 Microsoft WindowsXP Microsoft Windows is a registered trademark or trademark of Microsoft Corporation in the United States 3 Operating instructions After installing the MAP 11 SWXP refer to MAP 11 SWXP User Help Following the instructions provided in Help perform data creation transmission reception and compar ison 56 USER S MANUAL 7 MISCELLANEOUS SPECIFICATIONS 7 1 0RG DRIVE machine home detection 1 Description of ORG DRIVE The ORG DRIVE automatically moves the motor according to the preset data until the machine home is found Upon completion of ORG DRIVE the current motor position is automatically set as electrical zero absolute address 0 combination of 1 2 3 41 and shown below forms the drive pattern 1 Acce Dece Drive cycle a process to accelerate or decelerate the motor as far as the address adjacent to machine home machine home offset Hz HSPD TSPD 7 Distance to the address ad jacen LSPD
21. Dir XCWLM 1 IN X axis X axis CWdir LIMIT signal LIMIT signal GND Return GND eterne um pont ee machine home signal Gli Ll tai counter clear signal m mu ppm SENSOR DRIVE ervo driver A6 NC Use is prohibited B6 X COM 5V OUT COM for XCWP XCCWP XDRST PULSE PULSE EEUU designation Direction designation RESET 4 IN Signal to initialize the body Nc is prohibited Signal to designate operation ia to inform operation mol X IN mode and each operation and Xem our each operation status Mspwo 26 220 xm four 76 802 For the detail see Chapter 571 For the detail see Chapter 5 2 5 2 AIS XMS IN XSTS Ale XW6 N XST6 6f0UT IN XST7 6 0 18 XMB e IN Bis N C Use is prohibited aem operation abnormal X axis operation axis high order 1 When the signal is not used connect the connector to GND B contact input active high prevents outputting pulse in case of no connection no processing 2 Use this connector as the return GND of signal cable 24V power connector GND and the return GND of 1 0 signal connector are connected inside C 570 SA Keep it in mind that this is not F G frame GND connecting shielding portions of shielded cables 3 he signals XDRST and XDEND are valid only when the motor type is
22. INDEX50 INDEX5O is capable of running the motor while converting using data the preset initial data to positioning data or HSPD data transfer transferred from sequencer 1 0 he preset data for INDEX5O is backed up on a memor y whereas the distance and HSPD values transferred from sequencer 1 0 in a Normal Mode is retained until power is turned off or a RESET input is issued When data change is not involved data needs not be tran sferred with INDEX5O Writing Reading of Write Allows the setting of parameters for the C 570 SA from Data sequencer 1 0 Allows the reading of C 570 SA internal Writing Reading of S data from sequencer Curve Data 16 Batch HSPD Provided Allows the user to enter the same value for HSPD applied Write to INDEXOO INDEX50 motions in one step 17 Teaching Setting the controller in Allows the setting of address of current value from Teaching Mode via 1 0 sequencer 1 0 or via panel with INDEXOO INDESbBO being Setting the controller in specified Teaching Mode from panel 18 Teaching Provided When the position taught via a CCD camera or the like Offset differs from the workpiece position requiring practical 15 Setting of 1 0 data positioning this function runs the motor by applying a relative offset obtained from the conversion of a distance to pulses 18 3 USER S MANUAL INSTALLATION AND CONNECTION 3 1 How to Add Optional two axis Controller CB 10 SA5 CB
23. No is automatically incremented Press WRITE key while holding down UPPER key only when entering all HSPD values in one step ad USER S MANUAL 8 Setting the current value for address in Teaching Mode via panel Select Write Mode Teaching with MODE key Shown below are Teaching Panel Mode menu numbers and the actions executed OFF TSPD speed OFF TSPD speed DRIVE OFF TSPD speed address to INDEXOO N DRIVE OFF TSPD speed address to INDEX49 DRIVE OFF TSPD speed address to INDEX50 MStarting and stopping ORG DRIVE RIN DRIVE and INDEX DRIVE functions he following example shows a case where INDEXO 1 is selected Execute Stop INDEX01 ON HSPD speed Write the current value for DRIVE OFF TSPD speed address to INDEXO1 When UPPER key is pressed Select the number assigned to your desired action menu When UPPER key is released Execute the action assigned to the selected menu number Upper digits fixed Lower digits fixed SRS Hi NO DATA pos UPPER MODE OP1 OP2 ABS Li oO OP1 OP2 ABS A ABS Not pressed A ABS m m CJ d dy Decrement Menu No Accelerate to HSPD in combination with H B key xl Increment Menu No Start Stop specified action ST Start key is enabled with UPPER key turned off whereas SP Stop key operates irrespective of whether UPPER is turned on or off When H B key is turn
24. OFF Long Medium Available None Precise positioning with one sensor ORG 3 One ORG Long Medium Available None Precise positioning with one sensor ORG 4 ORG NORG OFF Available None Pursuit of precision ORG 5 Two ORG NORG ON Longest High Available ORG 10 ORG NORG ON Shortest ORG 11 and ORG 12 are types that use a LIMIT sensor input signal as an ORG signal The sensor state when detection completes listed above indicates a condition with the number of preset pulses set to O Each of ORG 0 ORG 1 ORG 2 and ORG 3 ORG 4 and ORG 5 have the same motion cycle but differs in the sensor state when detection completes ON or OFF 3 Explanation of symbols used for machine home detection process Sensor signals Sensor On Low Indicates the position to start detecting the machine home Indicates the position to end the detection of the machine home Indicates ACCEL DECEL ORG DRIVE cycle and its direction ORG HSPD PRESET Indicates that the motor is automatically run with PRESET DRIVE after the detection of machine home When PRESET DRIVE added Indicates ORG CONSTANT SPEED DRIVE cycle and its direction ORG CSPD Indicates REPEAT JOG DRIVE cycle 20ms intervals and its direction Indicates that a move is stopped by limit for 300ms LIMIT DELAY TIME Indicates that a move is stopped for 50ms at the start of SCAN DRIVE SCAN DELAY TIME Indicates that a move is sto
25. S Curve Drive Establishes the range for rates and speeds LSPD 0 HSPD and CSPD 1 M2 TYPE RESOLUTION 20 3 M1 TYPE RESOLUTION 10 Decelerating Stop no error outputs status ting Stop 32H REST DRIVE enabled Imnediate Stop error status 02H output REST DRIVE disabled Immediate Stop no error outputs status 4EH REST DRIVE disabled 33 USER S MANUAL tem Description and Setting Range SENSOR DRIVE Sets the type of SENSOR DRIVE that decelerates and O TYPEO x TYPE stops the motor with a sensor input O TYPEO 1 TYPE1 4 TYPE4 Millimeter ang Set a constant that converts a distance per pulse 0 to linear motion in millimeters or rotary motion Unit in degrees in 0 01 um or 0 00001 degrees respect Pulse ively 0 to 99999 when set to 0 a distance in pulses is used with no conversion applied ular conversion Select the type of data to be displayed on the 0 Address panel in an External Mode of current 0 Address of current position position real time display 1 Distance for INDEXOO to INDEX50 or target address Sets the delay time inserted between the moment a 30 3ms START signal is issued and the moment a motion signal MO to M8 is read 0 Ims 1 to 30 0 1ms to 3ms Sets how to output statuses when switching Exte 0O Status rnal Mode to W Mode S Mode with the mot 0 Status with the motor controlled in an Ext Jor controlle ernal Mode is reta
26. To prevent malfunction due to noise separate the power supply from main circuit and power lines of other equipment and wire the power supply away more than 50 from them Power connector 0 5mm2 3 5mm2 twisted wire depending on wiring distance and number of units to be connected Capacity of 0 5A unit min 24V GND n dn 0 52mm 3 5mm bu S Shindengen etc 6 570 SA gum SEE Switching regulator Supply power from a common power source so that the sequence supply power source becomes equal to the C 570 SA supply power source or try to switch C 570 SA on off first from other equipment When the supply voltage to the sequencer becomes higher than the one of the supply power source of C 5 0 SA leakage current through the output circuit protection diode may turn on input to the sequencer Supply power source High Low V DEMNM NE L ae A Sequencer 26 USER S MANUAL 3 Example of Connection with Sensor To prevent malfunction due to noise separate connection to each sensor more than 50mm from the power cable and make the wiring distance less than 10m When using any sensor other than our recomnended ones make sure that the sensor voltage specification is 24V MExample of Sensor Connection In case of photo sensor Straight line system sensor ORG NORG LIMIT Rotary system sensor ORG 1 Groove type photo sensor Moving table Groove type Fix the detection photo sensor flat plate to
27. a Normal Mode with TSPD independently of HSPD and allows dry run at a safe speed A mode that writes target addresses absolute to INDEXOO through INDEX50 from the sequencer The addresses programmed via teaching are backed up onto an EEROM Write Data A mode that writes different pieces of data includ Writing Mode ing HSPD for INDEX DRIVE and distances from the sequencer The data written in this mode is backed up onto an EEROM S Curve Data A mode that writes the acceleration deceleration Writing Mode start stop speeds for S CURVE DRIVE including SCSPD1 and SCSPD2 The data written in this mode is backed up onto an EEROM Write Data A mode that reads data including HSPD for INDEX Reading Mode and distances from the sequencer S Curve Data A mode that reads the acceleration deceleration Reading Mode start stop speeds for S CURVE DRIVE including SCSPD1 and SCSPD2 from the sequencer mode in which data is transferred between the C 5 0 SA and a PC RS control loading and saving A MAP 11 SWXP an application program that allows you to program data on your PC instead of programming data via the panel is available 15 USER S MANUAL 2 Panel and External Control Specifications fiten Description 1 Panel Modes Programming A mode that allows you to program data required for the via the panel It sets basic parameters for controlling the motor TEACHING A mode that stores the address of the curre
28. between an RS Mode and a SEQ Mode occurs at a time for all axes connecte d to the C 5 0 SA The switching of other modes including External Normal Trace or Teaching also occurs in the same manner On power up or RESET input the Normal Mode is selected from the SEQ Control Mode s for all axes notifying the operator of the initial status status signal activated by the switching of External Modes responds to all axes programmed When it is required to select an External Mode it should be establis hed to a given axis and the External Mode statues output by that axis should be held in ladder logic It is possible to drive the motor keeping track of all ope rating statu es of the C 5 0 SA by assuming the conditions with External Mode sta tues held in the ladder logic and the C 5 0 SA output statuses For External Normal Trace and Teaching Modes it is possible to read the address of the current value from the 1 0 while the motor is idle ORG DIRECTION Select a direction to detect the home depending on the motor revolution direction or the home position left or right PRESET DRIVE and PRESET PULSE An electrical zero can be programmed separately from the mechanical home to avoid mechanical hunting Programming preset pulses to avoid the extent to which a mechanical hunting occurs when the ORG sensor is detec ted ensures stable detection of machine home OFFSET Program an address adjacent to the machine home from whi ch
29. changes an upper 5 digit number or data The view with UPPER key held down is consistent with those digits valid for the key in terms of the upper digits Using the key 0 without pressing UPPER key changes the view to lower 5 digit data The view with UPPER key not held down is consistent with those digits valid for the key in terms of the lower digits REFERENCE For how to operate the panel see Section 4 5 Operation via Panel 39202 USER S MANUAL 4 3 List of Write Data Entries Mechanical damage or personal injury may occur A Caution Whenever you change DRIVE TYPE be sure to re enter speed data The output speed will be changed in response to the range of DRIVE TYPE Write Data No 1 data entry that is required to operate the C 5 0 SA is indicated by a the left side margin Be sure to enter them Description for legends lxjand J OPO and 0 2 indicates both data reference and entry are available x J indicates neither data reference nor entry is available indicates only data reference is available Item Bescription and Setting Range Factory Setting 0 0 OP1 0 2 INDEX ALL HSPD Used to enter the same value for all maximum speed values HSPD applied to INDEXOO through INDEX49 and INDEX50 in one step Distance for Sets the index type of INDEXOO DRIVE INCREMENTAL INDEXOO ni or ABSOLUTE and the distance to m
30. designated to Servo When a stepping motor is used these connectors remain disconnected 4 RESET signals of X axis and Y axis are OR connected inside and they can be controlled by input it to any axis Since they are OR connected even when CB 10 SA57 is expanded they be control led by inputting it to any axis x5 Connect either of these signals depending on the ORG DRIVE TYPE XORG signal and XZORG signal are OR connected inside 6 Wiring may be omitted depending on operation Wiring to XM8 is not necessary when it is operated only in the basic Normal Mode Wiring to XM8 XM7 and XST7 XST6 is not necessary when this function is not used for full When data setup from 1 0 and the present value address read out are not performed 203 USER S MANUAL 2 Power Connector 6 570 SA may be damaged A Caution Pay attention to power supply connecting position and polarity when wiring Drawing Connector gt se MSTBA2 5 3 G 5 08 Phoenix Contact Corp Body side Applicable connector MSTB2 5 3 ST 5 08 Phoenix Contact Corp Accessory Applicable wire eese AWG20 About 0 5mm2 AWG12 About 3 3mm In case of 2 wire connection daisy chain 2 wires up to AWG15 about 1 5mm2 F G GND 24V C 570 SA MSignal Table 3 RS232C Connector Connector Drawing Connector eee DELC J9PAF 23L9 JAE D SUB9P Applicable cable ese RS232C cable D SUB9P cro
