Controllers for Stepping Motors

Transcription

1 Stepping s lers for Stepping s Additional Information Technical Reference F-1 General Information G-1 EMP00 Series C-5 SC00/SC00E C-66 SG00J C-70 Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PK/PV PK UI10G EMP01 SC00 EMP0 SC00E SG00J SMK Accessories Closed Loop A 5-Phase Microstep AC Input DC Input AC Input DC Input 5-Phase Full/Half DC Input AC Input DC Input & Packages -Phase Stepping s lers -Phase Full/Half with Indexer without with Low-Speed Synchronous s Before Using a Stepping ORIENTAL MOTOR GENERAL CATALOG 00/00 C-51

2 Stepping s lers for Stepping s EMP00 Series Page C-5 Coordinated -axis moves via linear interpolation operation Step pulse rate up to 00 khz General I/O: inputs and 6 outputs Optional OP00 operator interface unit available Ability to change velocity on the fly Also available as a single axis controller EMP0 ler Sensor Axis- Step Axis-1 Step SC00 SC00E Page C-66 feedback Stand-alone single axis operation Select programs using a programmable controller Step pulse rate up to 00 khz General I/O: inputs and outputs Daisy chain up to 5 axes Speed 6000Hz 000Hz 000Hz Time SG00J Page C-70 Compact and simple controller Sequence control of four positioning operations Selective control of four positions Select operating modes using a programmable controller Step pulse rate up to 00 khz DIN Rail-Mount Model SG00J-D Panel-Mount Model SG00J-U Speed Time C-5 ORIENTAL MOTOR GENERAL CATALOG 00/00

3 ler Selection Guide Based on the needs of your application, determine the controller which best fits your needs. EMP01 Do you need a Dual Axis Stand-Alone ler? No Do you need Feedback? No Does your application only require an indexer 1 No SC00 Yes Yes Yes EMP0 Page C-5 SC00E Page C-66 SG00J Page C-70 1 An Indexer is a device that provides step and direction output pulses, but does not have general (programmable) inputs or outputs. ler Comparison EMP0 EMP01 SC00E SG00J Dual Axis Motion Serial Communication Port (RSC) Daisy Chain 5 Devices Math Function Feedback Connection SC00 5 Devices Sequences Startup Program Homing Function Multiple controllers connected to one host communication port. A startup program executes when the controller is powered on. The SG00J uses a START input to execute a sequence. (1000 commands max.) (1000 commands max.) 50 or Kb of memory 50 or Kb of memory 1 Sequence or Data Positions Maximum Pulse Frequency 00 khz 00 khz 00 khz 00 khz 00 khz Inputs General Dedicated General 15 Dedicated General 9 Dedicated General 6 Dedicated 6 Dedicated Outputs 6 General 10 Dedicated 6 General 7 Dedicated General Dedicated General Dedicated Dedicated Stepping s Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PK/PV PK UI10G EMP01 SC00 EMP0 SC00E SG00J SMK Accessories Closed Loop A 5-Phase Microstep AC Input DC Input AC Input DC Input 5-Phase Full/Half DC Input AC Input DC Input & Packages -Phase Stepping s lers -Phase Full/Half with Indexer without with Low-Speed Synchronous s Before Using a Stepping ORIENTAL MOTOR GENERAL CATALOG 00/00 C-5

4 Stepping s Programmable Motion ler EMP00 Series The EMP00 Series controllers allow easy programming using simple commands. The dual axis model provides coordinated moves via linear interpolation. Various motion profiles can be achieved by using up to sequence programs. 1 program can be dedicated as a STARTUP program. Features Pulse Oscillation Various operation commands are provided for positioning operation, return-to-home operation and dual axis linear interpolation functions. The operator only needs to set the parameters. Sequence Function A series of operation patterns can be programmed using dedicated commands. This is an ideal function for distributed system control. I/O General-purpose I/O signals are provided in addition to dedicated I/Os such as pulse output and limit-sensor input. Synchronization with peripherals is also possible. Function Pulse Oscillation Fast Response Time The time between a START signal input and a pulse output is ms or less. High-Speed Positioning & Low Vibration The jerk-limit control function allows you to set a shorter acceleration/deceleration time compared with the use of linear acceleration/deceleration patterns. This reduces the overall positioning time. What is jerk-limit control? This term refers to the acceleration/deceleration patterns used to ensure the smoothness of speed change at the start of operation or when the machine enters a constantspeed mode from an acceleration mode. Since speed change becomes more smooth, vibration is reduced. I/O Single axis model: EMP01 Pulse Oscillation Sequence Function EMP0 ler Velocity Profile -shaft speed Sensor Time Effect of Type on Positioning Time Dual axis model: EMP0 Axis- Step Axis-1 Step Stop With jerk-limit control Stop No jerk-limit control C-5 ORIENTAL MOTOR GENERAL CATALOG 00/00 Features C-5 System Configuration C-57 Specifications C-60

