User's Manual. Kohzu Precision Co.,Ltd. operation manual Rev1.20. Multi-Axis Controller KOSMOS series. Model: ARIES LYNX

Transcription

1 operation manual Rev1.20 Multi-Axis Controller KOSMOS series Model: ARIES LYNX User's Manual Read this manual before using this product. Keep in a convenient place for future reference. PULSE CONTROLLER With Motionnet SYSTEM Kohzu Precision Co.,Ltd.

2 Introduction In this document, information and operation method for the multi-axis controller "ARIES/LYNX" are explained. Please read and understand this document thoroughly to utilize the functions of "ARIES/LYNX" in the best condition. In addition, keep this document in a convenience place for future reference. Symbols Identifications In this document, noted items that should be followed to prevent danger to people and damage to the device are divided as shown next. Prohibited This symbol indicates prohibited items. Do not conduct actions specified under this symbol. Warning (Caution) This symbol indicates items that require warning (caution). If operation is conducted ignoring noted contents, it may cause injury or physical damage. Note/Remarks This symbol indicates items to provide further understanding or useful information. 1

3 Safety Precautions Do not apply severe shock to the product and avoid using in a place with vibration. Liquid or chemical splashes on this device are dangerous and cause failures. Never use this device in such places. 100V Use AC90 to 240V (50/60Hz) for power supply. *Confirm ratings of the power cable. This product is precision electronic equipment. Because malfunction may occur near large motors, high voltage electric devices or device that generates strong magnetism, do not use this product under these environment. Do not disassemble or modify the product.? Pay close attention when connecting the motor driven stage or a motor other than those specified by our company, since it would not be covered by warranty. When the controller's power supply is turned ON, do not pull out or insert cables. 2

4 Table of Contents Introduction... 1 Symbols Identifications... 1 Safety Precautions... 2 Table of Contents Product Summary Features of this Product Product Configuration Example List of Functions Attachments and Options Attachments Optional products (required) Optional products (convenient tools) Installation and Preparation Proceeding with Installation and Preparation Part Names of ARIES Part Names of LYNX LED ON Conditions Connection method Rotary Switch for Communication Setting Device No. Setting Switch Functions Speed Setting Speed Table Speed Change in Remote Control Speed Setting Regulations Acceleration Pattern Backlash Correction Setting Steps Details of Correction Method Trigger Specification Trigger Signal Output Method Explanation of Trigger Function Trigger Type System Parameter and Command Emergency Stop Specification Stepping Motor Excitation and Servo ON/OFF Specification Soft Limit Setting Encoder Correction Encoder Correction Encoder Feedback Setting Origin Return Method ARIES Touch Panel "PYXIS" Connection and Operation "Main" Screen Details "ABS" Screen Details "REL" Screen Details "SYS" Screen Details "PYXIS" Display Error List

5 4. Remote Control Proceeding with Installation and Preparation Transmitting/Receiving Remote Control Procedures Command Format Response Command List Command Details Error Code Error Code, Warning Code List System Settings System Setting List System Setting Details Specification Basic Specification Connector Input/Output Signal Circuit Diagram Appearance Dimensions Maintenance and Service Troubleshooting Maintenance Warranty and Service Contact EX. Revision History

6 1. Product Summary Features of this Product Thank you for purchasing our multi-axis controller ARIES/LYNX. Adopting ARIES/LYNX Motionnet, this controller enables comprehensive system configuration through unitary management of multi-axis control. By installing more LYNX (slave controller) for ARIES (master controller), 32 axes can be controlled at maximum. In addition to the existing 5-phase stepping motor, a connection to a driver matching the types of motors like 2-phase stepping motor, servo motor (pulse control type), etc. is possible. While keeping the functions of SC series as feedback control and trigger function, new functions as servo control, general I/O and soft limit are added. Easy control is possible from "PYXIS" (ARIES touch panel, option) or "Chamonix" (stage control application). Completely supports our motor drive precision stage <MontBlanc Series>. In addition to 5-phase micro step motor drive, a connection is possible for 2-phase motor driver of pulse train control or servo driver connection. Supports rectangular drive, trapezoid drive, S shape drive, symmetric trapezoid drive and asymmetric S shape drive. Origin return method can be selected from 15 kinds. Remote control by Ethernet(TCP-IP) communication is possible. Remote control by RS-232C communication is possible. Control is possible through attached application for stage drive, "Chamonix". Please download from our company's HP. 5

7 Product Configuration Example ARIES/LYNX System Configuration Example Optional touch panel PYXIS Control application Chamonix (WINDOWS application) *Note Chamonix does not support LAN at present. Motionnet cable (1m) is accessories of LYNX. Control cable and motor cable must be purchased separately. Touch panel Special cable Communication cable RS-232C Installable up to 15 LYNX ARIES MotionNet cable LYNX MotionNet cable MotionNet cable LYNX Control cable Control cable Control cable Control cable Control cable Control cable 2 axes driver BOX 5-phase stepping motor driver 2 axes driver box 2-phase stepping motor driver 2 axes driver BOX Servo motor driver Motor cable Motor cable Motor cable Motor cable Motor cable Motor cable Stage (2 axes) Stage (1 axis) Stage (1 axis) Stage (2 axes) Able to control 32 axes at maximum Outside of product range This product does not offer the following items. Automatic operation is not possible with only ARIES/LYNX. *For automatic operation, connect a computer with ARIES and conduct with remote control. *It is possible to operate with Touch Panel PYXIS (sold separately). (Excluding some functions). "Not compatible with remote controls (sequencer connection) besides RS-232 and Ethernet (TCP-IP) communication. 6

8 1-2. List of Functions Relative Position Movement (4 axes simultaneous start is possible) Conducts relative value movement toward the designated direction for movement amount set from the present position. Present position Movement amount Movement amount Absolute Position Movement (4 axes simultaneous start is possible) Origin Return Movement Conducts absolute value movement to the designated position. Present position Moving target position Performs origin return with the specified origin return method. ORG 7

9 1-3. Attachments and Options Attachments The following items are attached to the products. Make sure to check that all items are included. Immediately contact your retailer or our sales department if there are missing or damaged parts. 1 Power cable (3P) *Power cable (3P) compatible with AC100V and 3P->2P conversion socket come as attachments. A power cable for AC200V must be prepared by customer or contact our sales department. 2 Motionnet connector/cable *Connector/cable to connect between ARIES-LYNX. A terminal plug for ARIES and 0.5m Motionnet cable for LYNX come as attachments. *The standard of Motionnet cable is LAN cable (cat5e or more) with shields (straight). If a longer cable is required than the attached cable, please purchase separately. *The maximum length of Motionnet cable shall be the Motionnet cable length with all ARIES/LYNX connected < 100m. 3 Emergency stop signal short plug *A short plug to connect when not using the emergency stop signal comes as attachment. 4 CD-R (Operation manual) (Control application) In order to save paper resources, no printed operation manual is available. Print the file inside the CD-R if necessary. The file of the Operating Manual is an Acrobat (PDF) format. In order to view the PDF format file, Adobe Reader from Adobe Systems is necessary. Adobe Reader is not included in this CD-R. 8

10 Optional products (required) A driver BOX necessary to drive Montblanc product, special motor cable, encoder cable, RS-232C (cross) communication cable used to control from a computer and Ethernet (TCP-IP) cable do not come with the product. Please purchase a driver BOX, motor cable and encoder cable separately. Also, purchase communication cable or Ethernet (TCP-IP) cable (recommended cat5e or more) available on the market. Driver BOX list for KOSMOS series Type AC driver BOX for 2 axes DC driver BOX for 2 axes Driver BOX type TITAN-AⅡ TITAN-DⅡ Driver connection cable list for KOSMOS series Length Cable type 0.5m CPS005 1m CPS010 Motor cable list for KOSMOS series Stage side Connector shape Rectangular connector Round type connector Length 3m 5m 10m 3m 5m 10m Cable type CA1503A CA1505A CA1510A CB1503A CB1505A CB1510A *Encoder cable is an ordered product. For details, please contact our sales department. 9

11 Optional products (convenient tools) The following optional products are available to make this product more convenient to use. Purchase as necessary or download. For questions about the following products, please contact your retailer or our sales department. 1 ARIES Touch Panel, "PYXIS" EMS PYXIS Refer to "3-10: ARIES Touch Panel PYXIS" for operation methods. 2 Stage Control Application, "Chamonix" "Chamonix" is included in CD-R that comes with ARIES. 10

12 2. Installation and Preparation 2-1. Proceeding with Installation and Preparation Install the product in the following order. Check attachments and requirements. Contact your retailer or our sales department immediately if any attachment is lost. Install in a place where it is to be used. Do not install in a place with high temperature, low temperature, high humidity and much noise. Connect cable while the power is OFF. (Refer to "2-4. Connection Method") Make sure the power is OFF. Cables used for connection are power cable, stage connection cable and communication cable. When controlling with communication, communication setting should be done on this device and host computer. (Refer to "2-5. Rotary Switch for Communication Setting") When connecting ARIES and LYNX, Device No. needs to be set for Motionnet connection. (Refer to "2-6. Device No. Setting Switch") Make sure the power is OFF. Check all connections and then turn on the power. If you notice abnormalities such as abnormal noise or smell after turning the power ON, turn the power OFF immediately and find its cause. Depending on the type of stages, the origin return method needs to be changed. For details, refer to "3-9. Origin Return Method". "Returning to Origin" *Some models of our standard stages cannot perform origin return normally unless you change the setting. This adjustment is required if this controller is shipped without stages. Preparations completion It takes about 1 second for launching to complete, after the power is turned ON. 11

13 Part Names (ARIES) Limit and Position Sensor Display LED 2 Emergency Stop LED 3 Connector for "PYXIS" Connection 4 Power Light POWER AXIS1 BUSY CWLS CCWLS NORG ORG EMG PYXIS AXIS2 ARIES I/O Connector Connector for General Input/Output Signal 2 Motionnet Connector Motionnet Connector 3 Rotary Switch for Communication Setting 4 RS-232C Connector Connector 9 pin for RS-232C communication line 5 Ethernet (TCP-IP) Connector 8 Power Connector (including fuse) 9 Power Switch Turns ON/OFF AC power. 10 1st Axis Motor Control Pulse Output Connector 11 1st Axis Encoder Signal Input Connector 12 2nd Axis Motor Control Pulse Output Connector 13 2nd Axis Encoder Signal Input Connector 6 Emergency Stop Signal Input Connector 7 Trigger Signal Output Connector 12

14 Part Names (LYNX) Limit and Position Sensor Display LED 2 Emergency Stop LED 3 Power Light 3 POWER AXIS1 AXIS2 BUSY CWLS CCWLS NORG ORG EMG LYNX Motionnet Connector Motionnet Connector 2 Rotary Switch for Device No. Setting 3 Emergency Stop Signal Input Connector 4 Power Connector (including fuse) 6 1st Axis Motor Control Pulse Output Connector 7 1st Axis Encoder Signal Input Connector 8 2nd Axis Motor Control Pulse Output Connector 9 2nd Axis Encoder Signal Input Connector 5 Power Switch Turns ON/OFF AC power. 13

15 2-3. LED ON Conditions 1 Emergency Stop LED When the emergency stop signal is active, it turns ON red. 2 Limit and Position Sensor Display LED Status of each position sensor and moving status is displayed. ORG When ORG sensor is in detection status, it turns ON yellow. NORG When NORG sensor is in detection status, it turns ON yellow. CCWLS When CCW limit sensor is in detection status, it turns ON yellow. CWLS When CW limit sensor is in detection status, it turns ON yellow. BUSY It turns ON yellow during motor driving. 3 Power Light When the power is ON, it turns ON green. MotionNet COMM RS-232C LAN 1 LAN Connector LED Green LED: ON when communication speed is 100Mbps. Orange LED: ON when a link is established with the other side. 2 Motionnet Connector LED Green LED: It turns on when Motionnet system is connected properly. Orange LED: ON when switching from normal connection status to abnormal status. 14

16 2-4. Connection Method When pulling out or inserting at all connections, make sure the power of main body is OFF. Connection/connecting wires between ARIES and external equipment are explained. Front Panel Refer to "3-10: ARIES Touch Panel PYXIS" for operation methods. MOTIONNET cable With 5-phase stepping motor Precision stage (sold separately) Terminal plug Device No. ENC1 EMS Emergency stop signal input AC IN V 50/60Hz CONT1 C 4 8 MotionNet C Please be sure to connect a terminal plug to LYNX of the last end. AC90V to 240V 0 ARIES Rear Panel H L CONT2 ENC2 POW ER Power cable MOTIONNET cable LYNX AC90V to 240V Encoder cable (sold separately) Driver BOX Motor pulse cable (sold separately) Example: TITAN AⅡ CONT1 PM1 CONT2 PM2 AC OUT POWER AC IN 90Motor cable (sold separately) 240V 50/60Hz FUSE Encoder cable (sold separately) * Do not use a hub between Motionnet cable connections. 15 With 5-phase stepping motor Precision stage (sold separately)

17 2-5. Rotary Switch for Communication Setting ARIES can set or change communication conditions with the rotary switch (COMM) in the rear panel. Default setting is Mode 4 (RS-232C baud). * Settings of RS-232C communication except for speed (baud): Parity : NON Word length : 8bit Stop bit : 1 The settings are fixed. Position of Rotary Switch Rear Panel Settings Settings are as shown in the table below. (Mode 6 to 9 unusable) Communicatio Communications settings Mode RS-232C speed LAN (baud) * * * * * 5 * LAN 6 * * 7 * * 8 * * 9 * * 16

18 2-6. Device No. Setting Switch For Motionnet equipped with ARIES/LYNX, Device No. needs to be set as more LYNX is installed. Device No.00 and 01 are assigned to ARIES and fixed values. Set Device No. of LYNX from (H/L 0/2) to (H/L 1/E) in units of 2 with the Device No. setting switch on the rear panel. Position of Device No. Setting Switch Rear Panel Settings Settings are as shown in the table below. Model No. of Device No. axes H L Axis No. ARIES ,2 LYNX (No1) ,4 LYNX (No2) ,6 LYNX (No3) ,8 LYNX (No4) ,10 LYNX (No5) 12 0 A 11,12 LYNX (No6) 14 0 C 13,14 LYNX (No7) 16 0 E 15,16 LYNX (No8) ,18 LYNX (No9) ,20 LYNX (No10) ,22 LYNX (No11) ,24 LYNX (No12) ,26 LYNX (No13) 28 1 A 27,28 LYNX (No14) 30 1 C 29,30 LYNX (No15) 32 1 E 31,32 A setup of Device No. is denoted by a hexadecimal number. The H side expresses ten s place and the L side expresses one s place. The Device No.00~1F correspond to the axial numbers 1~32. ARIES has Device No.[0,0](=Axis No.1,2), LYNX has Device No.[set value,set value +1](= Axis No.set value +1,set value+2 ). It becomes a cause of malfunction when Device No. has duplication. Please be sure to set up Device No. according to a left table. 17