31. detection programming preset pulses eliminat es the need for automatically running the motor with PRESET DRIVE to that electrical zero and issuing an R P SET Example To provide stable home detection operation by avoiding the detection of the extent to which a mechanical hunting occurs in an ORG DRIVE cycle i ORG 0 CCW LIMIT CW LIMIT Extent to which a mechanical s 1 hunting occur If a mechanical hunting results in an unsteady ORG DRIVE cycle run the motor with a PRESET DRIVE as long as a few pulses are output to stabilize it Set the number of pulses to prevent mechanical hunting 8 PRESET DIRECTION The PRESET DIRECTION runs the motor CCW with PRESET DRIVE CCW by setting the direction with PRESET DIRECTION PRESET CW factory setting CCW Machine home HSPD cEPD A 9 MARGIN TIME MFor PRESET CCW CW CCW lt Machine home CW ORG HSPD lt Fes PRESET A The MARGIN TIME inserts a margin for time delay time between the moment an ORG sensor output is detected and the moment the pulse output stops in each process to adjust the travel beyond the sensor position preventing a malfunction resulted from a mechanical hunting Example For ORG 0O CCW LIMIT a up CW LIMIT mmm m uj ee a i CWhen the ORG detection has caused the
32. for the minimum distance indexing While the minimum distance indexing is valid SENSOR DRIVE cannot be used Check the START signal was input and remains as it is When the driver is used in setting SERVO MOTOR WRITE DATA No 2 0 make sure that the DEND signal is input after the end of operation When the positioning end signal is not available from the SERVO DRIVER connect the DEND signal to GND Make sure that the RDY signal is LOW and check if a handshake is conducted so that the START signal is output Check if the START signal is turned off only after the RDY signal was confirmed to have become HIGH once again incompatible Check if cable is not disconnected or no command error occurs in communication through RS232C Check if the STOP signal is turned off only after the RDY signal was confirmed to have become LOW once again PULSE of the coordinate control range Check if any PULSE other than 0 is not set to the TEACHING OFFSET of WRITE DATA No F5 If any PULSE other than 0 is set the coordinates are corrected by relative move by the OFFSET from the coordinate after teaching satisfies the specifications such as necessary quantity layout detection level 24V etc of the ORG sensor In case of ORG 4 5 and 10 the necessary distance between NORG and ORG is expressed as N 2 0 005xCSPD in equivalent to pulse N as well as in use of disk slit Check if the ORG sign
33. is active the current value appears Upper digits Lower digits approx 0 5 sec lt gt approx 1 sec DATA NO DATA OP1 OP2 ABS ST Start key is enabled with UPPER key turned off whereas SP Stop key operates irrespective of whether UPPER is turned on or off Pressing H B key and then ST SP key returns the motor back to the position where it was started in an index movement Verify the adjustments on the S curve by repeating a drive that moves the motor to the target address and the one that returns it to it original position where it was in before an index movement was activated C 70 NO w gt UJ gt 45 USER S MANUAL B Ad justing S Curve Drive he following example shows a case where SCSPD1 for INDEXO2 initially set to 1400 Hz has been changed to 1600 Hz When UPPER key is pressed When UPPER key is released Select the number assigned to the INDEX Adjust SCSPD for which its S curve is to be adjusted Upper digits fixed Lower digits fixed ORS oW DATA SEQ pu sue M UPPER OP1 OP2 ABS ABS Uu um w m d Rapid traverse with key pressed afterward Decrement SCSPD data Increment SCSPD data Not pressed Decrement S Curve Data No Increment S Curve Data No This position displays a bar within 100KHz For speeds in 1MHz the display changes to indicate 109 digi
34. motor to decelerate to a speed set in LSPD it is run at a constant low speed for a period of time set as the margin for time After ORG is detected the motor runs for a period of time set as the margin for time before stopping ORG 4 and 5 the margin for time is not inserted into a Constant Speed Drive cycle that is activated imme diately before moving from NORG detection process to ORG detection process 262 USER S MANUAL 10 Sensor locations ORG 0 1 2 3 and ORG 10 Attach the sensors for ORG and NORG ORG signals to the side corresponding to the direction set with ORG DIRECTION Example When ORG DIRECTION has been set to CCW on a ballscrew driven table 6CW Workpiece CW E d y 7g for NORG used for Use a photo sensor that outputs Sensor for ORG Off level at light input MFor ORG 4 and 5 Attach the sensor for NORG to the side corresponding to the direction set with ORG DIRECTION as above When using a stepping motor attach the sensor for ORG to its rotary shaft as shown below Sensor for ORG Al fh Use a photo sensor that outputs H level at light input STEPPING MOTOR with slit attached to rotary shaft When using a servo motor input an encoder Z phase to ZORG and ZORG instead of ORG When ZORG and ZORG connected leave ORG input unconnected pulse width of encoder Z pha
35. the Disk with slit to be attached to the motor shaft Min case of 066 0 1 2 3 Detection with one sensor CCW direction CW direction Recommended sensor to be turned off when light enters Sunx PM K53 PM L53 PM T53 Omron EE SPX301 EE SX670A p ower source Switchable etc C 570 SA side Min case of ORG 4 ORG 5 Detection with two sensors In case of Stepping Motor Driver Disk with slit attached to rotation axis CCW direction CW direction ORG sensor NORG sensor Power connector not connect ZORG signals _ p Zins 2 NORG 0 075mm 0 3mm 24VP S Power source Recommended sensor 7066 NORG sensor ORG sensor ZORG to be turned off when light enters to be turned on when light enters sunx PM K53 Sunx PM K53B C 5 70 SA side PM L53 PM L53B PM T53 PM T53B Omron EE SPX301 Omron EE SPX401 EE SX670A Switchable etc EE SX670A Switchable etc a ie USER S MANUAL In case of Servo Motor Driver Encoder CCW direction CW direction 111111111111 i CIUS Recommended sensor to be tured off when light enters Power connector Sunx PM K53 24V sel SSS 53 0 connector jp EE SPX301 ____ p D 2 NORG 0 075mm 0 3mm EE SX670A 24VP 5 Switchable etc GND 0 075mm 0 3mm Power source Z0RG SE Connection Example in case of line driver output on Servo Driver s
36. the offset is applied to CCW activation of an ORG DRIVE the controller immediately enters into the programmed ORG DRIVE process without executing an ACCEL DECEL DRIVE is executed until the address adjacent to home machine home offset is found if HIGH SPEED ORG Write Data No 5 is not set to 1 ORG 10 is selected An ORG DRIVE is activated for the first time after power up or reset An ORG DRIVE is activated for the first time after an immediate stop caused by CWLM CCWLM or STOP input An ORG DRIVE except PRESET is activated for the first time after a decelerating stop caused by STOP input ORG DRIVE is activated for the first time after ORG TYPE modified The address is out of the range between 8 388 607 and 8 388 607 ORG DRIVE fails to detect the home MExample of ORG 3 CCW lt Machine home CW ORG I 1 HSPD Y Address adjacent to machine home ORG 3 process starts from here i Offset 61 7 PRESET DRIVE USER S MANUAL he PRESET DRIVE automatically positions the motor to the number of preset pulses in the preset direction after the machine home is detected Stable home detection operation can be achieved by appropriately adjusting the position for home position ORG in the last process of the ORG detection cycle to avoid the extent to which a mechanical hunting occurs When specifying another electrical zero after ORG
37. to all axes inside and even when the signal is input to any axis all the axes are initial ized The pulse number to be output after C 570 SA detected the RESET signal is not more than 1 pulse Since the RESET signal contains CR time constant there will be a delay up to 15ms by the time when C 5 70 SA detects the signal inside When stepping motor is specified as the motor type the DRST signal is not output MCWLM CCWLM Signals LIMIT signals CWLM CCWLM input to any axis connected to 570 SA stops pulse output of the axis immediately ErrOOH status is output to the axis in case of CW direction and ErrO1H status is output in case of CCW direction When stepping motor is specified as the motor type the DRST signal is not output pulse number to be output after 6 570 SA detected CCWLM is not more than 1 pulse Since the CCWLM signals contain CR circuit there will be a delay up to 300us by the time when C 5 0 SA detects the signals inside 69 USER S MANUAL MSTOP signal Stop after deceleration When the STOP signal stop after deceleration is input C 570 SA comes to a stop decelerating output frequency of PULSE Status 32H showing that the motion is at a halt is output to the axis that stopped after deceleration For an axis for which stop after deceleration is selected as the stop type REST DRIVE from a halfway stop status is valid Pulse number to be output after C 570 SA de
38. 1 40 000 67 USER S MANUAL 7 6 Teaching Specifications Mechanical damage or personal injury may occur Caution When teaching positions during adjustment be sure to run the motor at safe speed provided for teaching 1 Teaching methods he 6 570 5 allows teaching an External Mode and via the panel Teaching method Application Teaching via C 5 0 SA panel A method that operates the C 5 0 SA via the panel independently of a host Use to operate the controller alone during the adjustment of mechanisms or maintenance Teaching Mode A method that provides control via sequencer 1 0 outputs using a to external control uch panel Used as overall controller functionality including the change of setups involved in fine adjustments 2 Teaching speed You can set both the normal operating speed and the speed at which the motor is run in the Teaching Mode Hz HSPD Applied to ORG SCAN INDEX and RIN DRIVE functionslt is i 2 Specifica RATE possible to set the speed for each of HSPD and TSPD LSPD Set the speed to ensure that the motor is run safety at t TSPD in the Teaching Mode 3 Compensation of Coordinates For a mechanism whose coordinates taught using a CCD camera or the like differ from those applied to machine workpieces it is possible to change the position of workpiece when the motor is run in an INDEX DRIVE to that captured with a device e g CCD camera to
39. 20204042520405 0 25 9 0 Connection Example eee 26 1 Example of Connection with Motor Driver 26 2 Example of Connection with Power Supply 26 3 Example of Connection with Sensor 27 4 Example of Total Connection 29 of Os Wiring Method 30 D Wiring of 1 0 signal Connector dl J2 30 2 Wiring of Power Connector 30 9 1 Gheck ot EXeGULELOl 3399191132993 9 9000 eae od 4 DISPLAYS AND PROGRAMMING 3 2 4 2 Panel Description 99999 e eR eR IE E EET REDEEM ee 32 1 Views in External Modes 32 2 Arews ThoPatiel Modes 32 92 Using panel keys 32 4 3 Eist of Arite Data Entries 4 4 Listsob s Gurve Data 37 USER S MANUAL CONTENTS PAGE 4 5 Operations Via Panel 3 9 1 Checking an External Mode is ready 3 9 2 Viewing error statis ee eee Oe Ee CeOeU SEE 3 9 3 Switching Operation Modes OP MODE 40 4 Switching modes
40. 4 The motor moves the specified number of pulses when a sensor SSO signal is issued When started this function performs the same motor motions as those for SCAN DRIVE and when SSO detected performs an INCREMENTAL INDEX DRIVE before stopping the motor um With LSPDZHSPD specified the motor is moved at a constant speed specified with HSPD The maximum speed is limited to a speed at which the motor can decelerate to stop by the number of pulses specified As a result the motor cannot reach the specified speed if fewer pulses specified SENSOR DRIVE runs by detecting the falling edge of a sensor input here is no error in the number of pulses output after the falling edge is detected It is not possible to set the number of pulses to zero 0 64 USER S MANUAL 7 3 REST DRIVE When the controller activates the RESET DRIVE without starting other motion after a motion using INCEREMENTAL INDEX DRIVE or ABSOLUTE INDEX DRIVE and SENSOR DRIVE decelerated to stop by a STOP signal it continues performing the rest of the steps he REST DRIVE is disabled for all motions performed by M SCAN DRIVE M CSCAN DRIVE and SENSOR DRIVE TYPE4 after decelerating to stop by a STOP signal 1 PRESET DRIVE for INDEX and RTN DRIVE Hz Distance remaining or distance to the target address With LSPDZHSPD the motor is moved at a constant speed specified with HSPD f half of the
41. DE Every time you press 0PO 0P1 0P2 key with pen or the like a Panel Mode changes a m SEQ 5 ___ MODE zu X Z A L SE Determine the operating mode by checking the states of the two LEDs On 0 1 20822 MODE Limited to some data MODE pieces of data can be set 0 2 MODE Limited to data reference 40 USER S MANUAL 4 Switching modes The External or Panel Modes change from one to another in the sequence below when you press MODE key Panel Modes ORS EN SEQ ORS W M X SEQ S M ic Y ADJ 2 1 7 Write Data Set Only W M LED lit Write Mode Teaching Both ADJ LEDs lit S SM Curve Mode Data Set Only LED lit Curve Mode Adjust Both and ADJ LEDs lit All of WM S M and LEDs remain OFF in an External Mode The mode selections vary depending on the drive type Trapezoidal or S curve selected for the relevant operation mode and index motion Any unavailable Panel Mode is skipped the display returning to the beginning of the External Modes Panel Modes 00 0P 02 O Trapezoidal S Gurve Trapezoidal S Curve Trapezoidal S Curve 1 Write Mode Data Set P1 OO x O O A _ A B Write Mode Teaching x x O O
42. E is changed over and the status of is not output The delivery status is set to 0 2 WRITE DATA No 60 decides if the minimum distance indexing in the rotary system is used When SENSOR DRIVE is used the minimum distance indexing cannot be used 276 USER S MANUAL 2 Notice to High Order Cu e e 5 fo feon airection LMN stops entering 1 Error JE 1 H H H H O H D Stop by inputting STOP immediate stop 02 EC H H H D D TO D Mot use H H H D H H D Mn undefined motion command is input 4 E Write Mode or S Curve Mode is selected T T T T n error occurred in the procedures of Err0G setting DATA from EXTERNAL fe tn fo fe jo te fe eret correctly The minimum distance indexing became tro valid and the SENSOR DRIVE started error occurred in REST DRIVE 9 position after teaching is outside the Er rA 8 388 607 PULSE range 1 lf an motion starts when both CW and CCWLM LIMITs are ON CWLM is displayed and the status is output irrespective of direction 8 A roubleshooting Phenomenon Nothing is displayed on the panel he operation with panel is not possible INDEX HSPD is not displayed Reference of S Gurve data cannot be set SCSPD1 SCSPD2 of S Curve Data changes The SPEED in DRIVE is different from the set ting Also the