5 Positioning Operation Supports both incremental mode (travel amount) and absolute mode (absolute-position). Linear Interpolation Operation Two axes are controlled simultaneously, allowing direct movement to a target position. Teaching Function The amount of travel can be changed by jogging the load into position via the OP00 interface. Operator Interface Unit OP00 EMP00 Series Continuous Operation Pulse output continues until a specified input is received or a specified time is reached. Set Soft Home (Clears the current position) The controller has an internal absolute position counter. 0 position in this counter is soft home. The ability to set a voluntary position to soft home is available using RTNCR command. Positioning Operation Set Soft Home Soft Home Homing Ability to seek for a sensor representing a positioning reference point (home) is available. Also available is the ability to set an offset from the home position. High-speed return (three-sensor mode) Using a predetermined sequence, the mechanical unit returns home at high speed from any position with three sensors monitoring the current position. Since it s possible to specify the direction in which the home sensor is entered, backlash error doesn t occur in applications where positioning accuracy is critical. Constant-speed return (two-sensor mode) The mechanical unit returns home at a constant speed. This mode is effective when a compact slider is operated, since the stroke can be fully utilized. Speed Change on the Fly Speed can be changed on the fly during continuous operation. Speed 6000Hz 000Hz 000Hz A Choice of Acceleration/Deceleration Patterns Each operation can be programmed using linear patterns or jerk-limit control. Distance Options Set travel amount using various scaling units such as pulses, millimeters, or degrees. MODE Offset LS LS Operator Interface Unit OP Set by angle Operator Interface Unit OP SET HOMELS Offset Time mm 00mm +LS +LS Stepping s Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PK/PV PK UI10G EMP01 SC00 EMP0 SC00E SG00J SMK Accessories Closed Loop A 5-Phase Microstep AC Input DC Input AC Input DC Input 5-Phase Full/Half DC Input AC Input DC Input & Packages -Phase Stepping s lers -Phase Full/Half with Indexer without with Low-Speed Synchronous s Before Using a Stepping MODE SET Set by millimeters Dimensions C-60 Connection and Operation C-61 Accessories C-6 ORIENTAL MOTOR GENERAL CATALOG 00/00 C-55

6 Stepping s Sequence Function Connect a motor for transferring products to axis 1, another motor for ejecting nonconforming products to axis, and a sensor for detecting the height of transferred products to one of the general-purpose inputs. I/O In addition to the signals for controlling the EMP00 series (e.g., start, emergency stop, ready), a full range of other signals are available, including those necessary for motor control (e.g., pulse, alarm, limit sensor, home sensor) and general-purpose I/Os. EMP0 ler Sensor Axis- Step Axis-1 I/O (Dedicated) START Input E-STOP Input READY Output MOVE Output END Output etc. Normally closed type sensors are used. Application Description Transfer products via an index move of 0,000 pulses (axis 1). Detect the height of the product using the sensor (general-purpose input 1). Return to if the detection result is acceptable. If the detection result is not acceptable, perform an index move of 0,000 pulses and eject the nonconforming product (axis ). Return to and perform acceptability judgment for the next product. Sample Code for Application Example Step [ 1] V ; Axis 1 (transfer) Operating speed 10 khz [ ] D ; Axis 1 (transfer) Travel amount 0,000 pulses [ ] INC1 ; Axis 1 (transfer) Incremental positioning operation [ ] DELAY 0.5 ; Wait for 0.5 sec. [ 5] CJMP 1,0, ; Acceptability judgment (general-purpose input 1 = sensor) ; OFF = Go to step [] if OK ; ON = Go to next step if NG [ 6] INC1 ; Axis 1 (transfer) Incremental positioning operation [ 7] DELAY 0.5 ; Wait for 0.5 sec. [ ] V 5000 ; Axis (ejection) Operating speed 5,000 Hz [ 9] D 1000 ; Axis (ejection) Travel amount 1,000 pulses [10] ABS ; Axis (ejection) Absolute positioning operation [11] D 0 ; Axis (ejection) Travel amount 0 pulse [1] ABS ; Axis (ejection) Absolute positioning operation [1] JMP 5 ; Jump to step [5] I/O (Dedicated) PULSE Output DIRECTION Output CCR Output ALARM Input END Input TIMING Input HOMELS Input SLIT Input etc. General Purpose I/O inputs 6 outputs These signals can be easily controlled using conditional branching and timer processing. C-56 ORIENTAL MOTOR GENERAL CATALOG 00/00 Features C-5 System Configuration C-57 Specifications C-60