19 3. Functions 3-1. Speed Setting Speed Table Speed setting of ARIES/LYNX is possible in the range of 2 to 5,000,000 (pulses/second). However, because few cases generally require to define speed change in detail, a method to select from 10 steps speed table is adopted. (No.10 and 11 are high speed and low speed in jog operation with PYXIS) Also, since each speed table can be set freely, necessary drive speed can be set to 12 patterns. Speed table *Setting value shown in the next table are default values. Speed Start speed Maximum Accelerating Decelerating speed time time Table No. pps pps 10msec 10msec Accelerating pattern , Trapezoidal drive , Trapezoidal drive , Trapezoidal drive , Trapezoidal drive , Trapezoidal drive , Trapezoidal drive , Trapezoidal drive , Trapezoidal drive , Trapezoidal drive , Trapezoidal drive , S shaped drive (fixed) S shaped drive (fixed) Speed Change in Remote Control In remote control, specify a speed table No. in each moving command. Command example RPS1/3/1000/0 (example of RPS command) Set the speed table No. 3 For settings of speed table No.0 to 11, use RTB/WTB command. For details, refer to RTB and WTB in "4.3. Command Details". 18

20 Speed Setting Regulations In addition to the setting range of parameter in each speed, there are regulations in a relationship between acceleration/deceleration speed and maximum speed. 1 Depending on a maximum speed range, the settable acceleration/deceleration time is restricted. 2 The start setting speed range is restricted to 50% or less of a maximum setting speed. 3 The maximum speed cannot be set up beyond the preset value of a system no.16(top Speed Limit). Restriction of the maximum speed can be changed by system no.16. 4The error of the preset value of acceleration-and-deceleration time becomes large, so that the maximum speed becomes large. When carrying out a speed table setup by the WTB command, it is set up in the range which can set up the value near the received parameter. And WTB returns the value. Please set within the range not exceeding the regulations shown below. When a setting range is exceeded, error code 601 to 605 is returned. *As a setting value becomes larger, a setting unit becomes larger for a maximum speed and acceleration/deceleration time. Maximum speed range [pps] 1 to to to to 1,000 1,001 to 2,500 2,501 to 5,000 5,002 to 10,000 Speed resolution 10,005 to 25, ,010 to 50, ,020 to 100, ,200 to 500, ,000,050 to 2,000, ,000,050 to 5,000, Setting range [msec] 10 to to 1, to 10, to 10, to 10, to 10, to 10, to 10, to 10, to 10, ,050 to 250, to 10, to 10, to 40, to 100,000 Acceleration/deceleration time Setting unit [msec] Setting error [msec] At trapezoid drive ±0.01 or less ±0.125 or less ±0.5 or less ±1 or less ±4 or less ±10 or less At S shaped drive ±0.02 or less ±0.25 or less ±1 or less ±0.5 or less ±1 or less ±0.5 or less ±1 or less ±0.5 or less ±1 or less ±0.5 or less ±1 or less ±0.5 or less ±1 or less ±0.5 or less ±1 or less ±0.5 or less ±1 or less ±0.5 or less ±1 or less ±2 or less 500,050 to 1,000, to 20, ±2 or less ±4 or less ±8 or less ±20 or less Although the unit of the acceleration time in a table is [msec], the setting unit in WTB is [10msec]. 19

21 <<NOTE>> 20

22 3-2. Acceleration Pattern When moving an object, it cannot be moved in high speed abruptly due to inertial force. In case of a stepping motor also, it normally starts in low speed and then achieve high speed after gradual acceleration. Acceleration Constant velocity Deceleration Top speed Start speed (Low speed) Accelerating Time Decelerating Time By setting the start speed (low speed), maximum speed, acceleration time and deceleration time, the acceleration/deceleration rate is calculated internally and series of acceleration/deceleration operation are conducted automatically. Trapezoidal Drive and Asymmetric Trapezoidal Drive A method to increase and decrease acceleration and deceleration at a constant acceleration and deceleration ratio is called a trapezoidal drive. This product also supports an asymmetric trapezoidal drive that acceleration and deceleration can be set in different setting. Trapezoidal Drive (Acceleration=Deceleration) Asymmetric Trapezoidal Drive (Acceleration Deceleration) Acceleration Deceleration Acceleration Deceleration S-Shaped Drive and Asymmetric S-Shaped Drive S-shaped drive is a method to actualize smooth movement by accelerating and decelerating with a quadric curve. S-shaped Drive (Acceleration = Deceleration) Asymmetric S-shaped Drive (Acceleration Deceleration) Acceleration Deceleration Acceleration Deceleration 21

23 3-3. Backlash Correction Able to correct backlash generated by gear mechanism. In order to carry out backlash correction, correction pulse amount and correction method need to be set. Backlash correction *Remote commands valid for backlash correction are APS RPS MPS only. *When encoder correction and backlash correction are simultaneously valid, backlash correction becomes invalid Setting Steps With ARIES touch panel PYXIS (sold separately), stage control application "Chamonix" and other remote controls: 1 Set correction amount with System No.11 (backlash correction pulse setting). 2 Set a method with System No.12 (backlash correction method setting). 3 Execute backlash correction control along with each drive command execution. System No.11 Setting range of backlash correction pulse number. System No. Setting 11 0 to 134,217,727 System No.12 Executable backlash correction methods are as follows. System No. Method Description 0 Backlash correction invalid 1 When reverting from CCW direction to CW direction, correction reciprocation drive of correction pulse number before moving When reverting from CW direction to CCW direction, correction reciprocation drive of correction pulse number before moving. 3 When moving to CCW direction, correction reciprocation drive of correction pulse number after moving. 4 When moving to CW direction, correction reciprocation drive of correction pulse number after moving. 22

24 Details of Correction Method 1 When changing moving direction from CCW to CW, moving to CW CCW S CW direction is performed after correction round-trip drive (move to CCW direction move to CW direction) for set correction pulse amount is conducted. In this method, though an error is generated for the backlash part E between the drive of CW direction and that of CCW direction, the error becomes constant. 2 When changing moving direction from CW to CCW, moving to CCW CCW S CW direction is performed after correction round-trip drive (move to CW direction move to CCW direction) for set correction pulse amount is conducted. In this method, though an error is generated for the backlash part E between the drive of CW direction and that of CCW direction, the error becomes constant. 3 CCW CW When moving to CCW direction, move to CCW direction first, then S conduct correction round-trip drive (move to CCW direction move to CW direction) for backlash correction amount, and finally move to CW direction to finish. With this method, since it stops at both sides of fixed gear when moved E to either CW or CCW direction, no lost motion due to backlash is generated. 4 When moving to CW direction, move to CW direction first, then CCW CW conduct correction round-trip drive (move to CW direction move to S CCW direction) for backlash correction amount, and finally move to CCW direction to finish. With this method, since it stops at both sides of fixed gear (opposite side from 3) when moved to either CW or CCW direction, no lost E motion due to backlash is generated. In the table above, S indicates the drive start position and E is the movement finish position. : Essential drive : Correction drive 23

25 3.4. Trigger Specification ARIES can generate trigger signal for AD conversion unit and data logger from the rear panel TRG connector by selecting trigger signal source from motor pulse/encoder. Command to move Pulse signal Precision stage Trigger signal output Trigger signal The trigger signal that synchronizes with the motor pulse or the encoder is output. (You can set the division of the trigger signal output in a range from 1/1 to 1/100,000) A/D conversion unit and data trigger (Option) * Synchronization targets are axes connected to ARIES. LYNX connection axis cannot be synchronized Trigger Signal Output Method For output method of trigger signal, ARIES conducts differential output (5V). Differential output (5V) For the output circuit in ARIES side, the differential output IC (equivalent to AM26LS31) is used. Correspond to AM26LS31 TRG connector 1 Trigger signal H 2 Trigger signal L 3 GND Do not use 4-6 pin TRG connectors Trigger Signal Setting Procedures A: Output trigger signal for 1 pulse Issue TFR command to immediately output trigger pulse once. B: Output trigger pulse by synchronizing with drive 1 Trigger signal detail settings are conducted with TRS command. 2 Then issue the drive command to output trigger pulse synchronized with drive. 24

26 Explanation of Trigger Function A summary of the trigger output function provided by ARIES is explained next. Trigger signal is only valid on a drive command after TRS is issued. 1 Output synchronized with pulse There are 2 types, "Output synchronized with motor pulse" and "Output synchronized with encoder pulse". Both can be set with division ratio (1 to 100,000). Pulse width of trigger follows the pulse width set in the system parameter (System No.55) Output synchronized with motor pulse Motor pulse Trigger output (In case of division ratio 1) Trigger output (In case of division ratio 4) Pulse width follows the value of the system parameter (System No.55). When division ratio is N, trigger output is made from the Nth pulse of motor pulse output Output synchronized with encoder pulse Trigger pulse can be output for 1, 2 and 4 multiplication respectively. Pulse output is performed with counter timing according to a multiplication number. (No distinction for CW/CCW direction) Pulse width of trigger follows the pulse width set in the system parameter (System No.55). Output period of trigger is while BUSY signal is active. (Though BUSY signal becomes active at feedback driving, no trigger signal is output). (When BUSY becomes active for the first time only, output is made) BUSY signal Encoder pulse A phase input Encoder pulse B phase input Trigger output at 1 multiplication (Division ratio 1) Output ends with the first BUSY rising Trigger output at 2 multiplication (Division ratio 1) Trigger output at 4 multiplication (Division ratio 1) Pulse width follows the value set in the system parameter (System No.55). Similar to motor pulse, when division ratio is N, trigger output is made from the Nth pulse of encoder pulse input. 25

27 2 Rising/falling edge selection Select to synchronize at rising or falling of trigger signal source for trigger output in motor pulse synchronization. When set for falling, refer to the figure below. The pulse width of trigger follows the pulse width set in the system parameter (System No.55) When rising edge is selected for motor pulse synchronization Motor pulse Trigger output (In case of division ratio 1) Pulse width follows the value set in the system parameter (System No.55) When falling edge is selected for encode pulse synchronization Encoder pulse A phase input Encoder pulse B phase input Trigger output at 1 multiplication (Division ratio 1) For encoder synchronization, trigger output synchronized with 1 multiplication is only valid. In case of output synchronized with encoder pulse in 2 or 4 multiplication, the falling edge selection is not reflected in output results. (it becomes the same output results when the rising edge is selected). 26

28 3 BUSY signal output (refer to the figure below) 4 Constant speed output (refer to the figure below) 5 Output at the beginning & end of drive Pulse is output at the beginning and end of drive. (refer to the figure below) Pulse width follows the value set in the system parameter. 3 BUSY, 4 Constant speed, 5 Trigger signal output figure at the beginning and end of drive Pulse speed Acceleration range Constant speed range Deceleration range Motor pulse output Time 3 BUSY signal output 4 Constant speed output 5 Output at the beginning & end of drive Pulse width follows the value set in the system parameter. 6 Optional timing trigger output Trigger is output with optional timing. When TRF command is received, 1 pulse is output with the pulse width according to the command parameter. (It is not related to the value of the system parameter "System No.55") 7 Output logic reversal Output level of trigger is reversed. 27

29 Trigger Type System Parameter and Command 1 Trigger type system parameters Kinds of trigger type system parameters are shown next. SYS No. Parameter name Description Setting Range 51 Trigger Source Selection of trigger signal source 0: Motor pulse value 1: Encoder pulse value (1 multiplication) 2: Encoder pulse value (2 multiplication) 3: Encoder pulse value (4 multiplication) Initial value 0 52 Trigger Edge Edge selection of trigger signal source 0: Rising 1: Falling 0 53 Trigger PM Pitch Division ratio of trigger signal (For motor pulse synchronization) 1 to 100, Trigger ENC Pitch Division ratio of trigger signal (For encoder pulse synchronization) 1 to 100, Trigger pulse width Pulse width () at pulse synchronization output or starting/ending is the maximum frequency. 1: 1usec 2: 10usec 3: 100usec 4: 1000usec 3 56 Trigger Logic Logic switch of trigger output 2 Trigger type commands Kinds of trigger type command and parameter are shown next. 0: Positive logic 1: Negative logic 0 Command Command function Parameter name Parameter description Setting Range TFR Optional timing Trigger Output a b Pulse width [msec] Response method 1 to 1,000 [msec] 0: Complete 1: Quick a Synchronization axis 1: 1st axis 2: 2nd axis TRS Trigger output method selection b Trigger signal output 0: Pulse synchronization output 1: BUSY 2: CONST 3: Output at start & end of driving 28

30 3-5. Emergency Stop Specification There are the following two factors in an emergency stop. Please keep in mind that the release methods differ for every factor. factor1:detection of an emergency stop signal In the following cases, an emergency stop is performed to all the axes. The emergency stop signal of the emergency stop input connector (EMG IN) of ARIES and LYNX becomes active. The emergency SW of ARIES touch panel "PYXIS" becomes ON The cable connected between ARIES/LYNX is disconnected. The terminal plug is not connected. When it changes into this state, ARIES sends Error code E SYS 5 spontaneously to PC. For details, refer to "4-4. Error Code". Releasing: After solving cause of emergency stop, execute the emergency stop release command REM to complete releasing. For details, refer to REM in "4.3. Command Details". factor2:error of motionnet When cutting of connection of one of LYNX is detected in the state where there is an axis under drive, an emergency stop is performed to all the axes. When it changes into this state, ARIES sends Error code E SYS 6 spontaneously to PC. For details, refer to "4-4. Error Code". Releasing: execute the read axis command RAX to complete releasing. For details, refer to REM in "4.3. Command Details". *Verifying emergency stop state: Verification is possible with STR command. For details, refer to STR in "4.3. Command Details". *When emergency stop is executed, it is possible that position misalignment of stages may have happened. It is strongly recommended to conduct origin returning after releasing emergency stop. (ROG command (origin return check) becomes also incomplete. For details, refer to ROG in "4.3. Command Details"). 29