43. ENSOR DRIVE 2858s8ssecssscsscececsssssssesescsacecasesccseeceeeeeennneeeeneeesesess 6 4 1 SENSOR DRIVE CLYBE 0 6 4 7 SENSOR DRIVE RERBA 64 OG SENSOR DRIVE 64 REST DRIVE EE ERE 6 5 1 PRESET DRIVE for INDEX and RIN DRIVE 65 2 REST DRIVE for SENSOR DRIVE TYPE 0 65 3 REST DRIVE for SENSOR DRIVE TYPE 1 65 4 REST DRIVE Tor ORG DRIVE 9599999 eR RRReRRRRRRR RR RRRRRRRRRRRMRRRSRSR 65 USER S MANUAL CONTENTS PAGE ioe We CONWEn assente duae ANIM MIN NUM 66 1 Metric nm GOnvVerston 6 6 2 Angu dr CONVERS eossesescsososescecece ce sosocosooU go gegO doge Odo OUO OUS 66 9 Examples of maximum settings lt este 66 7 9 Shortest Distanoe Indexing 6 7 156 Teachthe SDeoTDTIoJEbLONS anteater 68 ly Teaching methods 68 2 Teaching speed lt 5 2 342 4 4 444 4444 11 68 3 Compensation of Coordinates 68 7 7 Miscellaneous Specifications on Timing eene 69 7 8 Externa k Dimens TONS 71 1 S
44. IVEs 1000Hz SESPD Set the constant speed S CURVEE END PULSE SPEED 300Hz at which END PULSE DRIVE is executed when the S Curve Drive is applied to INDEXOO through INDEX5O DRIVEs END PULSE Set the number of end pulses when the S Gurve Dri OPULSE x eee ve is applied to INDEXOO through INDEX50 DRIVEs o 0 65 535PULSE ALL INDEX SCSPD1 SCSPD2 is an auxiliary function used to enter the same value for both SPSPD1 and SCSPD2 applied to S CURVE INDEX motions in one step It is useful when changing SCSPD applied to some INDEX motions after setting SCSPD1 SCSPD shared by multiple INDEX motions in one step Note that an axis to which data is set in the S Curve Mode cannot be switched to specific axis For example you cannot switch an axis for which the Programming or S Curve Adjust Mode S Curve Modes has been selected to the one to which the Trapezoidal Drive has been set REFERENCE Section 4 5 5 Switching modes 38 USER S MANUAL 4 5 0perations Via Panel 1 Checking an External Mode is ready In an External Mode the LEDs remain ON when a selected control mode is ready wait for command and remain OFF when the controller is in operation in response to a command sent from a host or is communicating with other devices B SEQ Control Mode MRS Control Mode SEQ LED remains ON SEQ LED remains OFF RS LED remains ON RS LED remains OFF when anSEQ Control when the controller when the RS Control during communication Mode is r
45. Mode hierarchy Modes that change all axes at a time Modes that can be set for each axis when all axes are ready for motion and issue motion commands 6 570 Programming Programs the basic data necessary for C 5 0 SA SA Panel Modes WRITE MODE Mode operations The data programmed is backed up controlled via onto an EEROM panel TEACHING MODE Allows you to program target address for each INDEX through teaching from the panel Data taught is backed up onto an EEROM S Curve Mode Programming Sets the acceleration deceleration start stop Mode speeds for S CURVE DRIVE including SCSPD1 and SCSPD2 The data set is backed up onto an EEROM S Curve Allows you to adjust an S CURVE DRIVE while executin Adjust Mode g it via the panel The data programmed in the adjus tment process is backed up onto an EEROM Signal Check Allows you to check all 1 0 wiring for 1 0 signals transferred Mode between the panel and the sequencer sensor signals etc A basic mode that selects different DRIVE functions EXTERNAL MODE SEQ MODE NORMAL MODE including INDEXOO to INDEX50 and SCAN to activate Controlled by host Sequencer them from the sequencer control OP MASK ON Disables the panel keys via a command issued from the sequencer OP MASK OFF Clears the disabled panel keys via a command issued from the sequencer For the details of using this function see the aie cal technical information TRACE MODE A mode that sets the motion of
46. N mounting plate REFERENCE he following model numbers of DIN mounting plates can be purchased from the maker DIN plate DIN P70 Misumi For the detail contact the maker No DIN rail height H How to Mount DIN Rail Recommended DIN 1 H 10mm min Mount the DIN rail directly on the DIN rail DAV Type mounting surface Toyo Giken 117 DIN rail mounting surface Type PFP 100N2 We recommend DIN DIN rail Omron rails the heights i of which are more Pu than 10mm 10mm min 2 Standard DIN rail Place two M4 plane washers large one on BAA1000 or BAP1000 the other between the DIN rail mounting Izumi Denki surface and the DIN rail to make the DIN rail Type PFP 50N or 100N height more than 8 7mm Omron DIN rail mounting surface TB DR or TB DR2 V plane washer large x 2 etc Nitto Kogyo etc DIN rail 3 _ 8 7mm nin 222 USER S MANUAL 3 3 1 0 Signal 1 1 0 signal connector J1 J2 Connector drawing Connector FCN 361P040 AU of Fujitsu Body side Applicable connector FCN 361J040 AU of Fujitsu Accessory 2 54mm pitch Soldering type Applicable wire AWG28 About 0 075mm AWG22 About 0 3mm B20 B1 MSignal Table The following explains about X axis but the same is also applicable to Y axis and each axis to which CB 10 8A57 was added 1 0 signal connector No Signal name 0 Description Signal name
47. NDEX50 HSPD Setting 4Data Notification ndefined input occurrence mmediate Stop ndefined input occurrence When a Current Value Address Reading is instructed 6 570 5 outputs BCD Data of the Current Value Address in any unit of pulse mm and angle set by Write Data No A6 to the status line When the Stop signal set with the Stop Type of Write Data No A4 stops the sequencer any of the following statuses is output Stop Type 0 Stop after deceleration No ERR output Status 32H A REST DRIVE is possible z EN Stop Type 1 Immediate stop ERR is output Status 02H No REST DRIVE is possible Stop Type 2 Immediate stop No ERR output Status No REST DRIVE is possible When an setting inhibited undefined input is available is displayed on the panel and an error status Err 04H is output 54 USER S MANUAL 5 3 Motion Example R2 Index No 50 is used to execute an Index Drive with most basic data previously set Then the Data Transfer function from IndexbO Sequencer is used for positioning with a target address data transfer from the sequencer 1 Motion Flow Automatic detection of machine home Index Drive with data previously set Setting of a target address from sequencer Index Drive with data set from sequencer END 2 Connection Sequencer Output C 570 SA Sequencer Input Sequencer START 3 Allocated Signal Table Example of Sequencer High order K4Y040 Low orde
48. P2 ABS 39 USER S MANUAL List of RS Control Mode Error Codes E Inconsistent slave address specified Inconsistent slave type specified Undefined request received S o E 4 Request received when the controller was in a status other than Ready E5 Inconsistent axis specified o Inconsistent number specified for Index Write Data or S Curve Data E Incorrectly specified data selection EB Inconsistent data specified for Index Write Data or S Curve Data Incorrect request format gt O Request containing more than 80 bytes received MDisplay when digits overflow the number of display digits for the current value for address is more than seven digits oVFEr appears as shown below If the display digits overflow an ERR signal will not be turned on the action being not interrupted If the display digits are restored the display returns to normal mode that shows the address of the current value M MMM AM MDisplay with OP MASK operation mask ON enabled All panel key entries are disabled when the OP MASK ON is activated in an External Mode When a key is pressed with the OP MASK ON enabled the following display appears to indicate that all panel key entries are disabled 3 Switching Operation Modes OP MO
49. S1 Ims High output R P SET lt 0 6ms gt Until RDY lt 1 1ms Until SET High completed DRST lt 0 6ms gt Until RDY 1 1ms Until DRST is out High put DRSTwidth 10ms Set INDEX5O Data lt 0 6ms Until RDY S1 1ms Until code and High data entries are responded Read Address Data 0 lt 0 6ms 20 Until RDY Until data is rea High dy on status line 3 Delay time for START signal Simultaneous activation of the M signal lines and START signal on sequencer ladder logic may not be synchronized with those signals from an output device On the controller the delay time for START is factory set to 3ms to ensure that a motion signal is read in when a START is issued To shorten the time until pulses are output or to start motor motion set a small value for the delay time M8 Read in a motion signal for M line after the delay time MEM ME Unstable per iod Factory set to 3ms Setting a small value shortens the time to start motor motion 54 6 RS CONTROL 6 1 0utl ine of RS Control USER S MANUAL RS Control is a mode in which data is transferred sent or received between the C 5 0 SA and personal computer via RS232C communications It allows the sending loading of C 570 SA data from a PC and the receiving saving 6 570 5 internal data by the PC RS control simultaneously switch es for all axes connected to the C 5 0 SA When the cont
50. W LIMIT CW LIMIT CCWLM CCWLM GE GE sp gt csPD O O sp gt csPD O O csPpe 5 PRESET HSPD sp PRESET 1 spl CSPD lt sp PRESET JD CSPD PRESET 60 USER S MANUAL 5 DRIVE DIRECTION The ORG or NORG sensor can be attached to CW Limit using the function that sets the direction for ORG DRIVE B Example of sensor attached MExample of sensor attached to CCW Limit for ORG 3 to CW Limit for ORG 3 CCW LIMIT gt CW LIMIT CCW LIMIT CW LIMIT ORG PEPPER REN ORG HD HSPD gt gt sp cspp M CSPD T spi ere TEES Eas A HsPD 1 o N cs CSPD sp gt csPD lc MEET i Hgpp lt O pueri sp TEES c up 5 iA A 6 SPEED ORG DRIVE high speed machine home detection he HIGH SPEED ORG DRIVE stores the address of the machine home once found which is used for the subsequent ORG DRIVE cycles to shorten the time taken to detect the machine home On activation of an ORG DRIVE an ACCEL DECEL DRIVE is executed until the address adjacent to home machine home offset is found after which the controller enters into the programmed ORG DRIVE process When ORG DIRECTION is set to CW
51. X TEACHING SPEED at which 1000Hz x INDEX DRIVE or RTN DRIVE is executed when operat ingthe motor in the External Trace Mode or in Teaching Mode via the panel INDEX LSPD Set the self start speed INDEX LOW SPEED when 500Hz activating INDEXOO to INDEX50 RIN or SENSOR DRIVE AS TEACHING OFFSET Set the direction to move the motor to relative 1 CW positions compensation of coordinates when positi direction DIRECTION oning is done by intentionally moving the motor to positions relative to those positions programmed through teaching 0 CCW direction 1 CW direction INDEX RATE Sets the acceleration deceleration constant Rate 9 x Data Table No for INDEXOO to DRIVE50 RIN and 100ms SENSOR DRIVEs 1000Hz x Teaching Offset Set the number of pulses to move the motor to 0 pulses tive positions compensation of coordinates when no compensa positioning is done by intentionally moving the tion of coor motor to positions relative to those positions pro dinates grammed through teaching 0 8 388 607PULSE RS232C RATE Set the transfer rate baud rate for the RS232C 3 57600bps 1 0 96000 5 1 19200bps 2 38400bps 3 5 600bps f you set a value in A9 or No F6 for either X or Y axis when CB 10 SA57 added Z and axed included it will be treated as the data shared by the C 5 0 SA In addition when a setting change of the transfer rate baud rate of No i
52. YPE 5 digits geover Automatic changeover is displayed during EXT Short High O tio tic jorder Long Low order fixed to OFF automatic change over is displayed the UPPER key is H L key is invalid to ON the upper digit is during EXT Automatic changeover is LIWhen the UPPER key is set always displayed No error output Status 32H REST DRIVE possible Immediate stop Error status 02H is out put REST DRIVE impossib le L TYPE M TYPE RESOLUT 1 0N20 H TYPE 5 digits display method High order low order chan High order low order chan geover Automatic changeover is displayed during EXT short High B toi Ue jorder Long Low order 79 be triggered without error output TYPE M1 of RESOLUTION 10 for little speed difference in acceleration and deceleratio n was added to TYPE M his works as a measures aga inst vibration in accelerati on and deceleration due to speed difference USER S MANUAL J coa Eme 2 segment While DATA is set display Automatic changeover is While DATA is set the display method is fixed displayed even while DATA display digit is fixed and 15 set the setting became easier Short High O tot jorder Long PBS Hi order The UPPER key is used to When the DATA key ts set designate Display of to ON high order display Upper Digit or Setting is fixed
53. al is not connected when Z phase ZORG is used Check if mechanical hunting does not occur Try to set several pulses so as to escape hunting width with WRITE DATA No b4 Or try to insert a delay time with MARGIN TIME of WRITE DATA No b5 78 USER S MANUAL 9 DIFFERENCE FROM C 5 0 S he specification of C 5 0 SA allows to be rewritten from C 5 0 S but covers some points completely different from C 5 0 S When using the controller by rewriting or mixing check differences of the specifications In addition set parameters and data to be added from C 5 0 S D output Both CWP and CCWP are Both CWP and CCWP are The maximum load current drive capacity 20mA max 40mA max specification is degraded When SINK current is When SINK current is When voltage is assured the 20mA the low level is 20mA the low level is current capacity does not below 0 5V below 0 5V change When SOURCE current is When SOURCE current is 20mA the high level is over 2 4V 20mA the high level is over 2 4V 0 Deceleration to stop 0 Deceleration to stop n immediate stop comes to STOP TYPE DRIVE TYPE segment No error output Status 32H REST DRIVE possible Immediate stop Error status 02H is out put REST DRIVE impossib le 2 Immediate stop No error output Status 4EH REST DRIVE impossib le L TYPE 1 RESOLUT I ON10 M2 TYPE RESOLUT I ON20 H T