7 System Configuration Operator Interface Unit OP00 (Accessories) ( Page C-6) Communication Cable FC0W5 (Accessories) ( Page C-6) Stepping s Stepping System (Sold separately) Stepping System (Sold separately) Product Number Code EMP0 1-1 EMP00 Series Number of axes 1: Single axis : Dual axis Cable (Accessories) ( Page C-65) EMP00 Series Connector 1: Without connectors : With connectors OP00 and personal computer cannot be connected to the EMP00 Series at simultaneously. General-Purpose I/O VDC Power Supply (Not supplied) Product Line Personal Computer (Not supplied) Programmable ler, Sensor, Counter or etc. (Not supplied) I/O Cable with Terminal Block CC01EMP1T (Accessories) ( Page C-6) Type Number of Axes Connector EMP01-1 EMP01- EMP0-1 EMP0- Single axis Dual axis Without connectors With connectors Without connectors With connectors Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PK/PV PK UI10G EMP01 SC00 EMP0 SC00E SG00J SMK Accessories Closed Loop A 5-Phase Microstep AC Input DC Input AC Input DC Input 5-Phase Full/Half DC Input AC Input DC Input & Packages -Phase Stepping s lers -Phase Full/Half with Indexer without with Low-Speed Synchronous s Before Using a Stepping Dimensions C-60 Connection and Operation C-61 Accessories C-6 ORIENTAL MOTOR GENERAL CATALOG 00/00 C-57

8 Stepping s Command List Command control Data setting Program control Hardware setting Others ABS INC MHOME SCAN RESET RTNCR RUN S D DOWEL H OFS RAMP T V VS CJMP JMP DELAY MU LOOP ENDL END IN OUT ACTL EEN ETIME ID PULSE SEN TIM UNIT EDIT DEL DWNLD UPLD R Description Perform the positioning operation with the absolute position specified. Perform the positioning operation with the relative position specified. Perform the return to mechanical home operation. Perform continuous operation. Reset the software. Set the current position to 0 (clear). Execute the sequence program. Decelerate the motor to a stop. Set the travel amount and positioning data. Set the operating intervals (dwell time). Set the direction of rotation. Set the offset travel amount. Set the acceleration/deceleration pattern and jerk limit time. Set the acceleration/deceleration rate. Set the operating speed. Set the starting speed. Jump to a specified step when a given condition is satisfied. Jump to a specified step. Set the delay time. Set parallel processing. Set the loop. End the loop section. End the sequence program. Wait for input. the general-purpose output. Switch the logic setting for the sensor and alarm. Set the use of END input. Set the END output time. Perform the initial setting for a linear motion product. Set the pulse-output mode. Set the home-detection mode. Set the use of TIM input and SLIT input. Set the unit for travel amount. Edit the sequence program. Delete the sequence program. Download the sequence program. Upload the sequence program. Check the system conditions. C-5 ORIENTAL MOTOR GENERAL CATALOG 00/00 Features C-5 System Configuration C-57 Specifications C-60

9 Sample Programs Sample. 1 Sample. Sample. Positioning operation Inputting multiple operation patterns Positioning using a sensor Sample. Multistep speed-change operation Continuous operation at 10,000 Hz Decelerate to 5,000 Hz upon sensor detection Decelerate to a stop after three seconds operation Generalpurpose ON Input 1 OFF 0 pulse 11,000 pulses Simultaneous positioning of two axes Axis 1 Axis Axis moves after axis 1 moves. Axis 1 Axis 10,000Hz 5,000Hz Continuous operation until sensor detection 1 Sensor Connected to general-purpose input 1 Sensor Connected to general-purpose input 1 sec. [1] VS1 500 ; Starting speed 500 Hz [] V ; Operating speed 1,000 Hz [] T1 0.0 ; Acceleration/deceleration rate 0.0 ms/khz [] D ; Travel amount 11,000 pulses [5] INC1 ; Execute relative positioning operation Seq 99 ; Hardware Setting [1] UNIT1 0.0,1 ; Axis 1 Change to travel amount mm [] UNIT 0.0,1 ; Axis Change to travel amount mm Seq 1 ; axis execute at same time [1] V ; Axis 1 Operating speed 1,000 Hz [] D1 50 ; Axis 1 Travel amount 50 mm [] D 50 ; Axis Travel amount 50 mm [] ABSC ; Axes 1, Execute absolute positioning operation [5] DELAY 1.0 ; Pause at 1-second internal timer [6] D1 0 ; Axis 1 Travel amount 0 mm [7] D 0 ; Axis Travel amount 0 mm [] ABSC ; Axes 1, Execute absolute positioning operation Seq ; After axis 1 executes, axis executes [1] V ; Axis 1 Operating speed 1,000 Hz [] D1 50 ; Axis 1 Travel amount 50 mm [] ABS1 ; Axis 1 Execute absolute positioning operation [] D1 0 ; Axis 1 Travel amount 0 mm [5] ABS1 ; Axis 1 Execute absolute positioning operation [6] V 000 ; Axis Operating speed,000 Hz [7] D 50 ; Axis Travel amount 50 mm [] ABS ; Axis Execute absolute positioning operation [9] D 0 ; Axis Travel amount 0 mm [10] ABS ; Axis Execute absolute positioning operation [1] VS1 500 ; Starting speed 500 Hz [] V ; Operating speed 0,000 Hz [] T1 0.0 ; Acceleration/deceleration rate 0.0 ms/khz [] H1 ; Direction of rotation (CW direction) [5] SCAN1 ; Start continuous operation [6] IN 1,1 ; General-purpose input 1 Waiting for ON [7] S1 ; Decelerate to a stop [1] VS1 500 ; Starting speed 500 Hz [] V ; Operating speed 10,000 Hz [] T1 0.0 ; Acceleration/deceleration rate 0.0 ms/khz [] H1 ; Direction of rotation (CW direction) [5] SCAN1 ; Start continuous operation [6] IN 1,1 ; General-purpose input 1 Waiting for ON [7] V ; Decelerate to 5,000 Hz [] DELAY.0 ; Wait time seconds [9] S1 ; Decelerate to a stop Stepping s Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PK/PV PK UI10G EMP01 SC00 EMP0 SC00E SG00J SMK Accessories Closed Loop A 5-Phase Microstep AC Input DC Input AC Input DC Input 5-Phase Full/Half DC Input AC Input DC Input & Packages -Phase Stepping s lers -Phase Full/Half with Indexer without with Low-Speed Synchronous s Before Using a Stepping Dimensions C-60 Connection and Operation C-61 Accessories C-6 ORIENTAL MOTOR GENERAL CATALOG 00/00 C-59