31 3-6. Stepping Motor Excitation and Servo ON/OFF Specification ARIES and LYNX regulate a type and state of motors with system setting. Motor specification and motor state can be set with System No.61 and 62. (Refer to below) State when the power is turned ON differs according to the motor specification selection of No.62. For stepping motor specification, the initial state when the power is turned ON is excitation ON. For servo motor specification, the initial state when the power is turned ON is servo OFF. System No.61 = 0 Excitation OFF System No62 = 0 System No62 = 1 (Stepping motor specification) (Servo motor specification) Servo OFF System No.61 = 1 Excitation ON Servo ON *Motor specification and state parameters do not reflect even when the system refresh RST command is executed Soft Limit Setting Since the default setting of soft limit setting value in ARIES and LYNX is large enough, it will not be reached in usual operation. When setting a soft limit, set a soft limit value with System No.13, 14 and 15. When exceeding a soft limit value during drive command execution, deceleration stop is performed toward the soft limit value. *A soft limit becomes invalid during origin return, backlash correction execution and encoder feedback execution. *If one of axes reaches a soft limit position during multi-axis drive (MPS and SPS), all axes are stopped. *Verifying soft limit state: Verification is possible with STR command. For details, refer to STR in "4.3. Command Details". 30

32 3-8. Encoder Correction Position correction (feedback) by encoder signal output is possible in ARIES/LYNX. It also supports when the encoder signal output method is the incremental method (differential type). *Remote command for which the encoder correction is valid are APS MPS (absolute position drive mode) only. *When encoder correction and backlash correction are simultaneously valid, backlash correction becomes invalid. Coordinate value (absolute value) is managed and encoder correction is performed in this product as shown in the figure below. ARIES/LYNX Designated Position Deviated Position Target Coordinate Value Comparison Deviated Coordinate Value Encoder Read Coordinate Value -134,217,728 to +134,217, Encoder Correction The ARIES/LYNX controller reads coordinate values with signals from the encoder and compares these values with the drive designated position. If deviation is generated in the encoder read coordinates and drive designated position, a motor is driven for the stage to drive to the designated position. Coordinate range that can be managed with this product is wide (-134,217,728 to +134,217,727 pulses) and if position misalignment happens within the range, it can be corrected. 31

33 Encoder Feedback Setting When using encoder feedback, the following setting procedures are required. 1 Set parameters required for encoder feedback. (Refer to parameters shown below) 2 When a drive type command is issued, it performs driving with encoder feedback. *Conditions of encoder feedback can be checked with STR command. List of encoder feedback parameters SYS No Parameter name Content Initial value Setting range 31 ENC MULTIPLICITY Encoder value multiplication 4 1,2,4 32 ENC PRESCALE Encoder value prescale 0 0 to 134,217, ENC CALC NUM 1 1 to 134,217,727 Motor pulse/encoder resolution ratio 34 ENC CALC DEN 1 1 to 134,217, ENC ROTATE CHANGE Change of encoder adding direction 0 0: Standard1: Inverse 36 ENC Z LOGIC Logic switch of encoder Z phase 0 0: Positive1: Negative 37 PM&ENC SYNC WRITE Encoder value reset at origin return 1 0: Not executed1: Execute 0: No correction 41 FEEDBACK TYPE Feedback control method 0 1: Correct only in positioning 2: Constant correction 42 PERMIT RANGE Pulse permissible range at feedback 1 0 to 10, RETRY COUNT No. of retries at feedback to 10, FEEDBACK WAIT TIME Wait time (msec) at feedback to 10,000 Parameter details SYS No 31 ENC MULTYPLY (Encoder multiplication setting) Multiply count signal from the encoder to enhance resolution. SYS No 31 Setting 1 Standard 1 2 Standard 2 4 Standard 4 System No. 32 ENC PRESCALE (0 clear position setting) If encoder count value = setting value, reset the encoder count to 0. SYS No Setting 32 0 to 134,217,727 0 clear position setting 32

34 Parameter details System No. 33,34 ENC CALC NUM /DEN (Motor pulse/encoder resolution ratio) When performing encoder feedback, because it is necessary to match the Pulse/Unit ratio of motor pulse and encoder pulse, a ratio of encoder resolution and command pulse resolution is set in this item. SYS No Setting 33 1 to 134,217, to 134,217,727 Motor pulse/encoder resolution ratio Example: Motor pulse resolution 0.1μm/1 pulse and encoder resolution 1μm/1 pulse The resolution ratio of motor pulse/encoder becomes 1:10. In this case, set 1 for System No.33 and 10 for System No.34. System No. 35 ENC ROTATE CHANGE (Change of encoder addition direction) Change of encoder addition direction. SYS No Setting 35 0: Standard1: Inverse Change of encoder adding direction System No. 36 ENC Z LOGIC (Switch logic of encoder Z phase) Logic switch of encoder Z phase signal. SYS No Setting 36 0: Positive1: Negative Logic switch of encoder Z phase System No. 37 PM&ENC SYNC WRITE (Reset the encoder value during origin return) When origin detection is performed, reset the encoder value to 0 also. SYS No Setting 37 0: Not executed1: Execute Encoder value reset at origin return System No. 38 ENC FILTER (The change of a filter to an encoder signal ) A filter sets up to an encoder signal. SYS No Setting 38 0:filter used 1:filter not used When using a filter, the maximum of encoder input frequency is set to 13 MHz. When not using a filter, the maximum of encoder input frequency is set to 20 MHz. 33

35 Parameter details System No.41 FEEDBACK TYPE (Selection of feedback control method) Set an encoder feedback control method. SYS No Setting 0: No correction 41 1: Correct only in positioning Feedback control method 2: Constant correction System No.42 PERMIT RANGE (Pulse permissible range during feedback) Positioning pulse permissible range during encoder feedback execution. (After feedback operation, the feedback becomes completed if it stays within above setting pulse range for a target position). SYS No Setting 42 0 to 10,000 Pulse permissible range at feedback System No.43 RETRY COUNT (Number of retries for feedback) Set the number of positioning retries during encoder feedback execution. (The number of feedback retries after feedback operation, if it does not reach a target position) *When feedback does not complete even after exceeding the number of retries, a control finishes. In this case, feedback state can be verified with STR command. SYS No Setting 43 1 to 10,000 No. of retries at feedback System No.44 FEEDBACK WAIT TIME (wait time(msec) for feedback) Correction wait time (msec) during encoder feedback execution. *Setting valid unit is in units of 10msec and the maximum error is the set value + 10msec. (When feedback operation does not complete in the first try, the number of retries set in System No.43 is performed. This sets "wait time" to the next feedback retry) *Effect of setting the wait time is to provide time for inertia moment oscillation generated from operation to settle; therefore, error detection of start position necessary for the next feedback operation becomes less. SYS No Setting 44 1 to 10,000 Wait time (msec) at feedback 34

36 3-9. Origin Return Method Origin return method can be selected in ARIES/LYNX according to the combination of sensors of the positioning device used. Sensor Configuration Based on the set origin return method, after moving near the specified sensor at the maximum speed of the specified speed table, it moves to the origin with ORG scan speed (SYS No.3 Default value: 500pps) and stops. Though our standard stages can support a method of default setting (Method 4) for most models, it is necessary to change to Method 3 for the models that equip an origin sensor (S1) in a part of motor axis. Method Sensor configuratio Description 1 S1,S3 A return direction is judged with the region sensor (DATUM) and set the edge of the first origin sensor (ORG) within the range sensor as the origin position. 2 S3 The edge of region sensor (DATUM) is the origin position. 3 S1,S2,L- The edge of origin sensor (ORG) located in the origin proximity sensor (NORG) is the origin position. 4 S2,L- The edge of region proximity sensor (NORG) is the origin position. (Our standard method) 5 S1,L+ Origin sensor (ORG) in proximity of CW limit is the origin position. 6 S1,L- Origin sensor (ORG) in proximity of CCW limit is the origin position. 7 L+ The edge of CW limit is the origin position. 8 L- The edge of CCW limit is the origin position. 9 S1 The edge of origin sensor (ORG) is the origin position. 10 None Present position is the origin position. (No driving) 11 Z phase When encoder is equipped, the edge of Z phase within the movement range is the origin position. 12 Z phase, S3 A return direction is judged with the region sensor (DATUM) and set the edge of Z phase encoder within the range sensor as the origin position. 13 Z phase, S2 When an encoder is equipped, the edge of Z phase within the origin proximity sensor (NORG) is the origin position. 14 When an encoder is equipped, the edge of Z phase within the movement range is the origin Z phase, L+ position. 15 Z phase, L- When an encoder is equipped, the edge of Z phase in proximity of CCW limit is the origin position. ORG Offset Function After executing each origin return operation, it moves just as much as the set value in System No.1 "ORG_OFFSET" and the position is set as 0 coordinate values. *In Method 10, "ORG OFFSET" is invalid. 35

37 1 The zone sensor (DATUM) determines return direction and the edge of initial origin sensor (ORG) becomes the origin position within the zone sensor. Starting from CCW zone 1 Detection starts to CW direction with trapezoidal drive. 2 Decelerates and stops when zone sensor is detected. 3 Reverses to CCW direction and moves at slow speed. 4 Reverses to CW direction after moving through zone sensor. 5 Stops at initial origin sensor detection after zone sensor detection. Starting from CW zone 1' Detection starts to CCW direction with trapezoidal drive. 2' Stops with deceleration after moving through zone sensor. 4 Reverses to CW direction and low speed movement. 5 Stops at initial origin sensor detection after zone sensor detection. Starting from CW zone 1' S1 Origin (ORG) Start from CCW zone 2' 4 1 Dog (Detecting plate) S3 Zone sensor CW CCW Zone sensor Origin sensor 2 The edge of zone sensor (DATUM) is the origin position. Starting from CCW zone 1 Detection starts to CW direction with trapezoidal drive. 2 Decelerates and stops when zone sensor is detected. 3 Reverses to CCW direction. 4 Stops with deceleration after moving through zone sensor. 5 Reverses to CW direction and moves at slow speed. 6 Stops at the edge detection of zone sensor. Starting from CW zone 1' Detection starts to CCW direction with trapezoidal drive. 2' Stops with deceleration after moving through zone sensor. 5 Reverses to CW direction and moves at slow speed. 6 Stops at the edge detection of zone sensor. Dog (Detecting plate) Starting from CW zone S3 Zone sensor CW 1' ' Start from CCW zone 5 1 CCW Zone sensor 36

38 3 The edge of origin sensor (ORG) located in origin proximity sensor (NORG) is the origin position. Starting from CW zone 1 Detection starts to CCW direction with trapezoidal drive. Starting from CW zone 2 Decelerates and stops after moving through origin proximity. 3 Reverses to CW direction and moves at slow speed. 1 4 After origin proximity detection, it stops at the initial origin detection. Starting from CCW zone Starting from CCW zone 5 Detection starts to CCW direction with trapezoidal drive. 6 Stops when CCW limit is detected. 7 Reverses to CW direction and starts trapezoidal drive. 8 Decelerates and stops after moving through origin proximity. 9 Reverses to CCW direction. 10 Decelerates and stops again after moving through origin S1 Origin (ORG) proximity. 11 Reverses to CW direction and moves at slow speed. S2 Origin proximity (NORG) 12 After origin proximity detection, it stops at the initial origin detection. L-CCW limit *When starting within NORG, start from 9. CW Dog (Detecting plate) CCW Origin proximity sensor CCW limit Origin sensor 37

39 4 The edge of origin proximity (NORG) is the origin position. (Our standard method) The stage without origin senor in motor shaft requires this method. Starting from CW zone 1 Detection starts to CCW direction with trapezoidal drive. 2 Decelerates and stops after moving through origin. 3 Reverses to CW direction and moves at slow speed. 4 Stops at origin detection. Starting from CCW zone 5 Detection starts to CCW direction with trapezoidal drive. 6 Stops when CCW limit is detected. 7 Reverses to CW direction and starts trapezoidal drive. 8 Decelerates and stops after moving through origin. 9 Reverses to CCW direction. 10 Decelerates and stops again after moving through origin. 11 Reverses to CW direction and moves at slow speed. 12 Stops at origin detection. *When starting within NORG, start from 9. Starting from CW zone 1 Starting from CCW zone Dog (Detecting plate) S2 Origin proximity (NORG) L-CCW limit CW CCW Origin sensor 38

40 5 The edge of origin sensor (ORG) in proximity of CW limit is set to the origin position. Starting from outside of CW limit 1 Detection starts to CW direction with trapezoidal drive. 2 Stops when CW limit is detected. 3 Reverses to CCW direction and moves in low speed. 4 Stops at the initial origin detection position after moving through CW limit. Starting from inside of CW limit 5 Moves at low speed to CCW direction. 6 Stops at the initial origin detection position after moving through CW limit. Starting from inside of CW limit Starting from outside of CW limit 1 Dog (Detecting plate) S1 Origin (ORG) L+CW Limit CW CCW CW Limit Origin sensor 6 The edge of origin sensor (ORG) in proximity of CCW limit is set to the origin position. Starting from outside of CCW limit 1 Detection starts to CCW direction with trapezoidal drive. 2 Stops when CCW limit is detected. 3 Reverses to CW direction and moves at low speed. 4 Stops at the initial origin detection position after moving through CCW limit Starting from inside of CCW limit 5 Moves at low speed to CW direction. 6 Stops at the initial origin detection position after moving through CCW limit. Starting from outside of CCW limit 6 5 Starting from inside of CCW limit Dog (Detecting plate) S1 Origin (ORG) L-CCW limit CW CCW CCW limit Origin sensor 39

41 7 The edge of CW limit is set to the origin position. Starting from outside of CW limit 1 Detection starts to CW direction with trapezoidal drive. 2 Stops when CW limit is detected. 3 Reverses to CCW direction and moves at low speed. 4 A position after moving through CW limit is origin. 2 Starting from inside of CW limit 5 Moves at low speed to CCW direction. 6 A position after moving through CW limit is origin. Dog (Detecting plate) 3 Starting from inside of CW limit Starting from outside of CW limit L + CW Limit CW CCW CW Limit 8 The edge of CCW limit is set to the origin position. Starting from outside of CCW limit 1 Detection starts to CCW direction with trapezoidal drive. 2 Stops when CCW limit is detected. 3 Reverses to CW direction and moves at low speed. 4 A position after moving through CCW limit is origin Starting from inside of CCW limit 5 Moves at low speed to CW direction. 6 A position after moving through CCW limit is origin. Dog (Detecting plate) L-CCW limit Starting from outside of CCW limit 6 5 Starting from inside of CCW limit CW CCW CCW limit 40