54. ant key on the panel is held down methods are available R P SET position threedetection methods are available Stop is activated with STOP signal with S Curve Drive activated Shortest Distance Indexing Automatically selects the direction of revolution allowing the axis to reach the point for positioning through the shortest path in controlling the rotation system 2 Number of M SCAN DRIVE CSCAN DRIVE 0 oo infinite PULSES DRIVE pulses output SPECIAL SCAN DRIVE ORGDRIVE O infinite PULSES DRIVE SENSOR DRIVE TYPE1 1 8 388 607 PULSES DRIVE SENSOR DRIVE TYPE4 0 infinite PULSES DRIVE SCAN DRIVE 1 8 388 607 PULSES DRIVE INDEX DRIVE 3 5 and rate 2 IB 3 _ PEE RESOLUT1ON10 RESOLUTION20 20 Speed setting 10Hz 100kHz 10Hz 800kHz 10Hz 800kHz 1092 1 6MHz range LSPD Speed setting 1Hz 100kHz 1Hz 800kHz 1Hz 800kHz 1Hz 1 6MHz range other than those above Rate setting 1000ms 1kHz 100ms 1kHz 5bOms 1 kHz 5 Oms 1kHz range 1 0ms 1kHz 0 1ms 1kHz 0 05ms 1kHz 0 005ms 1kHz 22 steps 15 steps 15 steps 15 steps Difference 51 2 5 500Hz STEP 1kHz STEP 10kHz STEP in speeds 1 62 2 5 2kHz STEP 4kHz STEP 68kHz STEP 1 Difference in speeds is the speed variations between the moment the motor is run at a given speed and the moment it is accelerated or decelerated This
55. cessary order Write Data and S Curve Data Reading Mode The same DATA writing procedures as C 5 0 S are acceptable without trouble It is necessary to write No particular all data in the regular order is set order Preservation mode was called in 0 510 5 or omis sible FCN 361P040 AU Fujitsu XG4C 4034 Omron FCN 361J040 AU is an access MIL type Applicable to MIL ory soldering type 40P and distribution board 0 connector PULSE LEDs option Unavailable Available 81 Technical Service TEL 042 664 5382 FAX 042 666 5664 E mail s supportG melec inc com Sales and Service TEL 042 664 5384 FAX 042 666 2031 URL http www melec inc Melec Inc Control equipment marketing department 516 10 Higashiasakawa cho Hachioji shi Tokyo 193 0834 Japan his Operating Manual is subject to change without prior notice for the purpose of product improvement R4 CHHBH
56. ct Signal and Status Signal When any mode other than the External Normal Mode is used it is not necessary to designate the mode When MO M8 signals are input to any axis out of the X Y Z A axes an External Mode can be changed over When an External Mode is selected the status signal of the selected External Mode Normal Trace Teaching etc is output to the selected axis When any axis out of the X Y Z A axes is in operation not in the RDY status External Mode cannot be changed over When the all axes are in the RDY status it can be changed over When writing setting reading storing DATA from the sequencer 1 0 after changing over External Modes refer to our technical information External Mode Select Signal Status ap Motion command input signal Display on Eje mnn panel OS Motion No 2 S Setting DAR eee rS 3 Setting inhibited H H H O EM 15 Re LL aH LE LE E LM EL EC maa tepetepe D RE 3 tin DAL b i ted re LOO LO LLL ea Setting inhibited D D D Db b H H H EH S Curve Data Reading Mode D D D D D be ap i Write Data Reading Mode D D D D n O TH 55 9J 12 S Curve Data Programming D D D D JO 59 13 Write Data Programming Mode D D D O J0 O 53 JV 14 TEACHING MODE 0 UD DJ 0 0 H 0 15
57. ctivated ORG RATE No 9 ORG CSPD SCAN HSPD when SCAN used Set the acceleration deceleration constant RATE DATA TABLE No for ORG DRIVE 100ms 1000Hz Set the constant detection process speed ORG 500Hz x CONSTANT SPEED for ORG DRIVE Set the maximum travel speed SCAN HIGH SPEED at 3000Hz which M SCAN DRIVE is executed in the External No rmal or External Teaching Mode or SPECIAL SCAN DRI VE is activated via lt I gt key on the panel SCAN TSPD Set a safe speed SCAN TEACHING SPEED at which 3000Hz T M SCAN DRIVE a DRIVE for teaching use is execu ted in the External Teaching Mode T M SCAN DRIVE is provided independently from M SCAN DRIVE SCAN LSPD when SCAN used Set the self start speed SCAN LOW SPEED at which 500Hz T M SCAN DRIVE is executed in the External Nor mal or External Teaching Mode or SPECIAL SCAN DRIV is activated via CI key on the panel No 9 100ms 1000Hz SCAN RATE when SCAN used Set the acceleration deceleration constant RATE D ATA TABLE No for T M SCAN DRIVE in the External Normal or External Teaching Mode or SPECIAL SCAN DRIVE that is activated via lt 1 key on the panel SCAN CSPD when SCAN Set the constant speed SCAN CONSTANT SPEED at wh 500Hz ich M SCAN DRIVE is executed in the External Norm al or External Teaching Mode 79 79 No used 35 USER S MANUAL INDEX TSPD Set a safe speed INDE
58. d S Gurve Rate based on LSPD HSPD and RATE values programmed in Write Data entries By default these three values are automatically set in the basic S curve parameters It is therefore not required to set these parameters unless they needs fine adjustments Hz HSPD 7 SERATE 1 SCSPD2 SCSPDI gt LSPD rssmATE RATE RATE ssRATE 1 t he following example shows a case where SCSPD1 for INDEXO2 is set to 1400 Hz When UPPER key is pressed Upper digits fixed A A Decrement S Curve Data No Increment S Curve Data No 109 digit data 105 digit data 10 digit data 103 digit data 10 digit data 10 digit data When UPPER key is released Lower digits fixed 0641010 OP2 ABS OP1 OP2 ABS JT l H B Lu m H B m COS d 10 digit data x1 When you press WRITE key SCSPD data specified with S Gurve Data number is written Approximately one second later the S Curve Data number is automatically incremented Press WRITE key while holding down UPPER key only when entering all SCSPD data values in one step 44 USER S MANUAL 10 Adjusting S Curve Drive Select C Curve Adjust Mode an S Curve Mode with MODE key Note that it is required to set Write Data No AO Drive Type to S Gurve Drive before selecting this mode MSelecting the number corresponding to the INDEX to
59. d tighten the screws 9 Fix C 570 SA and CB 10 SA57 with the accessory reinforcing fitting of CB 10 SA57 and 2 screws I SlReinforcing fitting Reinforcing fitting fixing screws at 2 places Square washer screw gt f 8 Square washer screws at 2 places 7 the bottom plate on CB 10 SA57 10 Make sure that CB 10 SA57 has been firmly assembled 20 USER S MANUAL 3 2 How to Install 1 Installing Place 6C 570 SA and CB 10 8A57 are designed and manufactured for assembling equipment Install them at the following places In an airy chassis installed indoors Avoid places that are exposed to direct sunlight Working ambient temperature and humidity 027 402 80 RH max non condensing place free from corrosive gas and inflammable gas place free from dirt dust salt and iron powder A place not exposed to splashes of water oil or chemical A place free from continuous vibrations or excessive shock A place where is hardly influenced by electromagnetic noises caused by any power driven equipment place free from radioactive material magnetic field and vacuum 2 Installation Interval Install the controller more than 30mm away from the chassis or other equipment in the chassis in order to secure wiring connection and disconnection of connectors and air flow When attaching commercial covers produced by Fujitsu to the J1 and J2 connectors inserting RS232C cable after installation
60. difference is relatively small when the motor is run at a low speed whereas it gradually increases as it is accelerated to a higher speed RESOLUTION 10 decreases the difference and suppresses the influence of noise or vibration generated from the motor compared with M2 TYPE RESOLUTION 20 On the contrary for the rate setting MI TYPE RESOLUTION 10 is slower than M2 TYPE RESOLUTION 20 13 5 USER S MANUAL Description Duty ratio of E e DUTY 50 1Hz 5596 1 6MHz pulse output ti All pulse outputs are isolated by photocoupler DRIVE startup Less than 1 1 ms he period of time between the moment START signal is in Trapezoidal sent from a host and the moment the controller starts outputting pulses When Write Data No 8 DELAY TIME is set to 0 Ims factory setting 3 ms Not applicable to S CURVE INDEX DRIVE and SCAN DRIVE Programmable 50 positions axis INDEXOO through INDEX49 allow positioning with fixed positions INDEXOO to INDEX49 data for the preset incremental absolute distances INDEX50 supports data INDEX50 is capable of running the motor while converting the preset initial data to positioning data or HSPD data transferred from sequencer 1 0 transfer Number of data 100 000 times Number of EEROM rewrites valid for up to ten years when rewritten 27 times per day rewrites 14 USER S MANUAL 2 3 Panel and External Control Specifications 1
61. driver does not operate as set he motor does not drive even if START signal is input Check if OP MASK which prohibits operation from the panel Check if the operation mode is not set to OP2 The OPO mode operation for operator Check point Check if the power source is correctly connected Check the RESET signal was input and remains as it is While the RESET signal is input the display contents are not guaranteed When an axis connected to C 5 0 SA is operating in the External Modes the operation with panel is not possible Press the SEL key to check if all axes are in the RDY status is not OeN is selected Press the 0 0 0 1 0 2 selection hole and select the or 0 2 mode in which all data can be referred to Check if the drive type of WRITE DATA No AO is not set to 0 trapezoidal drive When the trapezoidal drive is set S Curve Data cannot be referred to and set from the panel and the External modes Check if HSPD and LSPD are set by WRITE DATA and then S Curve Parameters of SCSPD1 SCSPD2 are set SCSPD1 SCSPD2 changes depending on setting of DRIVE TYPE HSPD and LSPD Check if the DRIVE TYPE is correctly designated WRITE DATA No A1 L TYPE 0 M TYPE 1 H TYPE 2 Check if the relations between the designated operation and the speed setting are correct Review the setting of speed suitable for performances of the motor and the driver Check if th
62. e Completion H n D D D D H JRP SETComletion TO D D D D JDRST Completion gt x x x D JH Motion Completion Status Output D TO D JD O Initial status 1B H TED I oe 27 29 D H JH 31 32 H 33 INDEX50 HSPD 10 Set Value D H H TO H H D 35 H H O H D H 37 H H D H O 39 Current Value Address Reading Datal Notification Current Value Address Reading Data2 Notification Current Value Address Reading Data3 Notification Current Value Address Reading Data4 Notification NDEX50 Travel Setting 1CODE Completion NDEX50 Travel Setting 1Data Notification NDEX50 Travel Setting 2CODE Completion NDEX50 Travel Setting 2Data Notification NDEX50 Travel Setting 3CODE Completion NDEX50 Travel Setting 3Data Notification NDEX50 Travel Setting 4CODE Completion EUN D D D D Ko D D D gt INDEX50 Travel Setting 4Data Notification D PA EUM D D D NDEX50 HSPD Setting 1CODE Completion NDEX50 HSPD Setting 1Data Notification NDEX50 HSPD Setting 2CODE Completion NDEX50 HSPD Setting 2Data Notification NDEX50 HSPD Setting 3CODE Completion NDEX50 HSPD Setting 3Data Notification NDEX50 HSPD Setting 4CODE Completion
63. e External SEQ SEQUENCER Mode is selected START signal the SEQ Mode is not accepted in the RS RS232C Mode and the Panel Modes except Check if the RESET STOP and CCWLM signals are not input Pay attention to B contact of the CWLM and CCWLM signal logics Check if MO M8 are not set to DRST R P SET Check if the travel of INDEX DRIVE INCREMENTAL designation Check if start is arranged from the current ADDRESS ABSOLUTE designation to is not set to O the same purpose ADDRESS Check if RIN DRIVE is not started from the status already existing at the electrical zero STIE USER S MANUAL The SENSOR DRIVE can not start The RDY signal is not turned on LOW after the end of DRIVE Or the return to RDY is slow Motion command from high order cannot start normally stop from high order cannot be commanded normal ly No teaching is possible position after teach ing 1 different from actual positioning The machine home can not be detected correc tly Check if WRITE DATA Check the timing list of EXTERNAL motion in Chapter 5 4 Check if the timing specification and the sequencer program are not Check Other Timing Specification in Chapter 7 7 Check if the External Mode was once set to the Teaching Mode FDH Check if teaching is not tried to be stored in places exceeding 8 388 607 Check if ORG TYPE of WRITE DATA No CO is not valid
64. e Write Data No AO DRIVE TYPE is set to 1 S Gurve When UPPER key is pressed When UPPER key is released Fixed to the upper digits No Data Fixed to the lower digits Data When UPPER key is released the display returns to the Lower Digits Mode Upper digits fixed Lower digits fixed ERR ur oy eh Pe 70 1 2 ABS E 7 Programning in Write Mode W M Select Write Mode with MODE key In the Write Mode enter the parameters required to operate the C 5 0 SA The following example shows a case where Write Data No AO DRIVE TYPE is set to 1 S Curve When UPPER key is pressed When UPPER key is released Upper digits fixed Lower digits fixed os NO DATA ATA __ pen a RIO 0 2 5 x1 OP1 OP2 ABS ABS Not pressed A ABS mm m M EN NN NN H B ST SP 1 D H B ST SP lt D Qu dm d d dh d Decrement Write Data No 10 digit data Increment Write Data No 10 digit data ABS ABS INC 102 digit data 10 digit data 101 digit data 105 digit data 10 digit data Every time ABS key is pressed the display changes in the sequence below blank dot Absolute minus dot Absolute blank Incremental 2 When WRITE key is pressed Data Write is executed Approximately one second later the Write Data
65. e when an ORG DRIVE is repeated It moves the motor at a high speed NC set in HSPD as far as the address adj Address adjacent to machine hom acent to the machine home specified Machine home by the number of offset pulses and O TS BU SRS then detects the machine home in the same process as for the normal ORG DRIVE 1 1 1 RTN DRIVE A DRIVE function that moves the motor back to the electrical zero absolute address O irrespective of the current electrical zero 7 position When the machine home is detected a e ORG DRIVE it is automatically set A as electrical zero with R P SET R P SET electrical zero position If the machine home differs from the Set to the electrical zero when the machine electrical zero use R P SET to re home is detected specify the electrical zero position 12 REST DRIVE STOP signal REST DRIVE executes the pulses left decelerating stop over when the motor is decelerated to SPD Ui ses a stop dur ing all DRIVE functions for ES positioning except SCAN DRIVE and Lu SENSOR DRIVE TYPE 4 in execution z USER S MANUAL 13 Shortest Distance Indexing Decelerating Stop 1 1 Immediate Stop 16 LIMIT STOP CWLM CCWLM INDEX24 current value R P SET INDEX00 target value STOP input ACCEL DECEL DRIVE STOP input ACCEL DECEL DRIVE CCW Limit area Work a