10 Stepping s Specifications Program Oscillator Specifications Operation Pattern Communication Specifications Input/Output Signal Specifications General Specifications : Available : Not Available Number of programs Capacity 1,000 commands Input method Command input via terminal program Number of control axes EMP01: Single axis EMP0: Dual axis Pulse output mode 1- or -pulse output mode Frequency 10 to 00 khz (1-Hz increment) Pulse duty 50% (Fixed) Acceleration/deceleration rate 0.5 to 1,000 ms/khz (0.1 - ms/khz increments) Acceleration/deceleration pattern Linear/jerk-limit control Travel amount Incremental Operation Incremental: 16,777,1516,777,15 pulse Absolute:,,60,,607 pulse Absolute Operation Mechanical Home Seeking Continuous Operation Linear acceleration/deceleration Jerk-limit control Dual axis linear interpolation operation Speed change on the fly Communication method RS-C based (-wire) Parameters Baud rate fixed at 9,600, data bits, 1 stop bit, no parity Inputs (START, E-STOP, S-STOP) photocoupler inputs VDC, Input resistance 5. kω Outputs (MOVE, ALM, READY, END) open-collector outputs VDC, 5 ma Max. each General-purpose inputs photocoupler inputs VDC, Input resistance 5. kω General-purpose outputs 6 open-collector outputs VDC, 5 ma Max. each and sensor inputs 7 (EMP01) / 1 (EMP0) photocoupler inputs 1 VDC, input resistance.7 kω outputs (EMP01) / 6 (EMP0) open-collector outputs 1 VDC, 0 ma Max. each Power requirement VDC 5%, Current Consumption 0.5 A Dimensions W 1.57 in. (0 mm) H 5.1 in. (15 mm) D.9 in. (100 mm) Weight 0.57 Ib. (0.6 kg) Ambient temperature F1 F (0 C50 C) (nonfreezing) Ambient humidity 0% 5% (noncondensing) Dimensions Scale 1/, Unit = inch (mm) Weight: 0.57 lb. (0.6 kg) d B95 Slit (.) Holes Slit 0. (6) 0.16 ().9 (100) 1.61 (1) Slit 1.57 (0) 0. (5).9 (15) 1. (5) 0.1 (0.5) Open Max. 0. (11) Max. 0.9 (10) Slit 1.6 (7.11) 1.6 (7.11).06 (5.5) 5.1 (15) Only EMP0 M Places 0. (7.6) C-60 ORIENTAL MOTOR GENERAL CATALOG 00/00 Features C-5 System Configuration C-57 Specifications C-60