42 9 The edge of origin sensor is the origin position. Starting from CCW zone 1 Detection starts to CW direction with trapezoidal drive. 2 Decelerates and stops when moving through ORG sensor. 3 Reverses to CCW direction. 4 Decelerates and stops again after moving through ORG sensor. 5 Reverses to CW direction and moves at slow speed. 6 Stops at ORG sensor detection. Origin sensor S1 Origin (ORG) CW 3 2 Starting from CCW zone CCW Stops if CW limit signal is detected during origin return. 10 The current position is origin. (No driving) The current position is set as the origin position without driving in this mode and it is regarded that origin return detection is completed. 41

43 11 Encoder Z phase within moving range is the origin position. For a stage without encoder, this method cannot be selected. Starting from CW zone 1 Detection starts to CCW direction with trapezoidal drive. 2 Decelerates and stops when encoder Z phase (hereinafter referred to as "Z phase") is detected. 3 Reverses to CW direction and starts detection with trapezoidal drive. 4 Decelerates and stops with Z phase detection. 5 Starts moving at low speed to Z phase non-detection area. 6 Stops at Z phase none detection area. 7 Reverses to CCW direction and moves at low speed. 8 Stops at Z phase detection. Starting from CCW zone 1' Detection starts to CCW direction with trapezoidal drive. 2' Stops when CCW limit is detected. 3 Reverses to CW direction and starts trapezoidal drive. 4 Decelerates and stops with Z phase detection. 6 Stops at Z phase none detection area. 7 Reverses to CCW direction and moves at low speed. 8 Stops at Z phase detection. Starting from Z phase zone 5 Starts moving at low speed to Z phase none detection area. 6 Stops at Z phase none detection area. 7 Reverses to CCW direction and moves at low speed. 8 Stops at Z phase detection. Starting from CW zone 1 Starting from Z phase zone Encoder Z phase L-CCW limit 6 7 CW Starting from CCW zone 2' 1' 3 3 CCW 42

44 12 The zone sensor (DATUM) determines return direction and the edge of encoder Z phase becomes the origin position within the zone sensor. For a stage without encoder, this method cannot be selected. Starting from CCW zone 1 Detection starts to CW direction with trapezoidal drive. 2 Decelerates and stops when zone sensor is detected. 3 Reverses to CCW direction and moves at low speed. 4 Reverses to CW direction after moving through zone sensor. 5 Stops at initial encoder Z phase detection after zone sensor detection. Starting from CW zone 1' ' Starting from CCW zone 4 1 Starting from CW zone 1' Detection starts to CCW direction with trapezoidal drive. 2' Stops with deceleration after moving through zone sensor. 4 Reverses to CW direction and low speed movement. 5 Stops at initial encoder Z phase detection after zone sensor detection. Encoder Z phase S3 Zone sensor CW CCW 13 The edge of encoder Z phase located in origin proximity sensor (NORG) is the origin position. For a stage without encoder, this method cannot be selected. Starting from CW zone 1 Detection starts to CCW direction with trapezoidal drive. 2 Decelerates and stops after moving through origin proximity. 3 Reverses to CW direction and moves at slow speed. 4 After origin proximity detection, it stops at the initial encoder Z phase. Starting from CCW zone 5 Detection starts to CCW direction with trapezoidal drive. 6 Stops when CCW limit is detected. 7 Reverses to CW direction and starts trapezoidal drive. 8 Decelerates and stops after moving through origin proximity. 9 Reverses to CCW direction. 10 Decelerates and stops again after moving through origin proximity. 11 Reverses to CW direction and moves at slow speed. 12 After origin proximity detection, it stops at the initial encoder Z phase detection. Starting from CW zone Encoder Z phase 1 Starting from CCW zone S2 Origin proximity (NORG) L-CCW limit CW CCW 43

45 14 The edge of encoder Z phase in proximity of CW limit is set to the origin position. For a stage without encoder, this method cannot be selected. Starting from outside of CW limit 1 Detection starts to CW direction with trapezoidal drive. 2 Stops when CW limit is detected. 3 Reverses to CCW direction and moves in low speed. 4 Stops at the initial encoder Z phase detection position after moving through CW limit. Starting from inside of CW limit 5 Moves at low speed to CCW direction. 6 Stops at the initial encoder Z phase detection position after moving through CW limit. Starting from inside of CW limit Encoder Z phase L + CW Limit CW Starting from outside of CW limit 1 CCW 15 The edge of encoder Z phase in proximity of CCW limit is set to the origin position. For a stage without encoder, this method cannot be selected. 2 Starting from outside of CCW limit 1 Detection starts to CCW direction with trapezoidal drive. 2 Stops when CCW limit is detected. 3 Reverses to CW direction and moves at low speed. 4 Stops at the initial encoder Z phase detection position after moving through CCW limit. Starting from inside of CCW limit 5 Moves at low speed to CW direction. 6 Stops at the initial encoder Z phase detection position after moving through CCW limit. Encoder Z phase 1 Starting from outside of CCW limit Starting from inside of CCW limit L-CCW limit CW CCW 44

46 3-10. ARIES Touch Panel "PYXIS" Connection and Operation Connect PYXIS and ARIES with exclusive PIXIS cable and turn the power of ARIES ON. After launched, "Main" screen is displayed. *Do not connect cable after the power is turned ON. Each function becomes available with the mode change button. When the version of ARIES is before ver.1.1.1, functions differ somewhat. Refer to Rev.1.1 of this operation manual for the handling of PYXIS in the case before ver Emergency Stop Switch Push the emergency stop switch to stop all driving axes. To release, after releasing the switch, push RESET on the touch panel. "Main" Screen (Initial Start Screen) Origin return and Jog operation can be performed. For details, refer to "3-10-2: Main Screen Details". Mode change button "ABS" Screen Absolute position drive can be performed. For details, refer to "3-10-3: ABS Screen Details". "REL" Screen Relative position drive can be performed. For details, refer to "3-10-4: REL Screen Details". SYS Screen Parameter setting for each axis can be performed. For details, refer to "3-10-5: SYS Screen Details". 45

47 "Main" Screen Details 1 3 1' 3' 6 7 Upper level Lower level 11 : Axis Number Cell: Touch a cell to display the numeric keypad. Axis number can be set with the numeric keypad. 2: Axis Number Display : Numbers set in 1 are displayed. 1 corresponds to upper level and 1' to lower level. 33': Speed Table Cell : Touch a cell to display the numeric keypad. Axis number can be set with the numeric keypad. 3 corresponds to upper level and 3' to lower level. 4: Position Display Cell : Touch a cell to switch between P (pulse display) and E (encoder display). 5: Origin Return Button : Push the button to start origin return of applicable axis. 6: Stop Button : Stops driving axes. 7: JOG Mode Cell : Displays speed pattern in JOG mode. Touch a cell to toggle the mode through High, Low and IPLS. 8: Jog Button : Free rotation drive is performed to each direction on the mode set in 7. Release the button to stop. 9:Position Display Cell : Touch a cell to display the numeric keypad. : Coordinates of a position can be set with the numeric keypad. 46

48 "ABS" Screen Details 1 2 1: Target Position Cell : Touch a cell to display the numeric keypad. Target position (absolute position motor pulse management) can be set with the numeric keypad. 2: Drive Button : Starts moving to the target position set in 1. * Others are same functions with the "Main" screen "REL" Screen Details 1 2 1: Moving Amount Cell : Touch a cell to display the numeric keypad. Target position (relative position motor pulse management) can be set with the numeric keypad. 2: Drive Button : Starts moving to + or - direction for the moving amount set in 1. * Others are same functions with the "Main" screen. 47

49 "SYS" Screen Operation Method : ARIES Information : Displays a version of ARIES. 2: Axis Number Cell : Touch a cell to display the numeric keypad. Axis number can be set with the numeric keypad. Also, + button and - button can be used to change axis number. 3: Parameter No. Cell : Touch a cell to display the numeric keypad. Parameter number can be set with the numeric keypad. Also, + button and - button can be used to change parameter number. it becomes a SYSTEM RESET display, When - is touched in the state of SYS.1, or when + is touched in the state of SYS99. When setting "1" on this screen, the parameter of the axis currently displayed is set as a default value. touch + SYS No. 1 SYS No. 99 touch - System Reset 4: Parameter Name Display : Displays parameter name selected in 3. 5: Parameter Setting Value Cell : Touch a cell to display the numeric keypad. Parameter setting value can be set with the numeric keypad. * It does not get reflected just by changing. * For each parameter, refer to "4-5: System Setting List". 6: SET Button (Important) : Parameter setting value changed in 5 is written to the system. *Push and hold + or - button in 2 or 3 to increase the number by 4 or reduce by 4. 48

50 The screen for a system parameter setup 7 The screen for a speed table setup : SYS No. SPD TBL No. Change Cell : Whenever it touches a cell, the screen for a system parameter setting and the screen for a speed table setting screen change. 3:Speed Table No. Cell: Touch a cell to display the numeric keypad. Speed table No. can be set with the numeric keypad. Also, + button and - button can be used to change table number. Speed table No.10 and 11 correspond to High of JOG operation, and Low. 8:The parameter cell of a speed table : If each cell(start Speed,Top Speed,Acceleration Time,Deceleration Time,Acc&Dec Pattern) is touched, a ten key is displayed and a value can be inputted. A touch of the SET button will write in the parameter of a speed table collectively. 49

51 "PYXIS" Display Error List EMG STOP When emergency stop signal is input, it is displayed in the PYXIS screen. After solving cause of emergency stop, it is released by touching the reset button on a screen or by transmission of the REM command. Motionnet Error It is displayed, when the power supply of one of LYNX becomes OFF during the drive of an axis and the composition of a Motionnet device has change. it is released by touching the reset button on a screen or by transmission of the RAX command. DRIVE ERROR It is displayed when a drive stops by error factors, such as limit signal detection. DURING DRIVE To the axis under drive, when duplicate drive commands are transmitted, it is displayed. RANGE OUTSIDE Displayed when a value outside the range of setting in each setting parameter is attempted to input. Push the reset button and enter a correct value. Soft Limit Over It is displayed when a drive stops by reaching a soft limit. 50

52 4. Remote Control 4-1. Proceeding with Installation and Preparation To control from a computer, this device supports Ethernet (TCP-IP) and RS-232C communication. For selecting a communication method, refer to "2-5. Rotary Switch for Communication Setting". RS-232C communication: Select a communication method while the power is OFF. Connect RS-232C cable (cross cable) to RS-232C connector. Ethernet (TCP-IP) communication: Select a communication method while the power is OFF. Connect LAN cable (cross cable) (CAT5e or above is recommended)to LAN port. Turn the power ON and set IP address in ARIES. (Command to use WIP) Set IP address of control device like PC to ARIES. (Command to use PIP) (In ARIES, PC is a server and ARIES is a client). *Remove communication cables not used Transmitting/Receiving The controller returns one response for one sent command. The response timing varies according to the type of command or selection of response method. Command Setting Command Information command Drive command (Quick type) Drive command (Completion type) Response Action completed Response 1 Setting command The commands as RST and WSY used for setting immediately return a response. 2 Drive command For drive-related commands, one of 2 types of response method can be selected. 1. Returns a response after completion of operation. (Completion type) 2. Returns a response immediately after receipt of the command. Completion of operation can be checked with STR (status check) command. (Quick type) 3 Information Command Requested information are returned for a command. 51

53 Remote Control Procedures When using for the first time or after changing setting, it is necessary to start from sending setting commands. When continuing the previous setting 1 Setting Command RST and WSY commands 2 Origin Return ORG command 3 Drive Command APS, RPS and MPS commands 4 Status Check Checking controller performance state Command Format A command can be selected from 2 types, general command and simple command. General command consists of header characters (STX) and command, parameters and delimiter (CRLF). Simple command consists of command, parameters and delimiter (CRLF). General Command Header Characters STX (02H) Not necessary for Ethernet (TCP-IP) Command ASCII 3 characters <Command><Parameter a><parameter b>/... Delimiter (end of line) CR (0DH) + LF(0AH) (2 characters) Sequence , 12 Command W R P 2 / Hexadecimal F D,0A Characters which can be used in the command are numerical values (0 to 9), upper case alphabet (A to Z) and symbols (/,?). A space (20H) cannot be used in the command. Parameter is always required. It cannot be omitted. 52

54 Response Format for response is as follows. When error occurs, error response is returned. Because response is different per command, refer to details page of each command. 1 Normal response Command ASCII 3 characters Segmentation (TAB, 09H) Normal command C <Command> <Axis > C <Command> <Axis > Data A Data Q Delimiter (end of line) CR(0DH) + LF(0AH) (2 characters) For multiple response data, they are separated by TAB. 2 Error response Error Code Normal command E <Command> <Axis > <Error No.> W <Command> <Axis > <Warning No.> Error occurs In warning 3Spontaneous dispatch In the following cases, ARIES sends an error code or a warning code spontaneously to PC. The factor which sends an error code When an emergency stop signal is detected (error code no. 5) When cutting (for example, power supply OFF etc.) of connection of one of LYNX(s) is checked while a certain axis drove ( error code no.6) E SYS <ERROR No> Error occurs The factor which sends an warning code In the state where all the axes have stopped, when connection of LYNX is newly detected, or when cutting of LYNX which was under connection is detected, a warning code is sent. (warning code no.50) W SYS <Warning No> In warning 53

55 Characters to Use Characters shown in the table below can be used for communication. 0* 1* 2* 3* 4* 5* 6* 7* 8* to F* *0 0 P *1 1 A Q *2 2 B R *3 3 C S *4 4 D T *5 5 E U *6 6 F V *7 7 G W *8 8 H X *9 9 I Y *A LF J Z *B + K *C L *D CR - M *E. N *F /? O Lower letters (a to z) cannot be used. 54