66. eady is in operation Modeis ready 2 Viewing error status if an error occurs the ERR LED turns on red MeError display in SEQ Control Mode Press SEL key to determine which error occurred in which axis X Y Z or A using the error code he following example demonstrates the X axis stopped with CCWLM MODE OP1 0 2 ABS List of SEQ Control Mode Error Codes Error Code Description GW G limtovererro 0 Ei limit over error 0 02 Eg Motor stop caused by STOP Immediate Stop EJ Not used Undefined motion was entered S E External Mode switched to a Panel W M S M error in the procedure for setting data from the external 1 0 Controller failed to recognize the control axis properly SENSOR DRIVE activated with Shortest Distance Indexing enabled error occurred in REST DRIVE jTaught position out of 8 388 607 range For it is possible to select whether to regard its status as an error depending on Write Data No MH MeError display in RS Control Mode When RS232C communication errors occur in an RS Control Mode the relevant error codes appear Any error occurred in RS Control Modes is unrelated to the axis X Y or Z A selected with SEL key he following example demonstrates an undefined request received via an RS232C NO DATA OP1 O
67. ed it becomes the least significant bit of BCD Data For reading of current value address specify a place to be read by Code Index 50 travel and HSPD Data set Code and Data BCD continuously at necessary places Data not transferred by Index50 is not handled as 0 zero and becomes the previous data For Index BCD sets any of Incremental 0 Absolute 1 and Absolute 2 Index50 travel from Sequencer 1 0 and HSPD Transfer Data are retained until the power supply is turned on or RESET is input and it is not necessary to transfer data each time unless data is changed After the power supply is turned on or RESET is input the data stored in the EEROM starts the sequencer 50 USER S MANUAL Status Output 2 Motion co Status output signal mand app Meaning of output signal sc a oe oo Ed E d During motion H H H H H JH 7 JINDXO Drive Completion INDEXO1 Drive Completion oiu H JH 1 INDEX48 Drive Completion D INDEX49 Drive Completion t a halt ndefined input occurrence ndefined input occurrence TO D H JD TO INDEX50 Drive Completion H H H JD H JH 7 Undefined input occurrence 20 D D D H JRINDriveComletio H n D D D H D TO 0 ORG Drive Completion H n D D TH 0 SCAN Driv
68. ed on alone with UPPER key turned off the current value appears MSetting address of current value he following example shows a case where the address of current value for INDEXO1 is set to 1 When UPPER key is pressed When UPPER key is released Select the number assigned to Move to the taught point your desired action menu Upper digits fixed Lower digits fixed RE ERR AL WE n M OP1 OP2 ABS oh HO OP1 OP2 ABS A ABS Not pressed A ABS uM iren c D w c w du xp Decrement Menu No Accelerate Scan key Increment Menu No CCW Constant Speed Scan key CW Constant Speed Scan key When you press WRITE key the address of the current value is written to the INDEX number specified with the menu number Approximately one second later the menu number is automatically incremented 1 When H B key is turned on alone with UPPER key turned off the current value appears Momentarily pressing SCAN key activates JOG DRIVE use of Constant Speed Scan lt L gt in combination with H B key activates a SCAN DRIVE that accelerates up to HSPD 43 USER S MANUAL 9 Programning in S Curve Mode M Select S Curve Mode with MODE key Note that it is required to set Write Data No AO Drive Type to S Gurve Drive before selecting this mode he range within which acceleration and deceleration speeds vary is divided into three SCSPD1 SCSPD2 an
69. el a Spec Secrest ae ttt aera aren eateries re rT eer TT TT Eee TE Er 8 2 2 Motor Control Specifications and Performance Specifications 10 D Motor Control SHeClTicablons lt 10 2 Performance specit ICAL LONS eese messes SU NM 13 2 3 Panel and External Control Specifications 15 WEM eM M MM RC LL MD 15 2 Panel and External Control Specifications 16 3 INSTALLATION AND CONNECTION 3 1 How to Add Optional two axis Controller 10 5 57 19 O ORG GGO SIUS IUS USE 2 1 UD metal Place eceseceseeeeeeeeeeeececeeeeeeeeeeeeeeeeceeceeeeeeeeceeeeeeeees 2 1 2r neta lation Interval 2 1 9 How to Install 2 1 SENAN aiene 23 1 170 signal connector Jl J2 5 23 2 Power Conhector eess99e99999eeeeneeceeeeeeeeeesceceeneeeeeseeeeeesse eee nA 24 24 JUD OIDOHEE ieeeeeeeeeese ses EREEEEEEEEEEEEEEEEe26500050000222990000000 000600006 25 input Sienai JSeseESESSRRRRERRRRERRRRRRRRRERRRE REESE Eee ee 25 A Output Senat eseeeseseee9eeeeeeenneeeeeeeeeeeeeReeeeeeeeeeeedos 25 tO Pulse OUtPUtT SIENA 525555555555555506555655500560020
70. en the power supply is turned on or when RESET is input the External Normal Mode is selected and the status 3FH is output to the all axes 49 USER S MANUAL 2 Motion Command in Normal Mode and Status Signal his is a basic mode in which various drives such as INDEX SCAN etc are selected from the sequencer and are operated Fundamental motion of operation can be performed in the Motion Command Signal combination to MO M6 Motion command input signal Display Running Motion speed on panel eee eee ee ee 38 Tae 2 tore Pea habeas oo o meor Lobe 4 INDEX48 DRIVE D H D 48 O O 6 NDX9DRIVE D H H D 48 e STOP input Deceleratiop i f Pl Setting imhibites ECL Te LE D LE Pe T r DANE LL EOL Lo 10 Setting inhibited H O ID DO TO 11 DRIVE TH JO TOD D 12 SENSOR DRIVE H D jp D SO JO x 13 RTN DRIVE H D H PAR OO x 14 ORG DRIVE Dp x 15 SCAN 10 16 IRP SET gt Aha 17 i ane ERIS 18 REST DRIVE H D D 5 Current Value Addre
71. epair like changing fuse or for modification 8 1 Maintenance and Inspection 1 Cleaning Method To operate C 5 0 SA and 10 5 57 in good conditions clean them periodically as follows Wipe them with dry soft cloth at the time of daily cleaning When stains cannot be removed by wiping with dry cloth moisten the cloth with thin neutral detergent and squeeze it hard for wiping f rubber or vinyl products or tapes are stuck to C 5 0 SA and 10 5 57 for long time these products may be stained Remove these stains if any at the time of cleaning not use volatile solvents like benzine and thinner and chemical duster Paint and label may be deteriorated sometimes 2 Inspection Method To operate 6 570 5 and 10 5 57 in good conditions inspect them periodical ly In general inspect them every 6 months or once a year When operating them in an extremely high temperature and high humid environment or in a very dusty environment however inspect them more frequently Environment the ambient temperature and the 0 40 Thermometer Condition internal temperature of the system a ppropr iate Are the ambient humidity and the 1096 80 RH non condensing Hygrometer internal humidity of the system appropriate Haven t dusts gathered here should be no dust Visual check Installation 15 the product firmly fixed There should no loose parts Torque driver Condition 6kg cm Are connector
72. for equipment that requires sophisticated reliability including nuclear and aerospace related equipment vehicles ships medical devices that directly involve human body and equipment that may possibly have considerable influence upon property MProvide fail safe control so that the entire system is placed in a safe operating mode in the event of a failure e g input power failure broken signal lines controller failure product is provided with LIMIT overtravel signals to prevent mechanical damages his is an Active Low input contact B signal his requires a system configuration that does not use the LIMIT signal to connect this signal in the both directions to a Normally High connected to GND state in order to generate output pulses MmAlways use the product in a manner consistent with the instructions and within the specifications described herein Check the power input for wiring before turning power on USER S MANUAL PREFACE General Safety Considerations Before Using 6 570 SA CONTENTS PAGE 1 INTRODUCTION lle Features 6 1 2 Controller Components 6 1 3 Example of System Configuration 6 EX COGAN NIEN E E E 7 2 SPECIFICATIONS Gen
73. from the sequencer by teaching Teaching Mode When writing data from the sequencer to C 570 SA Data Programming Mode When reading data of 6 570 5 from the sequencer Data Reading Mode MWhen making communication through RS232C without using option RS Control MWhen checking the detail of each motion timing Connection example for interfacing at TTL level with driver Connection example for reducing the number of 1 05 of the sequencer Connection example for making data transfer from 1 0 of the sequencer possible Example of program for motion after selecting the External Mode from the sequencer Example of program for setting writing data from the sequencer etc USER S MANUAL 1 INTRODUCTION 1 1 Features Model C 570 SA is a stepping servo motor controller packaged in a PC 104 compatible compact form It allows connections of up to four axes by combining the two axis 1 0 controller standard with the C 570 SA with an optional two axis 1 0 controller CB 10 SA57 You can easily position up to 50 points for each axis by setting relevant data via the front panel of the controller selecting 1 0 signal based motion commands and then starting a motor You can also load or save data over an RS232C interface from a personal computer and operate the controller with INDEX50 while transferring distance or HSPD High Speed values via sequencer 1 0 he 6 570 5 controls two axes independently In this manual the firs
74. ide C 570 SA side Do not connect ORG signal case of 066 10 Detection with two sensors CCW direction CW direction NORG sensor Recommended sensor to be turned off when light enters Sunx PM K53 PM L53 PM T53 Omron EE SPX301 EE SX670A Power source Switchable etc ORG sensor Power connector 0 075mm 0 3mm Do not connect ORG signal 6 570 SA side case of ORG 11 12 Both Limit Sensor and ORG Sensor are used CCW direction CW direction Recommended sensor to be turned on when light enters p Sunx PM K53B 1 0 connector PH LOSB PM T53B iis AE GND Switchable etc Power source vee Wn SIC De ot ORG signal and ZORG signals except connection of CWLM and CCWLM Limit signal is of active off B contact input If C 570 SA signal input is not connected to GND even when Limit Signal is not used pulse output is not available 28 USER S MANUAL 4 Example of Total Connection The example of 2 axis connection in normal mode limitation In the normal mode of C 570 SA EXTERNAL when not carrying out data setup from 1 0 and the present value address read out the 1 0 mark of a sequencer be omitted sequencer 24V J1 A10 J1 A11 J1 A12 J1 A13 J1 A14 J1 A15 J1 A16 J1 A20 J1 B1 gt lt gt lt gt lt gt lt gt lt gt Es
75. ignal input the ERR signal is reported to the host sequencer The ERR signal is released by inputting START signal for the next motion command f the error status is not avoided after the next motion command is given an ERR signal is reported again without motion 370 2 USER S MANUAL 7 8 External Dimensions R3 1 Standard Dimensions of C 570 SA 117 CWM SEQ H S M ERR ADJ CI 7 2 When CB 10 SA57 is added The portion where CB 10 SA5 7 is added M USER S MANUAL 7 9 RATE Table 1 RATE DATA Table mL TYPE IMMI TYPE RESOLUTIONTO NIM2 TYPE RESOLUTION20 No ms 1000Hz 0 100 2 60 7 2 1 1 0 0 0 0 0 0 0 0 1 eoO ojojoj i co o1 eoO r co o1 ojoo o c1 ojo ojo eoO ojojoioij i icojoi ojo1il o OoO nr co o1 ojo1 o o c1 5 10 1 12 13 14 15 16 17 18 19 20 ms 1000Hz indicates the average time necessary for acceleration or deceleration of 1000Hz 2 RATE Curve B TYPE BMi TYPE RESOLUTION 10 20 f 1413 f 21191871615 14 13 12 141312 11 10 9 i Hz Hz 20K 50K 25K 10K t 100 200 300 400 ms 0 4 0 8 1 2 1 6 s IM2 TYPE RESOLUTION 20 T 141312 11 10 9 8 1 1141312 11 10 9 8 7 2 Hz 100K 1
76. ime and accuracy from nine options HIGH SPEED ORG A function that reduces the time required for detecting the home after a Reset from the second time onwards SIs USER S MANUAL Z Phase Servo Supported Supports ORG detection using servo driver encoder support Z phase signal Directly connectable to line driver output Since connection between ZORG or ZORG and ORG signals are internally ORed leave ORG unconnected when connecti ng ZORG and ZORG Signal Check Provided 1 0 wiring can be checked function Displays states of 1 0 signals on the panel Output signals are operated on the panel Unit Pulse to mm conversion Converts a distance per pulse to a range from 0 01 m to Conversion 999 99 to program a distance in millimeters for runni ng the motor gt No 0 Pulse to angle conversion an angle per pulse to a range from 0 00001 to 0 99999 program an angle in degrees for running the motor format CW CCW mode One pulse Supports the driver s pulse input mode one pulse pulse direction mode pulse direction mode Switching of Real time view Provides view of address of current position on the current view panel in real time Display of distance setting Displays specified distance or value of target address on the panel 3 Data backup Provided Data is backed up onto an EEROM after power is removed DRIVE function Data transfer with
77. ined allows continued d in an Exte motion control when data was changed rnal Mode is 1 Output an ERR status errors are determined retained by a host Set the type of ORG machine home detection DRIVE 3 ORG 3 O ORG O 1 ORG 1 2 0RG 2 3 ORG 3 4 0RG 4 5 ORG 5 6 0RG 10 7 ORG 11 8 ORG 12 whether to shorten the time required to detect 1 Shorten DRIVE Not shorten ORG sensor is detected at HSPD Shorten detect the moment the motor moves to machine home offset at HSPD the direction to detect ORG DRIVE in accordan 0 CCW ce with the longitudinal relationship of the machi direction ne home CCW direction 1 CW direction Set the direction of PRESET DRIVE to automatically 1 CW move the motor in a given direction after the direction machine home is detected with ORG DRIVE CCW direction 1 CW direction Set the number of pulses for PRESET DRIVE to autom O pulses atically move the motor in a given direction after PRESET DR the machine home is detected with ORG DRIVE IVE applied 0 8 388 607PULSE Set a margin time before the pulse output stops Oms when hunting occurs with the sensor detection in No margin the ORG detection process time 0 to 255 0 to 511 in 0 2ms Example No margin time No constant EXTERNAL DISPLAY DELAY TIME Status at mode switching 1 ORG TYPE HIGH SPEED ORG ORG DIRECTION PRESET DIRECTION