11 Connection and Operation Connector Layout z PC or OP00 Connection Port (CN) c v EMP0 Only z LED Monitor Display Indication POWER ALARM x CN1 I/O Signal Connector Internal Input Circuit COM E-STOP, START S-STOP, IN1 M k x Power Supply Terminal (TB1) Condition when LED ON Lights during VDC input. Lights during alarm signal output. Pin No. Signal Description Pin No. Signal Description 1 / 6 E-STOP Input Emergency Stop 7 ALM Output Alarm START Input Execute Sequence Program S-STOP Input Cease Sequence Execution 9 MOVE Output Outputting Pulses 5 / READY Output Ready to accept START input 7 COM Input I/O Power Supply ( VDC) COM Input I/O Power Supply (V) IN1 Input MO Input 9 10 IN Input IN Input 5 M1 Input M Input Sequence Number Selection 11 IN Input 6 M Input General Inputs 1 IN5 Input 7 M Input 1 IN6 Input 1 IN7 Input 9 15 IN Input 0 16 COM Input I/O Power Supply ( VDC) 1 OUT1 Output 1 OUT Output 19 OUT Output General Outputs 0 OUT Output 5 1 OUT5 Output 6 OUT6 Output 7 9 END Output End Signal 5 COM Input for I/O 50 COM Input for I/O Internal Output Circuit 5 ma Max. COM ALM, MOVE READY, OUT16, END COM Stepping s Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PK/PV PK UI10G EMP01 SC00 EMP0 SC00E SG00J SMK Accessories Closed Loop A 5-Phase Microstep AC Input DC Input AC Input DC Input 5-Phase Full/Half DC Input AC Input DC Input & Packages -Phase Stepping s lers -Phase Full/Half with Indexer without with Low-Speed Synchronous s Before Using a Stepping Dimensions C-60 Connection and Operation C-61 Accessories C-6 ORIENTAL MOTOR GENERAL CATALOG 00/00 C-61

12 Stepping s c CN Axis-1 Connector v CN Axis- Connector Pin No. Signal 1 CW-P output (PULSE output) CW-P output (PULSE output) CCW-P output (DIR output) CCW-P output (DIR output) 5 END input END signal from driver TIM input ALM input LS input LS input HOMELS input SLIT input 1 V output Timing signal from driver Alarm signal from driver CW limit sensor CCW limit sensor Home limit sensor Slit sensor Power source for sensor (10 ma max.) for sensor The values in parentheses are for 1-pulse output mode. The other values are for -pulse output mode. Internal Input Circuit Description CW pulse (pulse) CCW pulse (Direction of rotation) Pin No Internal Output Circuit Signal / / CCR output CCR output / / / / / / 5 V output Description Counter-clear signal from driver Power source for timing signal (0 ma max.) for timing signal END, TIM, ALM LS, LS HOMELS, SLIT 1 k.7 k 1 V 1 V 560 CW-P (PULSE) CCW-P (DIR) 1000 pf CW-P (PULSE) CCW-P (DIR) 1V 560 CCR CCR Connection Diagrams Programmable ler EMP00 Series input CN1 VDC COM 7, 16, E-STOP 5. k START 5. k S-STOP 5. k CN/CN 1 VDC CW-P 1 CW-P CCW-P CCW-P CCR 16 CCR Sequence program selection Generalpurpose input M0 M 7 IN1 IN k 5. k 5. k 5. k 1 VDC.7 k END 5.7 k TIM 6.7 k ALM 7 1 output Generalpurpose output 5 VDC VDC 5 ma Max. 5 ma Max. 5 ma Max. 5 ma Max. 5 ma Max. 5 ma Max. ALM 7 MOVE 9 READY 1 END 9 OUT1 OUT6 1 VDC 1V 1.7 k LS.7 k LS 9.7 k HOMELS 10.7 k SLIT 11 1 TB1 V Power Source Output for Sensor (10 ma Max.) VDC COM 5, 50 FG When the I/O signals from CN1 are used, connect VDC to the +COM and -COM input terminals separately from the power source input. C-6 ORIENTAL MOTOR GENERAL CATALOG 00/00 Features C-5 System Configuration C-57 Specifications C-60