56 4-2. Command List The commands that can be used in ARIES are shown in the table below. For details, refer to a page of each command. Type Command Descripti Page Functions on RST System Reset 77 Setting WSY System Setting Information Write 92 MPI Multi-axis Simultaneous DriveSpeed Setting 59 ORG Origin ReturnDrive 62 APS Absolute Position Drive 56 RPS Relative Position Drive 75 Drive MPS Multi-axis Simultaneous Drive 60 OSC Repeated Oscillation Movement 63 SPS Linear Interpolation Drive 81 FRP Free Rotation Drive 57 STP Motor Stop 82 RDP Pulse Counter Value Read 68 Coordinate WRP Pulse Counter Value Write 90 RDE Encoder Counter Value Read 67 WRE Encoder Counter Value Write 89 STR Status Read 83 RSY System Setting Information Read 78 Information ROG Origin Return Check 73 RAX Total Number of Axes Read 66 IDN Version Read 58 Speed WTB Speed Table Write 93 Table RTB Speed Table Read 80 WOT General Output Write 88 General I/O ROT General Output Read 74 RIN General Input Read 70 PIP PC Side IP Address Write 64 RMC MAC Address Read 72 Address RIP ARIES Side IP Address Read 71 RSN Subnet Mask Read 76 WSN Subnet Mask Write 91 WIP ARIES Side IP Address Write 87 Emergency REM Emergency Stop Release 69 Servo Trigger RSV TRS Servo Driver System Input Read Trigger Signal Output Select RAL TFR Alarm Reset Signal Output Optional Timing Trigger Output : Drive command : Setting command (write) : Setting command (read) 55

57 4-3. Command Details The commands that can be used in ARIES are shown next. APS Absolute Position Drive Function Moves to a target position with absolute position management. Format APS a/b/c/d Present position Designated target position No. of parameters = 4 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 b Speed table No. 0 to 9 c Movement amount -134,217,728 to 134,217,727 d Response method 0: When completed 1: Quick Response Returns status information. *Return timing varies depending on the response method. Status Response data Normal C APS<Axis No.> Error W APS<Axis No.> <Warning No.> E APS<Axis No.> <Error No.> Example 1. Moves No.1 axis with speed table No.0 to 1,000 position. Remarks For <Error No.> and <Warning No.>, refer to "4-4. Error Code". APS1/0/1000/0 A stop during driving is done with STP command. 56

58 FRP Free Rotation Drive Function Free rotation drive is performed until the stop command ( STP ) is issued. Format FRP a/b/c No. of parameters = 3 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 b Speed table No. 0 to 9 c Rotating direction 0: CW direction 1: CCW direction Response Returns status information. *Returns immediately after receiving the command. Status Response data Normal C FRP<Axis No.> Error E FRP<Axis No.> <Error No.> For <Error No.>, refer to "4-4. Error Code". Example Performs free rotation drive on No.1 axis to CW direction with speed table No.0. FRP1/0/1 Remarks A stop during driving is done with STP command. 57

59 IDN Version Read Function Reads the model name of the controller body and the version of the program. Format IDN No. of parameters = 0 Response C IDN <Model name> <Major version> <Minor version> <Release version> Response example C IDN ARIES

60 MPI Multi-axis Position Initial Setting Explanation Sets a drive method and speed necessary for multi-axis simultaneous drive (MPS) command. Format MPI a/b/c/d No. of parameters = 4 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a b c d Designated MPS axis Axis No. Driving Type Speed Table 1 to 4 1 to 32 0: Absolute position drive 1: Relative position drive 0 to 9 Response Returns status information. Status Response data Normal C MPI<Axis No.> Normal E MPI<Axis No.> <Error No.> For <Error No.> and <Warning No.>, refer to "4-4. Error Code". *Backup of set parameters is not performed if the power is turned OFF. *When using MPS command after turning the power ON, always set axis information with MPI command. Setting contents of MPI are valid until rewriting is performed next time. 59

61 MPS Multi-axis Position Drive Function Performs simultaneous drive up to 4 axes. Explanation In multi-axis simultaneous drive (MPS) command, if moving distance and speed are different, time required for moving differs and the line becomes as shown in the right figure. Axis No.2 Linear interpolation Axis No.1 2 axes simultaneous drive Format MPS a/b/c/d/i 2 designated axes No. of parameters = 5 MPS a/b/c/d/e/f/i 3 designated axes No. of parameters = 7 MPS a/b/c/d/e/f/g/h/i 4 designated axes No. of parameters = 9 Command parameters Functions Setting Remarks a 1st axis No. 1 to 4 Specified with MPI command b 1st axis target position -134,217,728 to 134,217,727 *1 c 2nd axis No. 1 to 4 Specified with MPI command d 2nd axis target position -134,217,728 to 134,217,727 *1 e 3rd axis No. 1 to 4 Specified with MPI command f 3rd axis target position -134,217,728 to 134,217,727 *1 g 4th axis No. 1 to 4 Specified with MPI command h 4th axis target position -134,217,728 to 134,217,727 *1 i Response method 0: When completed 1: Quick *1 In case of relative position drive method, set the moving target position within a range that the difference with the current position does not exceed -134,217,728 to 134,217,727. Response Returns status information. *Return timing varies depending on the response method. Status Response data Normal C MPS<1st axis No.> Error W APS<1st axis No.> <Warning No.> E MPI<1st axis No.> <Error No.> For <Error No.> and <Warning No.>, refer to "4-4. Error Code". Remarks A stop during driving is done with STP command. 60

62 MPS Example To drive PM2 axis and PM3 axis simultaneously with MPS command. *When using MPS command after turning the power ON, always set axis information with MPI command. Setting contents of MPI are valid until rewriting is performed next time. 1: Determine No.1 axis and No.2 axis in MPS with MPI command. MPS No.1 axis = PM2 axis MPS No.2 axis = PM3 axis 2: Set parameters to each MPS axis with MPI command. 1. Set MPS No.1 axis to move with absolute position drive and speed table No.5. MPI1/2/0/5 2. Set MPS No.2 axis to move with absolute position drive and speed table No.8. MPI2/3/0/8 3: Execute MPS command. MPS1/1000/2/2000/0 *For 3 axes and 4 axes simultaneous drive Set a required number of axes with MPI command and execute MPS command. 61

63 ORG Origin Return Drive Function Performs origin position detection according to a selected method. 15 selections are possible for origin return method. For details, refer to "3-9. Origin Return Method". Origin Format ORG a/b/c No. of parameters = 3 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 b Speed table No. 0 to 9 c Response method 0: When completed 1: Quick Response Returns status information. *Return timing varies depending on the response method. Status Response data Normal C ORG<Axis No.> Error E ORG<Axis No.> <Error No.> For <Error No.>, refer to "4-4. Error Code". Example To make Axis No.1 return to origin with speed table No.5. ORG1/5/0 Remarks A stop during driving is done with STP command. 62

64 OSC Oscillation Drive Function Oscillation movement is performed between the current and target position. Present position Specified movement amount Format OSC a/b/c/d/e/f No. of parameters = 6 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 b Speed table No. 0 to 9 c Movement amount -134,217,728 to 134,217,727 d No. of oscillations 1 to 65,534 e Stop time 0 to 65,534 [msec] *1 f Response method 0: When completed 1: Quick *1 Stop time is valid in units of 10msec. Deviation for stop time is +10msec at maximum. Response Returns status information. *Return timing varies depending on the response method. Status Response data Normal C OSC<Axis No,> Error W OSC<Axis No.> <Warning No.> E OSC<Axis No.> <Error No.> For <Error No.> and <Warning No.>, refer to "4-4. Error Code". Remarks A stop during driving is done with STP command. 63

65 PIP Write IP Address of PC Function Sets IP address of PC to ARIES. Default (initial set value) is 192,168,1,102. Format PIP a/b/c/d No. of parameters = 4 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Address1 0 to 255 b Address2 0 to 255 c Address3 0 to 255 d Address4 0 to 255 Response Returns status information. Status Response data Normal C PIP a b c d Error E PIP a <Error No.> For <Error No.>, refer to "4-4. Error Code". 64

66 RAL Servo Alarm Reset Function Outputs alarm reset signal. (for servo driver) Format RAL a No. of parameters = 1 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 Response Returns status information. Status Response data Normal C RAL a Error E RAL <Error No.> For <Error No.>, refer to "4-4. Error Code". 65

67 RAX Read Axis Function Reads a number of connected axes that can be controlled and composition of device. Format RAX No. of parameters = 0 A space cannot be used between characters. No parameter can be omitted. Response Returns status information. Status Normal Response data C RAX a b d 00 d 01 d 02 d 03 d 04 d 05 d 06 d 07 d 08 d 09 d 10 d 11 d 12 d 13 d 14 d 15 d 16 d 17 d 18 d 19 d 20 d 21 d 22 d 23 d 24 d 25 d 26 d 27 d 28 d 29 d 30 d 31 d 32 d 33 d 34 d 35 d 36 d 37 d 38 d 39 d 40 d 41 d 42 d 43 d 44 d 45 d 46 d 47 d 48 d 49 d 50 d 51 d 52 d 53 d 54 d 55 d 56 d 57 d 58 d 59 d 60 d 61 d 62 d 63 Error E RAX <Error No.> For <Error No.>, refer to "4-4. Error Code". Response data Functions Setting Remarks a Total number of devices 0 to 64 * Management data for our company b Number of axes that can be controlled 0 to 32 d xx Function of device no.xx 0:no device, 1:axis 2~F:Reserved Response data d 00 ~d 31 correspond to the axial numbers 1~32. The value which it can take is 0 or 1. Response data d 32 ~d 63 is assigned to the device corresponding to an option. The value which it can take is 2~F. [example] 10 sets of LYNX connected to ARIES(The sum total is 22 axes) and a setup of device No. of LYNX is set to 02,04,06,08,0A,0C,0E,10,12,14,the response of RAX is as follows. command : RAX response : C RAX

68 RDE Encoder Read Function Reads connected encoder values. Format RDE a No. of parameters = 1 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 Response Returns current encoder value. Status Response data Normal C RDE a b Error E RDE <Error No.> For <Error No.>, refer to "4-4. Error Code". Response data Functions Setting Remarks b Encoder value Example To read the encoder value of No.2 axis. Command: RDE2 Response : C RDE

69 RDP Position Read Function Reads current motor pulse value. Format RDP a No. of parameters = 1 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 Response Returns current motor pulse value. Status Normal Error Response data C RDP a b E RDP <Error No.> For <Error No.>, refer to "4-4. Error Code". Response data Functions Setting Remarks b Motor pulse value Example To read current motor pulse value of No.2 axis. Command: RDP2 Response : C RDP

70 REM Release Emergency Function Releases software lock of emergency stop signal. Format REM No. of parameters = 0 A space cannot be used between characters. No parameter can be omitted. Response Returns status information. Status Response data Normal C REM Error E REM <Error No.> For <Error No.>, refer to "4-4. Error Code". *Important Always solve cause of emergency stop before executing REM and then release the emergency stop switch. 69

71 RIN Read Input Function Reads the status of general I/O input pin. Format RIN No. of parameters = 0 A space cannot be used between characters. No parameter can be omitted. Response Returns status information. Status Response data Normal C RIN a b c d e f g h Error E RIN <Error No.> For <Error No.>, refer to "4-4. Error Code". Response data Functions Setting Remarks a IN-0 status 0:OFF 1:ON b IN-1 status 0:OFF 1:ON c IN-2 status 0:OFF 1:ON d IN-3 status 0:OFF 1:ON e IN-4 status 0:OFF 1:ON f IN-5 status 0:OFF 1:ON g IN-6 status 0:OFF 1:ON h IN-7 status 0:OFF 1:ON 70

72 RIP Read IP Address Function Reads IP address of ARIES body. Format RIP No. of parameters = 0 A space cannot be used between characters. No parameter can be omitted. Response Returns status information. Status Response data Normal C RIP a b c d Error E RIP <Error No.> For <Error No.>, refer to "4-4. Error Code". Response data Functions Setting Remarks a Address1 0 to 255 b Address2 0 to 255 c Address3 0 to 255 d Address4 0 to

73 RMC Read MAC Address Function Reads MAC address of controller. Format RMC No. of parameters = 0 A space cannot be used between characters. No parameter can be omitted. Response Returns status information. Status Response data Normal C RMC a b c d e f Error E RMC <Error No.> For <Error No.>, refer to "4-4. Error Code". Response data Functions Setting Remarks a Address1 AC (fixed) b Address2 C6 (fixed) c Address3 98 (fixed) d Address4 0 to FF e Address5 0 to FF f Address6 0 to FF 72

74 ROG Read Origin Status Function Checks if origin return is complete after the power is turned ON. Format ROG a No. of parameters = 1 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 Response Returns status information. Status Response data Normal C ROG a b Error E ROG a <Error No.> For <Error No.>, refer to "4-4. Error Code". Response data Functions Setting Remarks a Axis No. 1 to 32 b Origin Return Check 0: Incomplete 1: Complete *When emergency stop signal is input, return origin is reset to incomplete status. 73

75 ROT Read Output Function Reads the value of status in general I/O output pin. Format ROT No. of parameters = 0 A space cannot be used between characters. No parameter can be omitted. Response Returns status information. Status Response data Normal C ROT a b c d e f g h Error E ROT <Error No.> For <Error No.>, refer to "4-4. Error Code". Response data Functions Setting Remarks a Status of Out-0 0:OFF 1:ON b Status of Out-1 0:OFF 1:ON c Status of Out-2 0:OFF 1:ON d Status of Out-3 0:OFF 1:ON e Status of Out-4 0:OFF 1:ON f Status of Out-5 0:OFF 1:ON g Status of Out-6 0:OFF 1:ON h Status of Out-7 0:OFF 1:ON 74

76 RPS Relative Position Drive Function Moves from the present position to a position by set relative movement amount. Format RPS a/b/c/d Present position No. of parameters = 4 Specified movement amount A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 b Speed table No. 0 to 9 c Movement amount -134,217,728 to 134,217,727 d Response method 0: When completed 1: Quick Response Returns status information. *Return timing varies depending on the response method. Status Response data Normal C RPS<Axis No.> Error W RPS<Axis No.> <Warning No.> E RPS<Axis No.> <Error No.> For <Error No.> and <Warning No.>, refer to "4-4. Error Code". Example Moves No.1 axis in speed table No.0 with 1,000 pulses. RPS1/0/1000/0 Remarks A stop during driving is done with STP command. 75