78. ivate the specified motion Always ensure that RDY is active C 570 SA waits for a command before issuing a START Always ensure that RDY is inactive C 570 SA responded to a command before resetting a START RDY will not become active if START is left active when the C 570 SA completed motor motions For the C 570 SA operated in a Servo Motor mode RDY will not become active unless a completion signal is sent back to DEND signal from a servo driver when the C 570 SA completed motor motions 2 Timing specifications M8 gt a __ 22 Busy state Response to a command ANN pulse output or control operation t2 t3 17 Time until pulses are output or a motion command e g R P SET is issued An asterisk in the following table indicates the value when Delay Time for the C 570 SA to read in START set to 0 fms mms afefe e eme INDEX DRIVE lt 0 6ms Until 1 1ms Until pulses are Trapezoidal Drive High output INDEX DRIVE SER 8 gt 0 lt 0 9 quii RDY 1 6ms d pulses are High output High output High output M SCAN DRIVE lt 0 6ms Until RDY lt 12 Ims High output M CSCAN DRIVE lt 0 6ms Until RDY 12 Ims Du jeunes are High output ORG DRIVE lt 0 6ms gt Until S1 fms ai Pulses are High output REST DRIVE lt 0 6ms Until
79. ng fittings the installing method Wiring Did you connect connectors and cables to C 570 SA 5 t wires and cables short circuited or disconnected Are 1 0 connection cables correctly connected to the object axes Is the power source polarity correct in wiring to the power connector 8 Did you check if 1 0 signals are correctly wired Yes No Are wire thickness appropriate to the total current consumption of Yes No power supplying C 570 SA including CB 10 SA57 in case of addition ii wire thickness satisfying the specification used for terminal wiring of 1 0 signals and the high tension cable dr i vers 3 Is the controller free from stress to connectors and tension of wire After completion of installation and wiring did you check that foreign matters the controller is free from foreign matters like wire chips capacity connected and current consumption you consider rush current at the time of starting for current capacity Grounding 17 Did you ground the C 5 0 SA body with a wire of more than AWG20 0 5mm USER S MANUAL 4 DISPLAYS AND PROGRAMMING 4 1 Panel Overview 4 SI 1 8 LED Displays externally controlled statuses I JERR LED Lit when the C 5 0 SA detects an error LED Displays the mode selected with the MODE key LED Displays the axis selected with the SEL key 5 DATA segment LEDs Display
80. ng method is input he panel key changes the Ext Mode to Write Mode At the time panel data can b e set n error occurred in the data transmitting method from the high order When the Ext Mode is selected again with the Panel Modes key the control ler returns to RDY Input START to each axis returned to RDY to release it from error Check the data setting method and the procedures and start the system again for releasing A trouble occurred to the bus Wait until the trouble is Check if the assembling was normal in inside 6 570 5 removed cluding optional units he minimum distance indexing became valid and the SENSOR DRIVE started REST DRIVE started in the state exceeding 8 388 607 of the address control range REST DRIVE started other than after deceleration to stop other than SENSOR DRIVE other than REST DRIVE teaching caused the state exceeding 8 388 607 of ADDRESS control Wait for a motion command Wait for a motion command Receive a teaching at 8 388 607 in the ADDRESS range In case of SENSOR DRIVE in the rotary system do not use the minimum distan ce indexing Input START other than REST DRIVE for releasing Release the system from error by designating a teaching ADDRESS in the 8 388 607 PULSE range 1 When WRITE DATA No A9 is set to 0 the previous status is retained even when MOD
81. nt value when EN the motor with a SCAN or any other functions via the C 5 0 SA panel 5 Programming A mode that allows you to program data required for S S Curve EN INDEX DRIVE It sets S curve parameters required Mode for S CURVE DRIVE S Curve Adjust mode that adjusts S curve parameters when running prm MP stor vith INDEX DRIVE via the parel __ The data you can reference or enter in a Panel Mode varies depending on the operation mode options and index types Trapezoidal or S curve 2 Operation mode OPO for operator Limits the data entry change from the C 570 SA panel to distances options OP1 for designer Allows data entry change for all parameters via the 6 570 SA panel and operations in the Teaching Mode as well as in S Gurve Adjust Mode OP2 for data monitor A mode that only allows the operator to reference all pieces of write data and S curve data WRITE key is not accepted Write Data A mode that programs write data from the touch panel on Writing Mode a sequencer 0 level the data programmed in this mode is backed up onto an EEROM mode is backed up onto an EEROM Reading Mode sequencer 1 0 level Reading Mode sequencer 0 level 3 EXTERNAL MODE Sequencer NORMAL MODE A basic mode that externally issues normal motion comman EXT MODE Control It allows positioning with taught positions compensa ted for relative to a mechanical eigenvalue SEQ Mode
82. numbers and data using its upper or lower five digits key Toggles the display mode between the upper five digits and the lower five digits 7 0 1 2 key Used to select an operation mode eMODE key Used to select a mode ISISEL key Used to select the axis you want to view or program its data d lProgramning Data Used to program or operate data Operation keys WRITE key Used to load programmed data to the 6 570 SA EEROM 4 2 Panel Description Use the 7 segment LEDs 5 and keys 10 as described below 1 Views in External Modes In External Modes EXT the view is in the Upper Lower 5 Digit Auto Switching Mode When UPPER key is pressed the view is fixed to the Upper 5 Digit Mode Display for only a short time Upper digits Display for an extended time UG SiH 3 Lower digits When the UPPER key is released the view is in the Upper Lower 5 Digit Auto Switching Mode 2 in Panel Modes he view when programming data in a Panel Mode is fixed to either Upper or Lower 5 Digit mode to upper digits with UPPER key IO Ht Upper digits turned on JFixed to lower digits with UPPER key 1 58 54 3 Lower digits turned off 3 Using panel keys When entering or operating numbers or data select the upper digits or lower digits by holding down or releasing UPPER key 6 Using the key 0 while holding down UPPER key
83. o the specified address irrespective Target address of the current position This is a moving motor 5000 basic DRIVE for positioning S CURVE INDEX S CURVE INDEX DRIVE smoothly accelera DRIVE tes or decelerates the motor in an ire p A hug S curve ZAumber of or target t address 2 2 END PULSE his function alleviates damping at DRIVE dunce the end of S CURVE INDEX DRIVE of pulses Setting range of END puss Upon completion of deceleration down target address 0 to 65535 pulses to a low speed it continuously moves t the motor in accordance with the spec ified frequency and specified number of pulses M SCAN DRIVE M SCAN DRIVE MANUAL SCAN DRIVE acti MANUAL SCAN vates single pulse and continuous dri DRIVE ve functions A START signal input ac tivates the single pulse drive after which an input the duration of which is more than 250 msec activates the continuous drive function that accele rates the motor up to HSPD The number of pulses output for deceleration depends on the setting values for HSPD and LSPD rates M CSACN DRIVE M SCAN DRIVE MANUAL CONSTANT SCAN MANUAL CONS 92Ums DRIVE activates single pulse and TANT SCAN continuous drive functions A START DRIVE signal input or press of key act START ON ivates the sin 5 le pu Ise drive after OFF which an input the duration of which is more than 250 msec activates a constant speed continuous drive funct i
84. on he number of pulses output for stopping the motor is within 9pulses SPECIAL SCAN DRIVE activates the cont inuous drive function while the key on the panel is held down SPECIAL SCAN DRIVE 25015 Press of key accelerates the motor to HSPD 10 USER S MANUAL Motion Controls Description SENSOR DRIVE SENSOR DRIVE stops or decelerates the i H 560 signal motor with SENSOR STOP SS0 signal input TYPEO stops the motor when SSO e ise signal is issued upon completion of an INCREMENTAL INDEX DRIVE The number of pulses N output when SSO is detected is within H N LSPD Hz x 3 0 x 10 61 77 decelerates the motor when LX SSO issued and then moves it a spec ified distance before stopping it 222222 TYPE4 moves the motor a specified distance from the moment SSO is issued before stopping it ORG DRIVE ORG DRIVE detects the machine home High Speed DRIVE t automatically detects the machine DRIVE home when ORG motion control is initi ated Select a detection method that conforms to your intended accuracy detection time and specifications Machine home from nine options sensor position Detecting the machine home with two sensors NORG and ORG requires a distance corresponding to N 0 005 x CSPD in terms of the number of pulses M O HIGH SPEED Hz High Speed DRIVE HIGH SPEED ORG DRIVE reduces the time ORG DRIVE Low Speed required to detect hom
85. or changing Fujitsu s Jl and J2 connectors to MIL connectors make the interval 70mm 30mm 70mm when connector covers are attached or when RS232C cable is connected RS232C 52320 30mm 70mm when connector covers are attached 3 to Install Install the controller in the horizontal direction by facing the product panel to the upper face or in the vertical direction by facing the panel to the front Fix the controller directly to the base plate or attach a DIN rail mounting plate and mount the controller to the DIN rail installation to Base Fix the portions and firmly to the base plate with the following screws When CB 10 8A57 is added to C 5 0 SA install it in the same way or M4 screw Select proper lengths suitable to the base plate T3 M3 or M4 plane washer Base plate z TE USER S MANUAL M installation to DIN Plate The controller can be installed to the DIN rail by means of a DIN rail mounting plate When CB 10 SA5 7 is added to C 5 0 SA install it in the same way Fix 570 SA to the DIN mounting plate with screws at four places At the time prevent the screws from entering more than 6mm inside C 5 0 SA 2 Mount the DIN mounting plate to which C 540 SA was fixed on the DIN rail Set the upper hook first and fix it so that the lower hook clicks Depth of screw Less than 6mm DI
86. ove or target INDEX to use Distance for INDEXO1 Distance for Sets the index type of INDEX49 DRIVE INCREMENTAL INCREMENTAL INDEX49 or ABSOLUTE and the distance to move or target 4000PULSE address INDEX49 HSPD WIG H Sets the maximum speed SPD for INDEVA DRIVE Sets the maximum Sets the maximum speed HSPD for INDEX49 DRIVE HSPD for INDEX49 DRIVE 3000Hz Distance for Sets the index type of INDEX50 DRIVE INCREMENTAL INCREMENTAL INDEX50 or ABSOLUTE and the distance to move or target 4000PULSE address The distance can be rewritten by transfer ring data from 1 0 The data transferred will be retained until power is turned off or RESET is entered INDEX50 HSPD Sets the maximum speed HSPD for INDEX5O DRIVE 3000Hz HSPD can be rewritten by transferring data from 1 0 The data transferred will be retained until power is turned off or RESET is issued Distance for Sets the distance for SENSOR DRIVE 4000PULSE mex o eee numum iin heer AE 0 Trapezo x idal Drive siii Drive type for DRIVE TYPE TYPE Sets the type of motor driven STEPPING O SERVO MOTOR 1 STEPPING MOTOR PULSE TYPE the pulse output type 0 pulse Two pulse CW CCW mode CW CCW mode One pulse direction pulse mode 5 TYPE the stop type by STOP signal 0 Decelera Sets the acceleration deceleration driving type for INDEXOO through INDEX50 DRIVE 0 Trapezoidal Drive 1
87. pped for 20ms at the start of JOG DRIVE JOG DELAY TIME Indicates that a move is stopped for 50ms at the start of PRESET DRIVE PRESET DELAY TIME PRESET DRIVE added 4 Process charts by machine home detection type I ORG 0 IB ORG 1 CCW LIMIT OF LIMIT CCW LIMIT OF LIMIT ORG cspp lt HSPD PRESET PRESET A i usppO csPp sp CSPD lt spl CSPD PD sp Po HsPp PRESET i gt HSPD B iO 1 cspp sp 1 cspp lsp sp gt cspp 1 1 1 sp PRESET i PRESET A 58 USER S MANUAL ORG 2 BORG 3 CCW LIMIT E CW LIMIT CCW LIMIT gt CW LIMIT OG OG fff Hep HSPD lt So O O E T sp CSPD c ur gt gt ll 1 eo PRESET i PRESET lt A HSPD 0 sp CSPD Elsp Jol i leo ifPRESET i PRESET E HS PB HSPD i ES O Caper sp Sonne Jo I lL PD PRESET E ORG 4 NEAR ORG process ORG process CCW LIMIT CW LIMIT For ORG High Sensor off when point a is detected NORG b C me 1 gt sp g
88. provide compensation of the coordinates CCD camera Work head For this example set the direction of travel requiring the compen Offset Set a mechanically specific distance in terms of pulses 5cm For a Smm pitch ballscrew having the resolution of 1000 puls 65 per revolution the offset is given by 10 000 pulses home of workpiece corresponding to the mechanical offset of bom lt When activating an INDEX DRIVE the controller compensates f 2 or the offset of 10000 pulses for ABS20000 recognized with a CCD camera before positioning the motor at ABS200000 Target workpiece Coordinates to teach Coordinates for R P SET motion Coordinates to teach Coordinates of work head X X Y 0 10000 20000 ffset 30000 GY 4 When externally operating the controller the compensation of coordinates is enabled in a Normal Mode and disabled in a Trace Mode When operating the controller in Teaching Mode via the panel the compensation of coordinates can be enabled or disabled with the H B key When operating the controller in S Gurve Adjust Mode via the panel the compensation of coordinates is enabled With the Shortest Distance Indexing enabled the compensation of coordinates is disabled 68 USER S MANUAL 7 7 Miscellaneous Specifications on Timing Status Necessary signal Time until signal Time until Remarks input width reply RDY L POWER ON Power On
89. r Data Data Memory Setup Allocation 2 0 0 in data Motion Y4D Y4C Y4B Y4A Y49 8 47 6 45 Y44 43 Y42 Y41 40 memory comman INDEX50 Travel Setting 1 00 INDEX Type INDEX109 INDEX50 Travel Setting 2CODE INDEX10 INDEX10 4 INDEX50 Travel Setting 3CODE INDEX103 INDEX102 INDEX50 Travel Setting 4CODE INDEX10 INDEX10 MT USER S MANUAL 4 Example of Ladder Circuit E R2 Sequencer Start RDY ERR 4 MOV H0276 K4Y40 X48 100 102 ORG DRIVE 101 101 102 102 103 103 104 104 105 10 0 0 Setting 1Data X48 X9 Index Type and 10 1 are set 106 108 107 aC J ee 5 ES 107 106 Setting 1Code 108 A MOV Ho28A K4Y40 Setting 2Code ME M Index50 Travel Code2 108 110 T E 109 109 108 RDY ERR RA 110 H0298 K4Y40 Setting 2Data Ao TAM 10 9 and 10 8 are set 110 112 111 RDY ERR 111 112 112 113 113 114 114 115 115 116 116 117 117 118 118 119 119 120 H0000 K4Y40 M8 After RDY is replied output relay is turned off together with START signal 53 USER S MANUAL 5 A List of Timings for External Operations 1 How to issue START signal Determine that the RDY signal is set Low before specifying motor movements with MO through M8 hen issue a START to act