13 Connection Diagrams RK Series AS Series Programmable ler input Sequence program selection General purpose input Output 5 ma max. General purpose Output 5 ma max. VDC Programmable ler VDC VDC 1 VDC ASC Series COM 1 VDC 560 Ω COM 7, 16, CW-P 7, 16, 1 11 CW-P E-STOP 5. kω Ω E-STOP 5. kω START 5. kω CCW-P START 5. kω 9 S-STOP 5. kω CCW-P S-STOP 10 input 5. kω M0 5. kω 560 Ω M0 5. kω 16 Sequence program M 5. kω selection M 5. kω 7 7 IN1 5. kω IN 5. kω 15 ALM 7 MOVE 9 READY 1 END 9 OUT1 OUT6 COM 5, 50 VDC COM 7, 16, E-STOP 5. kω START 5. kω S-STOP 5. kω M0 5. kω M 5. kω 7 IN1 5. kω IN 5. kω 15 ALM 7 MOVE 9 READY 1 END 9 OUT1 OUT6 COM 5, 50 EMP00 Series CN1 CN1 1 VDC CN/CN 1 VDC 5 VDC Note: The Pulse frequency will become lower as the signal lines becomes longer. input Sequence program selection General purpose input Output 5 ma max. General purpose Output 5 ma max. EMP00 Series CN/CN 5 VDC 1 VDC Note: The Pulse frequency will become lower as the signal lines becomes longer..7 kω END kω TIM 6.7 kω ALM V 1.7 kω LS.7 kω LS 9.7 kω HOMELS 10.7 kω SLIT 11 1 TB1 5 V 5 6 V FG 560Ω CW-P 1 CW-P 560Ω CCW-P CCW-P 560Ω 16 1 VDC.7 kω 5.7 kω TIM 6.7 kω ALM V 1.7 kω LS.7 kω LS 9.7 kω HOMELS 10.7 kω SLIT 11 1 TB1 V FG AS Series 1 1 CN RK Series Internal Circuit Power Source for Sensor (10 ma Max.) VDC CN1 Power Source for Sensor (10 ma Max.) VDC Programmable ler General purpose input Output 5 ma max. General purpose Output 5 ma max. VDC Programmable ler VDC VDC IN1 5. kω IN 5. kω 15 ALM 7 MOVE 9 READY 1 END 9 OUT1 OUT6 COM 5, 50 CFK@Series VDC COM 7, 16, E-STOP 5. kω START 5. kω S-STOP 5. kω M0 5. kω M 5. kω 7 IN1 5. kω IN 5. kω 15 ALM 7 MOVE 9 READY 1 END 9 OUT1 OUT6 COM 5, 50 EMP00 Series CN1 CN1 1 VDC CN/CN 1 VDC 560 Ω 560 Ω 5 VDC Note: The Pulse frequency will become lower as the signal lines becomes longer. input Sequence program selection General purpose input Output 5 ma max. General purpose Output 5 ma max. EMP00 Series CN/CN 560 Ω 16 CW-P 1 CW-P CCW-P CCW-P 1 V 1.7 kω LS.7 kω LS 9.7 kω HOMELS 10.7 kω SLIT VDC 560 Ω CW-P 1 CW-P 560 Ω CCW-P CCW-P 560 Ω 16 1 VDC.7 kω 5.7 kω TIM 6.7 kω 7 5 VDC 1 VDC Note: The Pulse frequency will become lower as the signal lines becomes longer V 1.7 kω LS.7 kω LS 9.7 kω HOMELS 10.7 kω SLIT 11 1 ASC Series VDC.7 kω END kω TIM 6.7 kω ALM TB1 V FG TB1 V FG 1 7 CN CFK@ Series Power Source for Sensor (10 ma Max.) VDC CN Power Source for Sensor (10 ma Max.) VDC Stepping s Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PK/PV PK UI10G EMP01 SC00 EMP0 SC00E SG00J SMK Accessories Closed Loop A 5-Phase Microstep AC Input DC Input AC Input DC Input 5-Phase Full/Half DC Input AC Input DC Input & Packages -Phase Stepping s lers -Phase Full/Half with Indexer without with Low-Speed Synchronous s Before Using a Stepping Dimensions C-60 Connection and Operation C-61 Accessories C-6 ORIENTAL MOTOR GENERAL CATALOG 00/00 C-6

14 Stepping s Accessories (sold separately) Operator Interface Unit Set the travel amount via teaching or monitor the Model: OP00 current position. The unit comes with a cable 6.6 ft. ( m) for connection with the EMP00 Series. A personal computer cannot be connected while the OP00 is connected. I/O Cable with Terminal Block The EMP00 Series, programmable controller, and I/O signals can all be connected via a terminal block. Cable length:. ft. (1 m) Model: CC01EMP1T Dimensions Scale 1/, Unit = inch (mm) d B () 5.5 (1.5) 5.59 (1) 0.1 () 0.67 () 0.55 (1) 1.75 (.5) Dimensions Scale 1/, Unit = inch (mm) d B (11.) 1.9 (.7) 1.65 () 1.6 () ( ) () (5 ) (19 0 ) Panel Cut-out Dimensions 7.7 (00) 6. (160) 0.7(.5) Holes 0.55 (1) 1.6 () 0.5 (6.5) 0.05 (1.7) 0. (7.6) Pitch.9 (100) 1.0 (6) 1.57 (0) 1.69 (). (61) DIN Rail 1. (6) Terminal block pin configuration Communication Cable Input programs from a PC Model: FC0W5 Use this 16. ft. (5 m) communication cable to connect the EMP00 Series to a PC. (DSUB9F to RJ 11 cable) C-6 ORIENTAL MOTOR GENERAL CATALOG 00/00 Features C-5 System Configuration C-57 Specifications C-60