77 RSN Read Subnet Mask Function Reads subnet mask of ARIES body. Format RSN No. of parameters = 0 A space cannot be used between characters. No parameter can be omitted. Response Returns status information. Status Response data Normal C RSN a b c d Error E RSN <Error No.> For <Error No.>, refer to "4-4. Error Code". Response data Functions Setting Remarks a Address1 0 to 255 b Address2 0 to 255 c Address3 0 to 255 d Address4 0 to

78 RST System Reset Function Returns the settings inside controller to default state (default value). *SYS.61 62, IP address and subnet address would remain the same. Format RST No. of parameters = 0 A space cannot be used between characters. No parameter can be omitted. Response Returns status information. Status Response data Normal C RST Error E RST <Error No.> For <Error No.> and <Warning No.>, refer to "4-4. Error Code". Remarks About 1sec is required to complete the reset after transmitting the RST command. 77

79 RSY System Setting Information Read Function Reads current system setting value. For system setting, refer to "System Setting List". Format RSY a/b No. of parameters = 2 Functions Setting Remarks a Axis No. 1 to 32 b System No. 1 to System Settings Reference Response Returns status information. Status Response data Normal C RSY<Axis No.> <System No.> <Setting value> Error E RSY<Axis No.> <Error No.> For <Error No.>, refer to "4-4. Error Code". Example 1. Checks the excitation output status ON/OFF of No. 1 axis. RSY1/61 C RSY Excitation ON 2. Checks the origin return method of No. 2 axis. RSY2/2 C RSY2 2 3 Setting 3 78

80 RSV Servo Status Read Function Reads servo status. Format RSV a No. of parameters = 1 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 Response Returns status information. Status Response data Normal C RSV a b c d Error E RSV a <Error No.> For <Error No.>, refer to "4-4. Error Code". Response data Functions Setting Remarks a SV RADY 0:OFF 1:READY Servo ready b SV ON 0:OFF 1:ON Servo ON c SV INPOS 0:OFF 1:ON In position signal d SV ALM 0:OFF 1:ALARM Servo alarm signal 79

81 RTB Speed Table Setting Information Read Function Reads the current setting value of speed table. Format RTB a/b No. of parameters = 2 Functions Setting Remarks a Axis No. 1 to 32 b Speed table No. 0 to 11 Response Returns status information. Status Response data Normal C RTB a b c d e f g h i Error E RTB<Axis No.> <Error No.> For <Error No.>, refer to "4-4. Error Code". Functions Setting Remarks a Axis No. 1 to 32 b Speed table No. 0 to 11 c Start speed 1 to 4,999,950 d Top speed 2 to 5,000,000 e Accelerating Time 1to 10,000 Setting value x 10ms f Decelerating Time 1 to 10,000 Setting unit differs depending on maximum speed range. For details, refer to " Speed Setting Regulations". g Acceleration Mode 1: Rectangular drive 2: Trapezoidal drive 3: S-shaped drive h Accelerating pulse Accelerating pulse number Number of pulse calculated from i Decelerating pulse Decelerating pulse number acceleration/deceleration time setting value 80

82 SPS Linear Interpose Drive Function Performs linear interpose drive of 2 axes or 3 axes. Format SPS a/b/c/d/g/h 2 axes interpolation No. of parameters = 6 SPS a/b/c/d/e/f/g/h 3 axes interpolation No. of parameters = 8 Command parameters Functions Setting Remarks a Main Axis No. 1 to 32 b Main axis target position -134,217,728 to +134,217,727 c 2nd axis No. 1 to 32 d 2nd axis target position -134,217,728 to +134,217,727 e 3rd axis No. 1 to 32 f 3rd axis target position -134,217,728 to +134,217,727 g Speed Table 0 to 9 Main axis speed setting *Note 1 h Response method 0: When completed 1: Quick *Note 1: Speed of the 2nd and 3rd axes is automatically calculated from the main axis speed. When the speed of 2nd and 3rd axes exceeds the maximum speed limit value (SYS No.16), Error 606 is returned. In the case, set to raise the maximum speed limit value (SYS No.16) or reduce the main axis speed. Response Returns status information. *Return timing varies depending on the response method. Status Response data Normal C SPS<Main axis No.> Error W SPS<Main axis No.> <Warning No.> E SPS<Main axis No.> <Error No.> For <Error No.> and <Warning No.>, refer to "4-4. Error Code". Remarks A stop during driving is done with STP command. 81

83 STP Stop Function Stops a driving motor. Format STP a/b No. of parameters = 2 Functions Setting Remarks a Axis No. 0 to 32 0: All axes stop b Selecting stop mode 0: Decelerate and stop 1: Emergency stoop Response Returns the setting value. Status Response data Normal C STP<Axis No.> Error E STP<Axis No.> <Error No.> For <Error No.>, refer to "4-4. Error Code". 82

84 STR Status Read Function Checks the status of each axis. Format STR a No. of parameters = 1 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 Response Returns status information. Status Response data Normal C STR a b c d e f g Error E STR<Axis No.> <Error No.> For <Error No.>, refer to "4-4. Error Code". Response data Functions Setting Remarks a Axis No. 1 to 32 b Driving state 0: Stop state 1: Driving normally 2: FB driving FB: Feedback c EMG signal 0: OFF 1:ON d ORG & NORG signal 0: NORG,OFF ORG,OFF 1: NORG,ON ORG,OFF 2: NORG,OFF ORG,ON 3: NORG,ON ORG,ON e CWL & CCWL signal 0: CWL,OFF CCWL,OFF 1: CWL,OFF CCWL,ON 2: CWL,ON CCWL,OFF 3: CWL,ON CCWL,ON CWL: CW limit CCWL: CCW limit f Soft limit Status 0: + side limit > current position > - side limit 1: + side limit current position 2: current position - side limit g FB permissible range 0: Out of range 1: Within range FB: Feedback 83

85 STR About the response data b and h of STR relevant to encoder feedback(fb). The state where the combination of the status b and h means is shown according to a setup of SYS41. status b 0:stopped 1:driving 2:under FB status h 0:Outside of permissible range 1:Inside of permissible range SYS41 = 0 (No FB) state of SYS.41 SYS41 = 1 (FB only at positioning) SYS41 = 2 (constant FB) 0 0 A motor is stopping A motor is stopping Outside of position from permissible range,by STP command etc., motor is stopped and escapes from constant FB. 0 1 Feedback is successful and a motor is stopping. Inside of position from permissible range,by STP command etc., motor is stopped and escapes from constant FB. 1 0 Under the usual drive Under the usual drive Under the usual drive 2 0 FB driving FB driving 2 1 Within FB permissible range and waiting 84

86 TFR One Shot Trigger Function Outputs trigger signal of specified pulse width with optional timing. Format TFR a/b No. of parameters = 2 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Output time 1 to 1,000 [ms] b Response method 0: When completed 1: Quick Response Returns status information. Status Response data Normal C TFR Error E TFR <Error No.> For <Error No.>, refer to "4-4. Error Code". 85

87 TRS Trigger Select Function Selects the output method of trigger signal. Format TRS a/b No. of parameters = 2 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 2 Only ARIES connection axis b Trigger signal output 0: Pulse synchronization output 1: BUSY signal 2: Constant signal 3: Output at start driving & end Response Returns status information. Status Response data Normal C TRS<Axis No.> Error E TRS<Axis No.> <Error No.> For <Error No.>, refer to "4-4. Error Code". 86

88 WIP Write IP Address Function Writes IP address of ARIES body. Default (initial set value) is 192,168,1,120. Format WIP a/b/c/d No. of parameters = 4 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Address1 0 to 255 b Address2 0 to 255 c Address3 0 to 255 d Address4 0 to 255 Response Returns status information. Status Response data Normal C WIP a b c d Error E WIP a <Error No.> For <Error No.>, refer to "4-4. Error Code". 87

89 WOT Write Output Function Writes output status of general I/O output pin. Format WOT a/b No. of parameters = 2 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a General output No. 0 to 7 b Output status 0:OFF 1:ON Response Returns status information. Status Response data Normal C WOT a b Error E WOT <Error No.> For <Error No.>, refer to "4-4. Error Code". 88

90 WRE Encoder Write Function Writes the encoder value. Format WRE a/b No. of parameters = 2 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 b Set value -134,217,728 to +134,217,727 Response Returns status information. Status Response data Normal C WRE<Axis No.> Error E WRE<Axis No.> <Error No.> For <Error No.>, refer to "4-4. Error Code". 89

91 WRP Write Position Function Reads the current motor pulse value. Format WRP a/b No. of parameters = 2 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 b Set value -134,217,728 to +134,217,727 Response Returns status information. Status Response data Normal C WRP<Axis No.> Error E WRP<Axis No.> <Error No.> For <Error No.>, refer to "4-4. Error Code". 90

92 WSN Write Subnet Mask Function Writes subnet mask of ARIES body. Default (initial set value) is 255,0,0,0. Format WSN a/b/c/d No. of parameters = 4 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Address1 0 to 255 b Address2 0 to 255 c Address3 0 to 255 d Address4 0 to 255 Response Returns status information. Status Response data Normal C WSN a b c d Error E WSN a <Error No.> For <Error No.>, refer to "4-4. Error Code". 91

93 WSY Write System Setting Function Writes the system setting value. Format WSY a/b/c No. of parameters = 3 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 b System No. 0 to 68 c Set value x x x x 4-5: System Settings Reference Response Returns status information. Status Response data Normal C WSY<Axis No.> <System No.> <Setting value> Error E WSY<Axis No.> <Error No.> For <Error No.>, refer to "4-4. Error Code". 92

94 WTB Write Speed Table Function Writes the speed table data. Format WTB a/b/c/d/e/f/g No. of parameters = 7 A space cannot be used between characters. No parameter can be omitted. Command parameters Functions Setting Remarks a Axis No. 1 to 32 b Speed table No. 0 to 11 c Start speed 1 to 2,500,000 d Top speed 2 to 5,000,000 e Accelerating Time 1to 10,000 Setting value x 10ms f Decelerating Time 1 to 10,000 Setting unit differs depending on maximum speed range. For details, refer to " Speed Setting Regulations". g Acceleration Mode 1: Rectangular drive 2: Trapezoidal drive 3: S-shaped drive Response Returns status information. Status Response data Normal C WTB<Axis No.> <Speed table No.> Error E WTB<Axis No.> <Error No.> For <Error No.>, refer to "4-4. Error Code". 93

95 4-4. Error Code If an error is confirmed when transmitting a command, the controller returns a response with an error code. When normal, C is attached at the first character and when an error happens, E or W is attached and an error code is returned. In addition, after a driving error happened, its error code can be verified with STR command (status read). Command <Command>... Normal C <Command>... Error E SYS <Error No.> System related error E <Command> <Axis No.> <Error No.> W <Command> <Axis No.> <Warning No.> Error Warning 94

96 Error Code,Warning Code List Category Error No. Description Remarks No header character is required in TCP- 1 No STX at the beginning of the command. IP only when RS-232C is used. 3 Characters other than specified characters or number are included. System 4 There is no applicable command. 5 The emergency stop signal was detected. It is spontaneously sent from ARIES. Since cutting of Motionnet device was detected while a certain axis was 6 It is spontaneously sent from ARIES. driving, the emergency stop was performed. 100 Total number of parameters is incorrect. 101 Numerical value of the 1st parameter is out of range. 102 Numerical value of the 2nd parameter is out of range. 103 Numerical value of the 3rd parameter is out of range. 104 Numerical value of the 4th parameter is out of range. 105 Numerical value of the 5th parameter is out of range. 106 Numerical value of the 6th parameter is out of range. Parameter 107 Numerical value of the 7th parameter is out of range. 108 Numerical value of the 8th parameter is out of range. 109 Numerical value of the 9th parameter is out of range. *Determined according to the Number of axes specified in a parameter exceeds controllable number of connection number of slave controllers 120 axes. and the total number of controllable drive axes. 121 Specified system parameter number is not used. 300 Inside IC related error 304 CW limit is activated during driving and the drive stopped. た 305 CCW limit is activated during driving and the drive stopped. One of axes entered limit during multi-axis driving (MPS, SPS) and the 306 drive stopped. 307 Both CW limit and CCW limit are in. 308 The motor is not excited. 309 Tried to operate while axes are driving. Even though the number of oscillation is 1, the coordinate of moving 310 destination specifying the stop time exceeds the range of -134,217, ,217, Tried to rewrite the pulse counter value of driving axis. Drive 312 Tried to rewrite the encoder counter value of driving axis. 313 Tried to rewrite the system parameter of driving axis. 314 Because emergency stop is detected, driving axes are stopped. 315 Because alarm is detected, driving axes are stopped side soft limit is more than + side soft limit. 317 Due to + side soft limit, the drive is stopped. 318 Due to - side soft limit, the drive is stopped. One of axes entered soft limit during multi-axis driving (MPS, SPS) and 319 the drive is stopped. 320 Movement amount of main axis is 0 between the linear interpolations. 321 Tried to make it operate in the state where a servoready signal is not ON. Since cutting of Motionnet device was detected while the axis was driving, 322 the axis was stopped. Feedback Though the number of retry counts exceeded in feedback control, the 401 encoder feedback did not complete. 95

97 Error Code List (cont.) Category Error No. Description Remarks 500 MPI command is not issued. 501 Drive parameter corresponding to the 1st axis of MPS command is not set. 502 Drive parameter corresponding to the 2nd axis of MPS command is not set. 503 Drive parameter corresponding to the 3rd axis of MPS command is not set. 504 Drive parameter corresponding to the 4th axis of MPS command is not set. The coordinate at the movement destination of the MPS 1st axis is out of range 505 (-134,217,728 to 134,217,727). The coordinate at the movement destination of the MPS 2nd axis is out of range 506 (-134,217,728 to 134,217,727). Multi-axis The coordinate at the movement destination of the MPS 3rd axis is out of range 507 drive (-134,217,728 to 134,217,727). The coordinate at the movement destination of the MPS 4th axis is out of range 508 (-134,217,728 to 134,217,727) or more axes specified for simultaneous drive are the same st and 2nd axes specified for simultaneous drive are the same st and 3rd axes specified for simultaneous drive are the same st and 4th axes specified for simultaneous drive are the same nd and 3rd axes specified for simultaneous drive are the same nd and 4th axes specified for simultaneous drive are the same rd and 4th axes specified for simultaneous drive are the same. 600 Failed to create a speed table. 601 Acceleration time is large. 602 Acceleration time is small. Refer to Speed Setting 603 Deceleration time is large. Regulations. Speed Table 604 Deceleration time is small. 605 Start speed exceeds 50% of the maximum speed. Maximum speed of slave axis between the linear interpolations exceeds the limit 606 value (SYS No.16). 607 Maximum speed exceeds the limit value (SYS No.16). While outputting the trigger signal, it was going to change the trigger-related 700 system parameter(sys.no.51 to 56). Trigger 701 TRS command is issued for driving axes. Output 702 Trigger output doesn't stop after exceeding the setting time. 703 Trigger output stopped before exceeding the setting time. Emergency Stop Information 800 Because emergency stop is detected, a command is not executed. 801 Because emergency stop is detected, a release cannot be executed. A command is not executed for the emergency stop state by connection 802 interception (power supply cutting is included) of a Motionnet device. 900 RAX command is executed during driving. 901 While the axis drove, the WIP command or the PIP command was published. It restores by issue of the REM command. Please publish the REM command after removing the factor of an emergency stop. It restores by issue of the RAX command. Warning Category Description Remarks No System 50 Change of Motionnet device composition was detected. It is spontaneously sent from ARIES. Drive 350 Moving target position exceeds the soft limit. This warning is returned when the drive command's response method is quick while the soft limit is valid and the target position exceeds the soft limit. Driving continues to the soft limit. 96