90. rea CW Limit area 17 In controlling motor motions within one revolution when one of INDEXOO through INDEX50 or RIN DRIVE is activ ated the controller automatically determines the direction allowing the motor to quickly move from the curren t position to a target position and then moves the motor the shortest distance STOP Decelerating Stop decelerates the motor to a stop when ACCEL DECEL DRIVE is active The number of pulses output upon acceptance of STOP depend s on HSPD and LSPD rates When the motor is run at a fixed spee d it stops within one pulse Stops the motor immediately when ACCEL DECEL DRIVE is active or the motor is run at a fixed speed t outputs a DRST signal when a servo motor is specified he number of pulses output upon acce ptance of STOP is within one pulse CWLM signal causes the motor to imnediately stop rotating CW CCWLM signal causes the motor to imnediately stop rotating CCW he number of pulses output upon acceptance of LIMIT is within one pulse USER S MANUAL 2 Performance specifications Dee Jeer Moves the motor a specified distance or indexes it to the target address Drive function INDEX DRIVE Trapezoidal S Curve Drive he S Gurve Drive is a Drive that has an S curve acceler ation deceleration profile SCAN DRIVE Continuously moves the motor as long as the START signal including M SCAN DRIVE is issued or the relev
91. remaining pulses is output before the motor being accelerated to a speed specif ied with HSPD it starts decelerating Where the result of adding the number of pulses remaining in an INCREMENTAL INDEX DRIVE motion to the current position address exceeds the range between 8388607 and 8388607 an allowable range for managing addresses no motions are performed resulting in a REST DRIVE error and ErrO9H status output 2 REST DRIVE for SENSOR DRIVE TYPE 0 When the number of pulses remaining 0 When the number of pulses remaining 0 he motor is moved at a constant speed he motor is moved at a constant speed after completing a motion that corresponds until a sensor SSO signal is issued to the remaining pulses until a sensor SSO signal is issued 550 50 Hz Hz LSPD lt i i LSPD t 3 REST DRIVE for SENSOR DRIVE TYPE 1 The motor is moved at a constant speed by the remaining pulses with a sensor 550 signal input disabled Hz LSPD t 4 REST DRIVE for ORG DRIVE The controller re executes an ORG DRIVE from the beginning 65 USER S MANUAL 7 4 Metric angular Conversion 1 Metric mm conversion To perform metric conversion set the metric angular conversion constant in 0 01 um 2 Angular conversion To perform angular conversion set the metric angular conversion constant in 0 00001 3 Examples of maximum settings Example of metric mm conversion
92. rity check Odd Stop bit 1 bit Terminate code CR LF 7 Power supply Output to COM pin 1 For each axis for drive 5V 06 10 Output featured with drooping 10 mA max for each axis characteristic For DRST 1 For the procedure for connecting the TTL interface with a COM see the technical information USER S MANUAL External W104mm x 093 4mm x H46 3mm Standard configuration dimensions W104mm D93 4mm x H79 5mm When CB 10 SA57 added Connectors Power connector MSTBA2 5 3 G 5 08 on the PHOENIX CONTACT main unit 0 signal connector FCN 361P040 AU Fujitsu 52326 connector D SUB 9P 10 Weight Approx 0 6 kg for 2 axes 0 8 kg when additional 2 axes added 11 Accessories Power connector MSTB2 5 3 ST 5 08 x 1 pin connector with 5 08mm pitch 0 signal connector FCN 361J040 AU x 2 Soldering type connector with 2 54mm pitch screws M2 6x10 x 4 1 0 connectors 12 Options Options are available for the C 570 SA For more information on these options please contact our dealer USER S MANUAL 2 2 Motor Control Specifications and Performance Specifications amp 1 1 Motor control specifications 1 INDEX DRIVE INCREMENTAL INDEX DRIVE moves the INCREMENTAL motor the specified distance specifi ed number of pulses from the current position This is a basic DRIVE for positioning INDEX DRIVE ABSOLUTE INDEX DRIVE moves the motor ABSOLUTE t
93. rol is passed to RS Control via a command from a PC the RS LED is lit to indicate that the controller is in that mode RDY for all axes being set to High Busy to notify a host sequencer of this state When the control is passed to a sequencer the SEQ LED is lit to indicate that the controller is back in the wait for sequencer command state RDY for all axes being set to Low Ready to notify a host sequencer of this state Excerpt bon MAP 11 SWXP Specifications zm Host PC Cae 52320 0 510 5 WRIEE F1 wRmEE F2 B4 hb DATA LOAD eme DATA SAVE WRITE DATA FEA 7 Send RDY High to a host sequencer Create data on PC and save data in it in RS Mode communicating PC Send created data write to C 5 0 SA Receive data read from 6 570 5 6 2 Communication Specifications RS232C EIA 574 compliant Half duplex full duplex on the lines MBase standard Communication mode MSynchronization mode Asynchronous MBaud rates 9 6Kbps 19 2Kbps 38 4Kbps 57 6Kbps factory setting 57 6 kbps BDATA bit Ibit MParity check Odd WESTOP bit 2 ee bit Mlerminate code CR LF 6 3 MAP 11 SWXP Specifications 1 Details of screen 6 570 5 HOMAP 12 1 nE ARI R523920 2l ved C ABB B gt SCPC C 570 SA EME C ET SA
94. rt Distance between points a and b shown in ORG 10 Distance between point and mechanical limit shown in ORG 11 and 12 use encoder Z phase the following conditions must be satisfied pulse width of ZORG ZORG inputs must be 1045 or more When using ZORG and ZORG inputs ORG must be left unconnected The use of ORG in combination with ZORG and ZORG is not allowed use ORG 11 and 12 ORG ZORG and ZORG must be not active 63 USER S MANUAL 7 2 SENSOR DRIVE 1 SENSOR DRIVE TYPE 0 Moves the motor at a constant speed after an INCREMENTAL INDEX DRIVE and then stops it when a sensor SSO signal is issued LSPD 550 The maximum pulses output by this function are 16 777 215 When sensor SSO signal is issued the motor automatically stops when the maximum pulses have been output With LSPD HSPD the motor is moved at a constant speed specified with HSPD During an INCREMENTAL INDEX DRIVE a sensor 550 signal is ignored With LSPD HSPD specified the motor stops when an SSO signal is issued during an INCREMENTAL INDEX DRIVE 2 SENSOR DRIVE TYPE 1 When a sensor 550 signal is issued during an INCREMENTAL INDEX DRIVE the motor decelerates and then moves at a constant speed 550 a sensor output is detected before the motor being accelerated to a speed specified with HSPD it starts decelerating 3 SENSOR DRIVE TYPE
95. s TRACE MODE A mode that externally moves the motor determining posi tioning data It allows you to determine positions to teach while running the motor at a safe speed for teachi ng Any DRIVE used at the speed for teaching begins with a T teaching such as T INDEX S Curve Data A mode that programs S curve data from the touch panel OP MASK ON A command that externally disables operations via the 6C 570 SA panel Once set it disables the C 5 0 SA panel keys until it accepts OP MASK OFF command power is turned off or RESET is issued TEACHING MODE mode that externally stores the address of the current value 11 allows a move to the position to teach and programming the current value Any DRIVE used at the speed for teaching begins with a T teaching such as T SCAN Writing Mode on a sequencer 1 0 level the data programmed in this OP MASK OFF A command that clears disabled operations via the 6 570 SA panel to enable them when they were externally disabl ed with OP MASK ON DATA LOAD Allows loading data for the C 5 0 SA via an RS232C from a PC DATA SAVE Allows saving data stored in the C 5 0 SA via RS232C to a PC RS Control RS Modes 16 USER S MANUAL EXTERNAL MODE When selecting an external mode you can execute on the controller take into consi EXT MODE deration security aspects e g limiting the use to certain operators according to the system specifications Switching
96. s env ronment Avoid areas that are subject to direct sunlight Installation areas shall be free from corrosive and inflammable gas oil mist dust salt ion pow ders water or chemical splash Installation areas shall be free from excessive vibr ation or continuous shock Do not locate the controller near significant sour ces of electromagnetic noise such as power driven equipment Installation areas shall be free from radioactive material or magnetic field Avoid locating the controller in a vacuum 1 0 interfaces 24V power interface For each axis Input Photocoupler inputs CWLM CCWLM NORG ORG __ RESET DEND 550 M8 START STOP Output Open collector transistor outputs DRST STO ST7 RDY ERR with photocoupler isolation Pulse output interface For each axis Via differential line driver CWP CWP CCWP CCWP Via ITL interface 1 Directly connectable to the with photocoupler isolation driver for line receiver inpu ts Z phase input interface For each axis Input Photocoupler inputs ZORG directly connectable to line driver Serial interface Directly connectable to DOS V Base standard RS232C EIA 574 compliant or IBM compatible PC D SUB Communication mode Half duplex full duplex on 9P via an RS232C cross cable the lines Synchronization mode Asynchronous Baud rates 9 6k 19 2k 38 4k 57 6 kbps Factory preset baud rate Data bits 7 bits 57 6 kbps Pa
97. s inserted perfectly should be no loose or Visual check disconnected parts Is there any cable going to be disco There should be no loose or Visual check nnected disconnected parts Is there any connection cable being Appearance should be normal Visual check to be broken SEA 3 Replacing Method When 6 570 SA or 10 5 57 gets out of order the whole system may be affected So repair it pro mptly To make repair works promptly we recommend you to prepare spare equipment for replacement Before replacement any accident hen imperfect contact is supposed wipe contacts with clean pure cotton cloth moistened with industrial alcohol At the time of replacement After the replacement make sure that the new equipment is also in order Return the removed defective equipment to us for repair together with a report detailing defects 8 2 Storage and Disposal 1 Storing Method Store the controller in the following environment Indoors A place place place place place place gt gt gt gt gt where the controller is not exposed to direct sunlight where ambient temperature and humidity satisfy the specification free from corrosive gas and inflammable gas free from dirt dust salt and iron powder where the product body is protected from vibration and shock not exposed to splashes of water oil or chemical where no one can get on the product and place any substance on i
98. s made the setup becomes effective from starting after 6 270 5 carries out power supply off or RESET o apply the S Curve Drive to INDEXOO to INDEX50 DRIVEs set Write Data No AO to 1 For any axis to be driven in a trapezoidal profile for INDEXOO to INDEX50 DRIVEs two of the Panel Modes S Curve Data Reference and Programming and two of the External Modes 1 0 data transfer S Curve Programming and Reading are disabled distance for INDEX50 and HSPD data transferred from the sequencer 1 0 is maintained unti l power is turned off or a RESET is entered Data transfer is not required at every motion step unless the data is changed On power up or RESET input the controller is activated with the data stored in the EEROM The INDEX ALL HSPD is an auxiliary function used to enter the same value in HSPD applied to all INDEX motions in one step It is useful when changing HSPD for some INDEX motions after setting an HSPD shared by multiple INDEX motions in one step 36 USER S MANUAL 4 A List of S Curve Data Entries SCSPD1 and SCSPD2 data in the S Gurve data may be overwritten A Caution Wenever you change DRIVE TYPE HSPD or LSPD re adjust or re enter SCSPD1 and or SCSPD2 data if necessary If DRIVE TYPE Write Data HSPD or LSPD is changed when the S Curve Drive is selected both SCSPD1 and SCSPD2 data will be automatically updated When applying the S Curve Drive to INDEXOO to INDEX50
99. se outputs must be more than 10 s MFor ORG 11 and 12 Since these types use a LIMIT signal as an ORG signal they need limit sensors only For ORG 11 and 12 all of ORG ZORG and ZORG signals also valid It is therefore required to guarantee these signals are not active 11 Conditions for detecting machine home sensor used for the controller must interface with it from 24 MWhen using ORG NORG and LIMIT signals as ORG sensors chattering must be eliminated from the LIMIT signal When using a photo sensor chattering does not cause problems Ihe output of the following sensor signals detected must be Ims or more in time when a motor passes the sensors at a maximum speed ORG signal for ORG 0 1 2 and 3 NORG signal for ORG 4 5 and 10 LIMIT for ORG 11 and 12 ORG 4 5 and 10 the distance between ORG and NORG between points and b and between points a and c must be more than N pulses in terms of the number of pulses obtained from the following equation gt 0 005 x CSPD Assuming that CSPD is in Hz and the minimum value of N is 1 Example Where CSPD 5kHz N 0 005 x 5000 25 pulses or more in practice an appropriate allowance should be added to the calculated value Ihe following distances shown in the ORG DRIVE process charts must be long enough to allow the motor to decelerate and then stop Distance between point a and LIMIT shown in each process cha
100. ss Reading 160E H O PAo pA papap Current Value Address Reading 200 H D H H H D et 22 current Value Address Reading scoe H O H H H D H be 23 current Value Address Reading scoe H 0 p bal 24 eo reel _ INDEXBO Travel Data H INDEX O INC 1 ABS 2 ABS Travel 10 Eu Lor PE 1 Travel Setting 3CODE Travel Setting 3CODE E WE Href INED Travel Travel 40 31 LL cuu xd 32 INDEX50 HSPD Setting 1600 H D H H O H H 33 INDEXSO HSPD Datat H 2252 HSPD 10 34 Setting 2000 E H 10 H tates 35 INDEX50 Data H HSPD105 HSPD 104 36 e m LEE Pe l 37 INDEX50 Data3 H HSPD108 102 38 ee eee sen 39 INDEX50 Data4 HSPD 10 HSPD 10 40 Setting inhibited 4 EL Leo 41 S Sun CTE OTE Te TEC 42 Setting inhibited D JD JD oO D EY At the times of Incremental Index Scan Drive and Sensor Drive the MO signal designate a direct ion H CW direction or D direction At the time of Absolute Index Drive and in case of motion command marked with either H or D will do When Index50 Data is transferr