15 Cables Model Length (L) Applicable Product Connector Number CC01EMP. ft. (1 m) AS, ASC Series CC0EMP 6.6 ft. ( m) AS, ASC Series CC01EMP5. ft. (1 m) RK Series CN & CN CC0EMP5 6.6 ft. ( m) RK Series Stepping s Dimensions Scale 1/, Unit = inch (mm) CCEMP ler side CCEMP5 ler side 0. (7) for driver side 1.6 (7.11) 0.5 (1.7) 1.6 (7.11) 0.5 (1.7) C.OFF C/S M.B.FREE 1.5 (9).5 (90) 1.5 (9) 0.9 (10) 0.79 (0) 0.9 (10) L 0. (6) L 0. (6) 0. (5.7) 0. (6) L L 1.5 (9) L 0. (6) 0.59 (15) 1.1 (0) 0.9 (10) 0.79 (0) 1.5 (9).5 (90) DC OUT LS LS HOME SLIT.5 (90) 1.71 (.6) DC OUT LS LS HOME SLIT 0.5 (1.7) 1.1 (.) 0. (7) 0.5 (1.7) Sensor side side Sensor side 0. (7) side Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PK/PV PK UI10G EMP01 SC00 EMP0 SC00E SG00J SMK Accessories Closed Loop A 5-Phase Microstep AC Input DC Input AC Input DC Input 5-Phase Full/Half DC Input AC Input DC Input & Packages -Phase Stepping s lers -Phase Full/Half with Indexer without with Low-Speed Synchronous s Before Using a Stepping Dimensions C-60 Connection and Operation C-61 Accessories C-6 ORIENTAL MOTOR GENERAL CATALOG 00/00 C-65

16 Stepping s RSC-Compatible ler SC00/SC00E for Stepping Systems The SC00 and SC00E controllers can be programmed from a computer or ASCII terminal via a standard RS-C port. Features Easy-to-Use The instruction set software is built into the controller. There is no need for set-up diskettes. Can be pre-programmed prior to installation. An easy-to-learn instruction set allows for complete system operation. End-of-travel and home positions can be easily determined by the three dedicated limit switch inputs. Operates on 10 to VDC so the controller can be powered by a standard power supply. Programming Options Can be controlled or programmed directly from a computer or ASCll terminal via a standard RS-C port. Can be controlled by industry-standard programmable logic controllers so it can run off any already existing PLC. Linear, S-curve and parabolic acceleration/deceleration profiles are available. Flexible I/O There are four programmable inputs and two programmable outputs to give the controller the ability to control other functions within the machine. All inputs and outputs are optically isolated. Step and direction signal outputs are industry standard TTL level signals in either 1-pulse or -pulse modes so the SC00 and the SC00E can be used with any industry-standard stepping motor and driver package. All I/Os can be driven by an external DC power supply of 5 to VDC. Feedback Capabilities (Model SC00E) Nearly every known feedback device can be recognized since the controller can use two or three channels in either single-ended or differential modes. Daisy-Chain Capabilities Up to 5 different axes can be controlled from one computer or ASCII terminal by daisy-chaining up to 5 SC00 or SC00E controllers together. Available with an optional encoder input for position verification (model SC00E). System Configuration SC00E ler Stepping System (Sold Separately) Computer or ASCII Terminal (Not Supplied) Programmable ler (Not Supplied) Start command Motion parameters Operating mode Pulse signals Feedback (model SC00E) (Not Supplied) C-66 ORIENTAL MOTOR GENERAL CATALOG 00/00 Features C-66 System Configuration C-66

17 Specifications Parameter Input Power Stepping Accuracy Velocity Accuracy Velocity Repeatability Performance Position Range Velocity Range Acceleration Rate Absolute Index Motion Types Continuous Go Home Move Time Via RS-C Sequence Execution Via Power-up Auto Run Via Programmable Input Programming Language Sequence Length Non-Volatile Memory Number of Programs Command Interface CW, CCW and Home Limits Inputs Programmable Inputs TIM Step and Direction Outputs Programmable Status Dimensions Mechanical l/o Connectors Cooling Method Environmental Ambient Temperature Range Humidity Weight Type Parameters Configuration Value 10 VDC,.0 watts max. O steps from preset total 0.05% of preset rate 0.01% of max. rate O to 999,999,999 steps, when DSCALE is active 1 to 00,000 steps/sec to 10 sec Move to specified internal counter position Move specified distance Move at specified speed until commanded to stop Move to Home limit switch Move specified distance in specified time Sequence may be executed from RS-C interface with the RUN command Execute any sequence, 015 upon power-up Sequences may be selected using an external device Simple, high-level programming language k or up to available remaining memory 50 max. or up to available memory RS-C serial type, -wire implementation (Tx, Rx, Gnd) Baud rate fixed at 9600, data bits, 1 stop bit, no parity 5 units max. can be controlled via a single port in the daisy-chain configuration 5 to 0 VDC, Optically Isolated Four to be used for machine interaction and/or sequence selection, 5 to 0 VDC, Optically Isolated Phase zero indicator, 5 to 0 VDC, Optically Isolated Model SC00E accepts or channel, -phase quadrature incremental encoders with differential or single ended outputs, 5 VDC TTL compatible, 00 khz (quadrature), max. TTL, High: 5 VDC, Low: 0~0.5 VDC, Pulse width: 0.5 ms min., Rise/Fall time: 0. ms max. Two, Open collector, 1~ VDC, 0 ma max. Fault & Busy, Open collector, 1 VDC, 0 ma max. L.5 in. (5 mm) W 1.57 in. (0 mm) H.7 in. (10 mm) Combination of fixed screw terminal and D-type Natural Ventilation F1 F (0 C50 C) 0 5% (noncondensing) 0.6 lb. (0.1 kg) Stepping s Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PK/PV PK UI10G EMP01 SC00 EMP0 SC00E SG00J SMK Accessories Closed Loop A 5-Phase Microstep AC Input DC Input AC Input DC Input 5-Phase Full/Half DC Input AC Input DC Input & Packages -Phase Stepping s lers -Phase Full/Half with Indexer without with Low-Speed Synchronous s Before Using a Stepping Specifications C-67 Dimensions C-69 ORIENTAL MOTOR GENERAL CATALOG 00/00 C-67