98 4-5. System Settings System Setting List It is necessary to perform system setting depending on a model to be used. Conduct setting with WSY and RSY commands. * System number is common with other KOSMOS series. Syst em 1 ORG OFFESET Coordinate value after return to origin/origin offset value -134,217,728 to +134,217,727 2 ORG TYPE Origin Return Method 1 to ORG SCAN SPEED Origin search speed 1 to 5,000, Reservation 6 PM PRESCALE Returns 0 when pulse value prescale/set value is exceeded. 0 to +134,217, PM RO TATE C HANGE Change of motor rotating direction 0: Standard1: Reverse 0 8 LIMIT SWAP Limit signal switch 0: Standard1: Switch 0 9 PM CLOCK Pulse output method switch 1:1CLK 2:2CLK 2 10 PM LOGIC Pulse output logic switch 0: Standard1: Reverse 0 11 BACKLUSH PULSE Backlash correction pulse number 0 to 134,217, BACKLUSH TYPE Backlash correction method 0 to SOFT LIMIT SET Soft limit setting 0: Invalid1: Valid 0 14 SOFT LIMIT POSITION+ + side soft limit position 0 to 134,217, ,217, SOFT LIMIT POSITION- - side soft limit position 0 to -134,217, ,217, TO P S PEED LIMIT Maximum speed limit value 2 to 5,000,000 50,000 Reservation 21 LIMIT LO GIC Change of limit signal logic 0:NC 1:NO 0 22 NORG SIGNAL LOGIC Change of NORG sensor signal logic 0:NO 1:NC 0 23 ORG SIGNAL LOGIC Change of ORG sensor signal logic 0:NO 1:NC 0 Reservation 31 ENC MULTYPLICITY Encoder value multiplication ENC PRESCALE Encoder value prescale 0 to 134,217, ENC CALC NUM 1 to 134,217,727 1 Motor pulse/encoder resolution ratio 34 ENC CALC DEN 1 to 134,217, ENC RO TATE C HANGE Change of encoder adding direction 0: Standard1: Reverse 0 36 ENC Z LO GIC Logic switch of encoder Z phase 0: Positive1: Negative 1 37 PM&ENC SYNC WRITE Display Function Setting range Initial value Set the encoder coordinate at origin return to 0. 0: No execution1: Execute 1 0 Remarks For details, refer to "3-5: Origin Return Method". 38 ENC FILTER A filter sets up to an encoder signal. 0:filter used 1:filter not used 0 Reservation 41 FEEDBAC K TYPE Feedback control method 0: No correction 1: Correct only at positioning 0 2: Normal correction 42 PERMIT RANGE Encoder pulse permissible range 0 to 10, RETRY CO UNT No. of retries at feedback 1 to 10, * NC Normal close NO Normal open 97

99 Continued. Syst em No. Display Function Setting range Initial value Remarks 51 TRIGGER SO URCE Selection of trigger signal source 0: Motor pulse 1: Encoder pulse (1 multiplication) 2: Encoder pulse (2 multiplication) 3: Encoder pulse (4 multiplication) 0 52 TRIGGER EDGE Edge selection of trigger signal 0: Rising 1: Falling 0 53 TRIGGER PM PITCH Division ratio of trigger signal 1 to 100,000 1 (for motor pulse synchronization) 54 TRIGGER ENC PITC H Division ratio of trigger signal 1 to 100,000 1 (for encoder pulse synchronization) 55 TRIGGER PULS E W IDTH Pulse width of trigger output 1: 1μsec 2: 10μsec 3 3: 100μsec 4: 1000μsec 56 TRIGGER LOGIC Logic switch of trigger output 0: Positive logic 0 1: Negative logic Reservation 61 EXC ITATIO N Motor excitation ON/OFF 0:OFF 1:ON 0,1 Refer below. 62 SERVO USED Servo motor specification status 0: Pulse motor 0 1: Servo motor 63 ALARM VALID/INVALID Alarm input 0: Invalid 0 signalvalid/invalidsetting 1: Valid Reservation 65 MICROSTEP SELECT Selection of micro-step M1/M2 0: M1 selected 0 1: M2 selected Reservation 99 STOP TYPE Stopping method by limit signal 0: Decelerate and stop 1: Emergency stoop 1 *For System No.61 and 62, refer to " Stepping Motor Excitation and Servo ON/OFF Specification". 98

100 System Setting Details System No.1 ORG OFFSET (Origin offset) After completion of origin return drive, driving for set pulse is performed and the stop position is regarded as 0 (origin). Initial value 0 Setting range -134,217,728 to 134,217,727 System No.2 ORG TYPE (Origin detection method) An origin detection method is selected. For details, refer to "3-9. Origin Return Method". Initial value 3 Setting range 1 to 15 System No.3 ORG SCAN SPEED (Speed for origin search) When origin return drive is executed, speed to determine final positioning is set. Initial value 500 Setting range 1 to 5,000,000 System No.6 PM PRESCALE (Motor pulse value prescale) When a setting value is exceeded, the return pulse value is returned to '0'. Initial value 0 Setting range 0 to -134,217,727 Example When placing a coordinate value 0º after turning 360º using the stage of 360º = 1000 pulses rotation system, set the movement amount that "1" is deducted from pulse movement amount corresponding to the movement amount of one round (1000 pulses in this case). (1000 pulses - 1 pulse = 999 pulses) This rewrites the current position information from 360º to 0º. 359º 0º +1º System No.7 PM ROTATE CHANGE (Change motor rotation direction) A relationship between pulse command direction and motor rotation direction is changed. Initial value 0 0: Regular rotation: A motor drives to CW direction with + direction pulse. 1: Reverse rotation: A motor drives to CCW direction with + direction pulse. System No.8 LIMIT SWAP (Switch limit signal) CW limit sensor and CCW limit sensor are swapped. Initial value 0 0:Normal 1: Switch 99

101 System No.9 PM CLOCK (Switch pulse output method) A pulse output method for a driver is changed. Initial value 2 1:1CLK, 2:2CLK Time chart 2 pulses input method 1 pulse input method Rotation angle position System No.10 PM LOGIC (Switch pulse output logic) Output pulse logic is set. Initial value 0 0: Positive logic 1: Negative logic System No.11 BACKLASH PULSE (Backlash correction pulse) Number of pulses to perform backlash correction is set. Initial value 0 Setting range 0 to 134,217,727 System No.12 BACKLASH TYPE (Backlash correction method) A backlash correction method is set. For details, refer to "3-3. Backlash Correction". Initial value 0 Setting range 1 to 4 System No.13 SOFT LIMIT SET (Soft limit setting) Whether the soft limit function is invalid or valid is selected. For details, refer to "3-7. Soft Limit Setting". Initial value 0 0: Invalid, 1: Valid System No.14 SOFT LIMIT POSITION+ (+ side soft limit position) + side soft limit position when the soft limit function is valid is set. Initial value 134,217,727 Setting range 0 to 134,217,727 Rotation angle position Note: Do not input CW and CCW simultaneously with 2 pulses input method. If either becomes ON, normal operation may not be possible when a signal from other direction is input. System No.15 SOFT LIMIT POSITION- (- side soft limit position) - side soft limit position when the soft limit function is valid is set. Initial value -134,217,728 Setting range 0 to -134,217,

102 System No.16 TOP SPEEED LIMIT (Maximum speed limit value) Maximum speed limit that can be set with WTB command is set. Initial value 50,000 Setting range 2 to 5,000,000 System No.21 LIMIT LOGIC (Change limit signal logic) CW and CCW limit signal logics are changed. Initial value 0 0: NC: Normal close 1: NO: Normal open System No.22 NORG SIGNAL LOGIC (Change NORG sensor signal logic) NORG signal logic is changed. Initial value 0 0: NO: Normal open 1: NC: Normal close System No.23 ORG SIGNAL LOGIC (Change ORG sensor signal logic) ORG signal logic is changed. Initial value 0 0: NO: Normal open 1: NC: Normal close System No.31 ENC MULTYPLICITY (Encoder value multiplication) When a set value is exceeded, the encoder resolution is set to 0. Initial value 4 1:1 multiplication 2:2 multiplication 4:4 multiplication System No.32 ENC PRESCALE (Encoder value prescale) When a setting value is exceeded, the encoder value is returned to '0'. Initial value 0 Setting range 0 to 134,217,727 Example When placing a coordinate value 0º after turning 360º using the encoder of 360º = 1000 pulses rotation system, set pulse corresponding to the encoder value of one round (1000 pulses in this case) minus 1. (1000 pulses - 1 pulse = 999 pulses) This rewrites the encoder value from 360º to 0º. 359º 0º +1º 101

103 System No. 33 ENC CALC NUM (Motor pulse/encoder resolution ratio) System No. 34 ENC CALC DEN (Motor pulse/encoder resolution ratio) When performing encoder feedback, since it is necessary to match the "Pulse/Unit" ratio of motor pulse and encoder pulse, a ratio of encoder resolution and command pulse resolution is set in this item. For details, refer to "3-8 Encoder Correction". Initial value 1 Setting range 1 to 134,217,727 System No. 35 ENC ROTATE CHANGE (Change of encoder addition direction) The addition direction of encoder counter is set. Initial value 0 0:Normal 1: Reverse System No. 36 ENC Z LOGIC (Switch logic of encoder Z phase) Logic of encoder Z phase pulse is switched. Initial value 0 0: Positive logic 1: Negative logic System No. 37 ENC SYNC WRITE (Reset the encoder value during origin return) When origin return is completed, reset the encoder value to 0 also. Initial value 0 0: Do not perform encoder value reset 1: Perform encoder value reset System No. 38 ENC FILTER (The change of a filter to an encoder signal ) A filter sets up to an encoder signal. Initial value 0 0:filter used ( the maximum of encoder input frequency is set to 13 MHz. ) 1:filter not used ( the maximum of encoder input frequency is set to 20 MHz.) System No.41 FEEDBACK TYPE (Encoder feedback control method) Set an encoder feedback control method. 0: Do not correct 1: Correct (only in positioning) 2: Correct (constant) System No.42 PERMIT RANGE (Encoder pulse permissible range) Encoder feedback permissible range is set. Initial value 1 Setting range 0 to 10,000 System No.43 RETRY COUNT (Number of retries for feedback) The number of retries during encoder feedback execution is set. Initial value 100 Setting range 10,000 System No.44 FEEDBACK WAIT TIME (wait time(ms) for feedback) The number of wait time (ms) during encoder feedback execution is set. Initial value 100 Setting range 1 to 10,

104 System No.51 TRIGGER SOURCE (Select trigger signal source) Required synchronization pulse when outputting trigger signal is selected. For details, refer to "3-4. Trigger Specification". Initial value 0 0: Motor pulse 1: Encoder pulse (1 multiplication) 2: Encoder pulse (2 multiplication) 3: Encoder pulse (4 multiplication) System No.52 TRIGGER EDGE (Select trigger signal edge) Required synchronization pulse edge when outputting trigger signal is selected. Initial value 0 0: Rising 1: Falling System No.53 TRIGGER PM PITCH (For division ratio/motor pulse synchronization of trigger signal) Required synchronization pulse division ratio when outputting trigger signal is set. Initial value 1 Setting range 1 to 100,000 System No.54 TRIGGER ENCODER PITCH (For division ratio/encoder pulse synchronization of trigger signal) Required synchronization pulse division ratio when outputting trigger signal is set. Initial value 1 Setting range 1 to 100,000 System No.55 TRIGGER PULSE WIDTH (Pulse width of trigger output signal) Pulse width of trigger output signal is set. Initial value 3 1: 1μsec 2: 10μsec 3: 100μsec 4: 1000μsec System No.56 TRIGGER LOGIC (Switch logic of trigger output) Logic of trigger output signal is set. Initial value 0 0: Positive logic 1: Negative logic 103

105 System No.61 EXCITATION (Motor excitation ON/OFF) System No.62 SERVO USED (ON/OFF of servo motor specification) Motor excitation initial value of SYS No.61 changes depending on whether servo motor or stepping motor is selected with SYS No.62. For details, refer to "3-6. Stepping Motor Excitation and Servo ON/OFF Specification". Servo motor selected SYS No.61 Initial value 0: OFF Stepping motor selected SYS No.61 Initial value 1: ON System No.62 = 0 System No.62 = 1 (Stepping motor specification) (Servo motor specification) System No.61 = 0 Excitation OFF Servo OFF System No.61 = 1 Excitation ON Servo ON System No.63 ALARM VALID/INVALID (Set alarm signal Valid/Invalid) Whether the alarm input signal function in servo motor connection is invalid or valid is selected. Initial value 0 0: Invalid 1: Valid System No.65 MICROSTEP SELECT (Select micro step M1/M2) When a driver box "TITAN" series is connected, a micro step mode can be selected from 2 patterns (M1/M2). Initial value 0 0: M1 selected 1: M2 selected System No.99 STOP TYPE (Stop method with limit signal) Stop method in limit signal detection is set. Initial value 0 0: Decelerate and stop (In case of "decelerate and stop", be cautious when using this method, since mega driving limit point is reached that can cause damage). 1: Emergency stop 104