101. ss cable Mating Face dust cap is attached to the RS232C connector Remove the dust cap when using the connector When the RS232C connector is not used attach the dust cap to the connector in general to protect it from dusts MSignal Table ho Signal nane oir Description we Fano w s2320 receive data signal ane fo wem Cpu erue Ce eee apis po erue Cep o eue 24 USER S MANUAL 3 4 1 0 Circuit 1 0 circuit is common to all X Y Z A axis to be connected when C 570 SA and CB 10 SA57 are expanded 1 1 0 Input Signal 24 V D CCWLM B contact input RESET START STOP NORG ORG SSO DEND Photo coupler High level 1 0mA max 20V min High Low level 2 5mA min 6V max Low ZORG oq wy AE lt A line driver can be connected ZORG 2009 gt Photo coupler Voltage between terminals High level 1 max 0 7V max OFFF Low level 7 8mA min 3 2V min ON 0 510 5 0 10 5 57 5 5V max 2 1 0 Output Signal 24V V 50mA Photo coupler 6 570 SA CB 10 SA57 Leakage current High level High impedance 100 uA max Low level 2V max Sink current Low level 0 6V max Sink current 30mA 3 Pulse Output Signal 24V V COM for DRST Output voltage 5V 10 Up to 10mA axis CWP POUT CCWP CWSEL
102. t 2 Disposing Method Dispose the product as an industrial waste 75 USER S MANUAL stop the system and turn off the power supply to prevent electric shock and reset the internally stored data to the state before the replacement 8 3 Measures against Errors and Releasing Method 1 Measures to be taken when an error occurred USER S MANUAL Troubleshooting f P Factor for error output 50 Error releasing method panel 6C 570 SA CW direction LIMIT signal is input Stop PULSE output immediately Output DRST when SERVO is designated CCW direction LIMIT signal 1 input Stop PULSE output immediately Output DRST when SERVO is designated Stop PULSE output immediately Stop PULSE output immediately Output DRST when SERVO is designated Or input RESET After return to RDY Or input RESET After return to RDY After return to RDY input START for releasing returning inout START for releasing returning inout START for releasing Or input RESET for returning An undefined motion command 15 Wait until normal conditi Input START of a defined motion input ons are input command for releasing When the Ext Mode is changed to Write Mode output the error to the all axes After the Write Mode is returned to the Ext Mode hold the all axes in an error status even after return to RDY Wait until the normal setti
103. t CSPD icspp sp lt HSPD Jpl PRESETYy 1 1 lt 1 lt 1 1 1 For ORG Low Sensor On when point a is detected a NORG C b ORG T sp lt gt 1 iIHSPD i csPpt sp lt sp 1 A 59 USER S MANUAL IB ORG 5 NEAR ORG process ORG process CCW LIMIT CW LIMIT For ORG High Sensor off when point a is detected NORG C Ref I SD icsPpe sp EE PD 1 PRESET For ORG Low Sensor On when point a is detected i i a 740 59 544 i 1 b i C ORG EE SD Jo PRESET i A 10 CCW LIMIT CW LIMIT NORG ORG Nd DELAY TINEO PRESET 1 i Both NORG and ORG On detected Lod 5 csPp sp eb PRESET he motor may run into a mechanical limit damaging mechanical parts workpieces A Caution for the like If you have changed RATE HSPD or other parameters the relevant stopping points would vary It is therefore required to verify the distance to the mechanical limit For ORG 11 and 12 a motor stop by Limit during ORG detection is defined as a decelerating stop I ORG 1 1 iB ORG 12 CCW LIMIT CW LIMIT CC
104. t SCSPD data 2 When you press WRITE key SCSPD data is written to the S Curve Data number specified Approximately one second later the S Curve Data number is automatically incremented 46 USER S MANUAL 11 Using Signal Check function First check that Mode is selected With Signal Check Mode on the SEQ or RS RDY LED remains OFF RDY BUSY High output sent to a host sequencer llActivating Signal Check Mode Pressing both No INC and ABS keys while holding down UPPER key activates the Signal Check Mode he following example shows as case where the display changed to show the first IN signal in the Signal Check Mode Upper digits fixed ORS W M cGSEQ 5 DA m am UPPER MODE M oL No INC key x 1 ABS key MSelecting and monitoring Signal Check Mode Select the Signal Check Mode by pressing No INC or DEC key while holding down UPPER key Upper digits fixed SRS W M NO DATA SEQ DATA ___SERR ADJ NO view changes to the display in Signal Check Mode d UPPER MODE O BET When UPPER key is pressed When UPPER key is released M5 M4 M3 M2 M1 MO START STOP Signal states i HIGH INC DEC SENSOR signal ORG is used in combination with ZORG WExample of operating signals To set DRST Second OUT signal OP1 OP2 ABS ST SP lt is set while this key held down
105. t axis is referred to as X axis and the second Y axis and we in principle describe the X axis only Where the CB 10 SA57 is added to the C 5 0 SA the same procedures as those for the X axis are applied 1 2 Controller Components Component name Model Menufacturer o tviRemarks 570 Melee tain unt _ a connectors FCN 3614J040 AU EN For connecting 1 0 signal connectors provided with the 6 570 5 cone For connecting 24V main power 3 connectors usteaz 5 3 ST 5 08 PHOENIX CONTACT ibrovided withthe For 1 0 connectors REFERENCE Options are available for the C 5 0 SA For more information on these options please contact our dealer 1 3 Example of System Configuration Expandable up to four axes E ia SA two axes 1 0 signals sequencer 52320 Stepping motor driver Stepping motor cable or servo motor driver or servo motor RS232CorRS422 ADB 2610 DB 5420 for sequencer Limit Sensor ORG Sensor Encoder Z Phase signals etc INDEX No A ql NA When expanded AD 5410 eto Touch panel CB 10 8A57 two axes For system alignment P Pulse ESTPEE entering 6 570 5 data Z axis 1 0 signals Pulse Z and A a
106. tandard Dimensions of 570 SA 7 1 2 When CB 10 SA57 is added 7 1 1 9 LEER 72 Cl RATE DATA Tab ey 72 2 Dll Ve eee RER RRR ERER RRE REER ec 72 o epeed DiTttrerenee in RATE ss2s22ssssessecrceeesseesereteseteeeesesesees 73 8 MAINTENANCE 8 1 Maintenance and Inspection 74 1 Cleaning 74 2 Inspection Method eee cec 74 3 Replacing Method 75 032 Sbotase unu dt 75 D Storing Method 75 7 Disposibs Method 75 8 3 Measures against Errors and Releasing Method 76 1 Measures to be taken when an error occurred 76 2 Notice to High Order Sequencer 76 0 4 IroubleshooLllig netter t qe 77 9 DIFFERENCE FROM 5 70 5 For the following applied specifications and applications a technical information is readily available For the technical information please contact our Sales Department MWhen selecting the External Mode for starting a motion When trying a trial run for positioning at a safe speed from the sequencer Trace Mode When setting a target address
107. tects STOP signal stop after deceleration Q is equal to the one to be output at the time of deceleration during the acceleration deceleration drive and depends on set values of HSPD LSPD and RATE Q is less than 1 pulse during a constant speed drive Since the STOP signal contains CR circuit there will be a delay up to 300us by the time when 6 570 SA detects the signal inside Even when a motion stops after the STOP signal is input the RDY signal does not become LOW while the START signal is LOW ESTOP signal Immediate stop When the STOP signal immediate stop is input to C 570 SA it stops pulse output immediately When an axis stopped immediately by STOP signal is set to output an error the status of Err02H is output When an axis stopped immediately by STOP signal is set not to output an error the status of 4EH is output When Immediate Stop is selected as the stop type REST DRIVE becomes invalid When stepping motor is specified as the motor type the DRST signal is not output The pulse number to be output after C 570 SA detected STOP immediate stop is not more than 1 pulse Since the STOP signal or the FSSTOP signal contains CR circuit there will be a delay up to 300us by the time when C 5 0 SA detects the signal inside Even when a motion stops after the STOP signal is input the RDY signal does not become LOW while the START signal is LOW Signal When C 570 SA detects an error like LIMIT s
108. test Distance Indexing When activating INDEXOO INDEX5O DRIVE or RIN DRIVE with the Shortest Distance Indexing enabled the controller automatically determines the direction of rotation that allows the motor to quickly move from the current position to a target position and then moves the motor the shortest distance shortest path gt CW direction CCW direction With this function enabled INDEXOO through INDEX50 are of absolute and the sign fixed to plus When the distance between the current position and the destination is the same for both directions CW and CCW the motor move CW With the Shortest Distance Indexing enabled the SENSOR DRIVE is not available perform the angular conversion Set the metric angular conversion constant in 0 00001 Obtain the metric angular conversion constant by the number of pulses per revolution in the Shortest Distance Indexing using the following equation Millimeter angular conversion constant 360 Step angle X 100 000 Number of pulses per revolution for E Shortest Distance Indexing Where a step angle cannot be divided by a specific constant set the metric angular conversion constant to zero pulses Step angle Conversion Maximum Pulses per constant setting revolution 9000 359 97 4 000 MExample of angular conversion Step angle Conversion Maximum Pulses per constant setting revolution 0 009 900 359 99
109. the motor initially moves at a high speed with HIGH SPEED ORG as the ORG position MARGIN TIME Allows elimination of the possibility of mechanical hunt ing by setting a delay in the ORG detection process Establishment RETURN POSITION SET Allows you to establish an electrical zero if the one of electrical that differs from the machine home is required zero STOP function RESET signal Initialization from 1 0 line Stop Contact A Input CWLM CCWLM Contact B Input Emergency stop caused by detection of mechanical overtravel Stop caused by SSO signal Shutdown caused SENSOR signal input input STOP Either Decelerating Shutdown from 1 0 line Stop or Immediate Stop is selected 5 Take into consideration the specifications for stop customized to your system Take appropriate safety measures e g shutting down the drive system to shutdown the motor to avoid hazards Connections of RESET signal are ORed for all axes RESET can be controlled by any of the axes 7 Servo Driver DRST DRIVER RESET A function that forcibly resets the deviation counter in Reset Output the servo driver when a servo motor is specified It outputs a DRST signal on power up RESET or when FSSTOP LIMIT or STOP Immediate Stop is issued 4 Machine home 0680 ORG1 ORG2 ORG3 ORG4 Select an ORG detection method that is best suited for detection ORG5 ORG10 ORG11 ORG12 your system in terms of the number of sensors detection t
110. whe n the S Curve Drive is applied to INDEXOO DRIVE INDEX49 SCSPD1 Set the rate at which linear acceleration starts 1333Hz and the one at which linear deceleration ends whe n the S Curve Drive is applied to INDEX49 DRIVE INDEX49 SCSPD2 Set the rate at which linear acceleration ends an 2166Hz d the one at which linear deceleration starts whe n the S Curve Drive is applied tolNDEX49 DRIVE INDEX50 SCSPD1 Set the rate at which linear acceleration starts 1333Hz and the one at which linear deceleration ends whe n the S Curve Drive is applied to INDEX5O DRIVE INDEX50 SCSPD2 Set the rate at which linear acceleration ends an 2166Hz d the one at which linear deceleration starts whe n the S Curve Drive is applied tolNDEX5O DRIVE 337 USER S MANUAL item Description and Setting Range Factory Setting OPO OP1 0P2 INDEX SRATE TYPE Set how to set SSRATE S curve starting rate and O Disable SERATE S curve ending rate for index motions 0 Disable automatically set to the value eight times the index rate Enable set to the value of SSRATE for A1 and the value of SERATE for A2 INDEX SSRATE Set the time constant Rate Data Table No to st No 1 art S curve acceleration and end S curve decelera 1000ms tion for INDEXOO through INDEX 50 DRIVEs 1000Hz INDEX SERATE Set the time constant RATE DATA TABLE No to en No 1 d S curve acceleration and start S curve decelera 1000ms tion for INDEXOO through INDEX50 DR
111. which S Gurve Drive is applied and verifying target address he following example shows a case where SCSPD1 for INDEXO2 is set to 1400 Hz and the target address 1269 When UPPER key is pressed When UPPER key is released Select the number assigned to the INDEX he SCSPD currently stored in a memory appears whose SCSPD setting needs adjustments Upper digits fixed Lower digits fixed DAIA OP1 OP2 ABS OP1 OP2 ABS A ABS A ABS WW dy When H B key is pressed alone the o target addressis displayed Decrement S Curve Data No Auto Switching Increment S Curve Data No Upper digits Lower digits approx 0 5 sec lt gt approx 1 sec NO DATA No DATA DA N DA A OP1 OP2 ABS 1 0 2 ABS A ABS LJ a LJ CJ CJ H B ST SP 4 amp 1 D d Target address is displayed with H B key alone MStarting and stopping S Curve Drive When UPPER key is pressed When UPPER key is released Select the number assigned to the INDEX Start INDEX DRIVE in an S curve to which S Curve Drive is applied Upper digits fixed Lower digits fixed DAIA OP1 OP2 ABS OP1 OP2 ABS A ABS W A ABS m LIN n i E dm d ey dm Decrement S Curve Data No Used in combination with H B key Back to original position Increment S Curve Data No Used alone to start stop INDEX DRIVE While INDEX DRIVE
112. xes bal ill Z axis A axis Stepping motor driver Stepping motor HAH Windows2000 XP NT or servo motor driver or servo motor based PC ADB 2610 DB 5420 AD 5410 etc 7 MAP 11 SWXP CD R For creating editing loading Limit Sensor ORG Sensor Encoder Z Phase signals etc or saving data USER S MANUAL 1 4 External View 4 ol u 2 Y AXIS Contains LEDs that display data or different statuses and 7 segment LEDs 2 Contains switches used to enter data and operate a motor in the Teaching Mode 1 signal connector J1 X axis When another CB 10 SA57 is added the connector below J1 will be used as Jl Z axis connector for 10 8 57 1 0 signal connector J2 Y axis When another CB 10 SA57 is added the connector below J2 will be used as J2 A axis connector for 10 8 57 5 24 power connector 6JAngle for attaching the main unit 7 for mounting a DIN rail 81852326 connector USER S MANUAL 2 SPECIFICATIONS 2 1 General Specifications 1 supply voltage DC 24V Shall be within 10 of the su pply voltage 2 current consum 300 mA max 500 mA max when CB 10 SA57 added ption 3 Operating temp 0 C 40 C gt 80 RH non condensing erature and hu midity Storage temper 109 55 C gt 80 RH non condensing ature and humi dity Installation Shall be installed in an airy chassi

C-570-SA

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