106 5. Specification 5-1. Basic Specification General Specifications Performance Specifications ARIES LYNX Product Motor controller (Master controller) *1 Motor controller (Slave controller) *1 Link control method Number of axes controlled Motionnet 32 axes at maximum 2 axes per ARIES and 2 axes per LYNX are added as they are installed. Consumption power 35VA MAX (For AC100V supply) 25VA MAX (For AC100V supply) Operationg environment Display monitor Input power Operation temperature 0 to 40, operation humidity 30 to 90% Sensor status, emergency stop status LED AC90~240V 50/60Hz Weight 1.2kg 1.0kg Each axis independent drive,multi-axis simultaneous drive(4 axes at maximum),linear Driving Function interpolation drive (3 axes at maximum), Repeated reciprocating drive, Backlash correction drive, Feedback drive Speed control Set movement amount Driving Frequency Origin Return Method Encoder input frequency Trapezoidal drive (symmetric possible), S-shaped drive (asymmetric possible), Rectangular drive -134,217,728 to +134,217,727 pulses 1pps to 5Mpps 15 methods (Combination of ORG, NORG, CW limit, CCW limit, Z phase) with a filter:13mhz MAX with no filter:20mhz MAX (A setup is possible at system No.38.) CW direction pulse, CCW direction pulse, current OFF signal, trigger signal (differential signal output) Output signal Servo ON signal, alarm reset signal (open collector output) absolute maximum rating 80V/30mA General output signal (open collector output) absolute maximum rating 40V/100mA Sensor signal (CW limit, CCW limit, NORG (origin return proximity), ORG (origin)) (photo-coupler input of 12V pull up) Input signal Servo signal (alarm, servo ready, imposition), general input signal, emergency stop signal (photo-coupler input of 24V pull up) Encoder signal (A phase, B phase, Z phase) (differential signal input) Drive pulse synchronization signal (thinning setting possible from 1 to 100,000) Encoder pulse synchronization signal (thinning setting possible from 1 to 100,000) Trigger function BUSY signal (signal indicating drive pulse outputting) (1st and 2nd axis only) Constant speed signal One shot output at driving start and end One shot output in timing with a command (Pulse width is 1msec to 1,000msec in 1msec unit) Communication interface Optional RS-232C LAN(TCP-IP) PYXIS (ARIES touch panel) *1 The motor driver is a separate body. 105

107 5-2. Connector The pin arrangement figure is from the connector side Motor Connecting Connector Connector type: PL (3M) Compatible connector: IEEE1284(MDR) half pitch connector (male 26 pin) * PMx is PM1 for CONT1 and PM2 for CONT2. Pin Terminal name Signal Name 1PMx_CW(PLS)+ CW pulse or Command pulse (differential output) + 2 PMx_CCW(DIR)+ CCW pulse or Direction specification (differential output) + 3 PMx_COFF+ Current-Off (differential output) + 4PMx_D.SEL+ Driver division pattern switch (differential output) + [For TITAN-AⅡ] 5 GND(5V) GND(for 5V) 6 +24V +24V output 7 +24V +24V output 8PMx_CWLS CW limit sensor(open when detected) 9 PMx_CCWLS CCW limit sensor(open when detected) 10 PMx_NORG NORG limit sensor(close when detected) 11 PMx_ORG ORG limit sensor(close when detected) 12 GND(24V) GND(for 24V) 13 GND(24V) GND(for 24V) 14 PMx_CW(PLS)- CW pulse or Command pulse (differential output) - 15 PMx_CCW(DIR)- CCW pulse or Direction specification (differential output) - 16 PMx_COFF- Current-Off (differential output) - 17 PMx_D.SEL- Driver division pattern switch (differential output) - [For TITAN-AⅡ] 18 GND(5V) GND(for 5V) V +24V output V +24V output 21 PMx_ALM Alarm (Servo motor connected)(normal close) 22 PMx_INP Imposition (Servo motor connected)(normal open) 23 PMx_SVRDY Servo ready (Servo motor connected)(normal open) 24 PMx_SVON Servo ON (Servo motor connected) 25 PMx_ALM_RES Alarm reset (Servo motor connected) 26 GND(24V) GND(for 24V) The signal (PMx_CW(PLS) ±) of the pins 1 and 14 works as PMx_CW (CW pulse), when system No.9 "a pulse output method" is 2CLK. And it works as PMx_PLS (command pulses) at 1CLK. The signal (PMx_CCW(DIR) ±) of the pins 2 and 15 works as PMx_CCW (CCW pulse), when system No.9 "a pulse output method" is 2CLK. And it works as PMx_DIR (command pulses) at 1CLK. 106

108 EMC connector Connector type: PL (3M) Compatible connector: IEEE1284(MDR) half pitch connector (male 20 pin) * ENCx corresponds to ENC1 and ENC2. Pin Terminal name Signal Name 1 +5V +5V output 2 GND(+5V) GND(for +5V) 3 ENCx_A+ Encoder A phase (differential input) + 4 ENCx_B+ Encoder B phase (differential input) + 5 ENCx_Z+ Encoder Z phase (differential input) + 6N.C. 7N.C. 8N.C. 9N.C. 10 N.C V +5V output 12 GND(+5V) GND(for +5V) 13 ENCx_A- Encoder A phase (differential input) - 14 ENCx_B- Encoder B phase (differential input) - 15 ENCx_Z- Encoder Z phase (differential input) - 16 N.C. 17 N.C. 18 N.C. 19 N.C. 20 N.C. 107

109 10 1 I/O connector Connector type: EL (3M) Compatible connector: IEEE1284(MDR) half pitch connector (male 20 pin) Pin Terminal name Signal Name 1 OUT1 General output No.1 2 OUT2 General output No.2 3 OUT3 General output No.3 4 OUT4 General output No.4 5 OUT5 General output No.5 6 OUT6 General output No.6 7 OUT7 General output No.7 8 OUT8 General output No.8 9 GND(+24V) GND(for +24V) 10 GND(+24V) GND(for +24V) 11 IN1 General input No.1 12 IN2 General input No.2 13 IN3 General input No.3 14 IN4 General input No.4 15 IN5 General input No.5 16 IN6 General input No.6 17 IN7 General input No.7 18 IN8 General input No V +24V output V +24V output 108

110 Emergency stop signal input connector Connector type: HR10A-7R-4S(73) _(HIROSE) Compatible connector: HR10A-7P-4P(73) _(HIROSE) Pin Terminal name Signal Name 1 +24V +24V output 2 EMG_IN Emergency stop signal input (Normal/Close) 3 GND (+24V) GND (for +24V) 4N.C Trigger signal output connector Connector type: HR10A-7R-6S(73) _(HIROSE) Compatible connector: HR10A-7P-6P(73) _(HIROSE) Pin Terminal name Signal Name 1 TRG+ Trigger signal (differential output) + 2 TRG- Trigger signal (differential output) - 3 GND(+5V) GND(for +5V) 4N.C. 5N.C. 6N.C RS-232C connector Connector type: RDEB-9P-LN(4-40)(55) _(HIROSE) Compatible connector: D-sub connector (9 pin, female, inch screw) Pin Terminal name Signal Name 1N.C. 2RXD RS232C input terminal 3TXD RS232C output terminal 4N.C. 5 SGND Signal ground 6N.C. 7 RTS Sending request (not used) 8 CTS Sending OK (not used) 9N.C. * 7 pin - 8 pin is short circuited. * Short 109

111 5-3. Input/Output Signal Circuit Diagram Line driver Equivalent to AM26LS31 CONT1,2 signal interface + - PLS+,DIR+, COFF+ PLS-,DIR-, COFF- GND(+5V) Photo coupler 12V Photo coupler Photo coupler 1.2kΩ 2kΩ 24V CWLS,CCWLS, NORG,ORG 24V_OUT ALM,INP, SVRDY SVON GND(+24V) Absolute maximum rating 80V/30mA Ground of CWLS,CCWLS,NORG,ORG is GND(+24V) I/O signal interface 24V Photo coupler 24V_OUT 2kΩ IN0~IN7 Photo coupler OUT0 to OUT7 GND(+24V) Absolute maximum rating 40V/100mA 110

112 I/O 4 C 4 C Appearance Dimensions ARIES appearance dimensions (1U) CN4 CN EE (3M) PL (3M) PL (3M) PL (3M) PL (3M) RDEB 9P LN(4 40)(55) EMS TRG MotionNet COMM RS-23 2C LAN CONT1 ENC1 CONT2 ENC2 BUSY CWLS CCWLS NORG ORG PYXIS POWER EMG AXIS1 AXIS2 ARIES AC IN V 50/60Hz POWER LYNX appearance dimensions (1U) CN4 CN EE (3M) PL (3M) PL (3M) PL (3M) Device No. EMS MotionNet H L CONT1 CONT2 ENC1 ENC2 POWER AXIS1 BUSY CWLS CCWLS NORG ORG EMG AXIS2 LYNX AC IN V 50/60Hz POWER 111

113 PYXIS appearance dimensions 112

114 6. Maintenance and Service 6-1. Troubleshooting Power can not be turned ON. Is the power cord pulled out or loosened? Plug the power cord into the main body securely. Is the fuse on the rear panel missing or disconnected? Insert or replace with a new fuse. (If a fuse disconnection occurs frequently, internal damage may be the cause) Is power conducted to the outlet? Plug the power cord of other electric appliance into the outlet to check if it works. Check electrification with a voltmeter such as a tester. Is the power cord broken en route? Check conductivity between both ends of the cord if you have a tester. Stage does not move when operating with the touch panel (PYXIS) and stage control application (Chamonix). Do you hear rotation sound? Or do you hear abnormal noise? It may be an out-of-adjustment of the motor. Try to change speed or perform output current adjustment of the driver. (When you hear rotating sound) Is the motor rotating? If the device has been used for a long period of time, it is rare but the coupling of the motor shaft may be loose. (When you don't hear rotating sound) Is the limit display ON? It is stopped by the limit switch. Move in the reverse direction and move through the limit zone. (When you don't hear rotating sound) Is the motor cable pulled out or loose? Securely plug the stage connector into the main body connector. (For multi-axis specification) Are all axes not moving? If there are some axes that move and others that do not, switch the connection connector of each axis (motor) to check if the trouble is on the main body side or motor side. Origin return operation cannot be performed. Doesn't the motor operate completely? Check if it operates with other driving methods. (Stops at non-origin position) Is the origin return method correct for the sensor configuration? Refer to "3-9. Origin Return Method" and set to match the stage's sensor configuration. For a part of standard stage, it is necessary to set the origin return method to 3 in the system setting. (Stops at non-origin position) Is the origin sensor installed properly? Adjust the origin sensor. When a movement range is narrow, the limit sensor range and origin sensor range may overlap. In this case, because it doesn't operate normally, adjust the origin sensor to be outside the limit range. When using the origin proximity sensor and origin sensor, consider each positional relationship. If the origin is out of the origin proximity sensor range, origin return cannot be performed correctly. Conduct position adjustment of origin. (Stops at a non-origin position) Is the logic of origin sensor set properly? Switch the input logic for the sensor (Normal open and normal close). 113

115 Positional deviation happens. Are the settings like movement volume correct? Check each setting according to the Operation Manual. Is the motor properly operating? Do you hear abnormal sound? Maladjustment may be happening. Change speed or adjust the output current of driver. Is the load exceeding the rating applied? Check the load. Also, try to lower the speed. Is the axis in the limit range? Stopping position and counter value cannot be guaranteed when it is within the limit range. Use it out of the limit range. Does the assembly between the motor and driving part show problems? If the device has been used for a long period of time, the coupling of the motor axis may become loose. Remote control (communication) does not operate correctly. Is the communications cable pulled out or loose? Plug the connector of the communications cable into the connector of the main body properly. Are communication parameter settings done correctly? Refer to "2-4. Rotary Switch for Communication Setting" to check (Turn the power of ARIES/LYNX OFF and conduct dip switch setting). Is correct communication cable used? Check the arrangement of the connector pins on the communication cable. During communication, is error code sent? Take measures for the error on the host computer. Are there any errors in the control program on the host computer? Check the program. Check such common errors as characters case sensitivity and delimiter code settings. Are commands transmitted and received properly? For commands that return (for example, status reading), make sure to always receive data. Check with the stage control application, "Chamonix". We have application available that can be operated easily. When normal operation is observed with application, it may be that user's software is not correctly described. Is communication forcedly interrupted in mid-stream? Turn the power ON again. Others A different axis from a command drives. Any of the powers in the slave controller may not be ON. The emergency stop signal doesn't become OFF. The emergency stop plug may not be connected, the emergency stop switch may remain ON, or Motionnet cable may not be connected properly. 114

116 6-2. Maintenance Maintenance of Controller When used in a dusty room, perform internal cleaning periodically. When not used or stored for a long time, make sure to pull out the power cable from outlet and keep other cables disconnected. Maintenance and service shall be carried out only by our company with proper charge Warranty and Service If the product fails within the warranty period, we provide a free repair according to the regulations of our company. Warranty period One year from the date of shipment Request for a repair within warranty period Please contact the sales agent, commercial firm or our sales department from which you purchased our product. Request a repair after warranty period has expired Even after warranty has expired, please contact the sales agent or commercial firm you know first. Repairs shall be performed depending on failure condition with proper charge. Maintenance for repairing parts We will carry out maintenance of most parts for repair within a period specified by us after discontinuing production. Please understand that a repair requiring parts for which the period is expired may be rejected. Also, due to conditions of distributing manufacturer of parts, the condition may not be possible to be satisfied Contacts If you have questions about our products, please enter required items in the form below and send by FAX or postal mail. Questions by are also acceptable. 115

117 Revision History Date Rev.No. Version 2014/04/ /08/ First edition (it corresponds before the ARIES version 1.1.1) With upgrade (ver.1.2.2) of ARIES, the following contents were changed. The specification of the RAX command was changed. The operation specification of PYXIS was changed. The function which sends an error code and a warning code spontaneously from ARIES was added. The Motionnet error was added to the emergency stop factor. Section for recording Purchased date Year Month Day Purchased from Sales contact Phone No. Serial No. Special note 116

118 Kohzu Precision Co., Ltd. PULSE CONTROLLER With Motionnet SYSTEM Headquarters Kurigi, Asao-ku, Kawasaki City, Kanagawa , Japan Tel: Fax: Web Site: Osaka branch Shin Osaka Nishiura Bldg. 202, Nishi Miyahara, Yodogawa-ku, Osaka City , Japan Tel: Fax: Project KOSMOS