18 Stepping s Programming Example Velocity V (Hz) Input 1 "ON" D6500 TA1 TD 1.5 1s s TA 5s TD s Start Outputs 1 & ON Repeat 10 times Time (sec) The two moves shown above can be executed with the following program commands : Commands 1 LOOP 10 SAS Push START to begin VS700; V1500 TA1; TD1.5 5 PC0; EC0 6 H 7 D6500 MI 9 DELAY1 10 IF (CP!0) 11 THEN JMP1 1 ELSE DELAY 1 OUT101 1 V T 16 WHILE (IN10) MC 1 ENDW 19 V500; MC 0 DELAY5 1 V100 DELAY STOP ENDL Description Loop this program 10 times Echo message to screen Set start and run velocities for the first move Set Accel time to 1 sec & Decel time to 1.5 sec When start signal is input, program begins Set position and encoder counters to zero Set direction to CW Set distance to 6500 steps Execute the Index move Delay 1 second If encoder position is incorrect, Then, restart program Else Delay seconds. Turn on Outputs 1 and Set velocity to 000 steps/sec Set Accel & Decel time to sec. for second move While Input #1 is off, Move continuously End the while loop Change speed to 500 steps/sec Delay 5 seconds Change speed to 100 step/sec Delay seconds Stop moving Return to beginning of loop C-6 ORIENTAL MOTOR GENERAL CATALOG 00/00 Features C-66 System Configuration C-66

19 Dimensions Scale 1/, Unit = inch (mm) SC00 SC00E Weight: 0.6 lb. (0.1 kg) 0.(7) Stepping s.7(10) Slits.5 (5) System Layout Feedback A channel B channel Z channel Stop Inputs Limit Swiches Programmable Inputs Start Input End of Travel Limit Switch Programmable Outputs Status Outputs 0.6 (16) 0. (.5) 0.79 (0) 0.1 (.5) 1.57 (0) 0.1 (.5).7(111) 0.79 (0) 1 0 CN 1 6 CN1 LEDS PWR (Green) BUSY (Yellow) Computer or ASCII Terminal Power Source Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PK/PV PK UI10G EMP01 SC00 EMP0 SC00E SG00J SMK Accessories Closed Loop A 5-Phase Microstep AC Input DC Input AC Input DC Input 5-Phase Full/Half DC Input AC Input DC Input & Packages -Phase Stepping s lers -Phase Full/Half with Indexer without with Low-Speed Synchronous s Before Using a Stepping Specifications C-67 Dimensions C-69 ORIENTAL MOTOR GENERAL CATALOG 00/00 C-69

20 Stepping s Stepping ler SG00J The SG00J is a compact controller that switches between two control methods according to the application: sequential positioning and data selection positioning. With sequential positioning mode, up to four positioning control operations can be executed in the pre-determined sequence by simply inputting the start command from a programmable controller. In data selection positioning mode, positioning is controlled by selecting one of four sets of pre-registered positioning data and inputting the start command from a programmable controller. DIN Rail Mounting Model Recessed Mounting Model Features High Performance, Compact Size With dimensions of 1.9 in.1.9 in.. in. ( mm mm mm), the SG00J is the smallest Oriental controller. They come in DIN-rail-mount and panel mount versions. High-Speed Positioning & Low Vibration The jerk-limit control function allows you to set a shorter acceleration/deceleration time compared with the use of linear acceleration/deceleration patterns. This reduces the overall positioning time. Switch Methods Easily Switch control between sequential positioning and data selection positioning. Functions The SG00J offers commonly used functions including: modes: External, program, test Operating modes: Positioning, return to mechanical home, continuous operation System Configuration Stepping System (Sold separately) Programmable ler (Not supplied) VDC Power Supply (Not supplied) SG00J C-70 ORIENTAL MOTOR GENERAL CATALOG 00/00 Features C-70 System Configuration C-70 Specifications C-71

21 Product Line Type DIN Rail Mounting Model Recessed Mounting Model Specifications Model SG00J-D SG00J-U Dimensions Scale 1/, Unit = inch (mm) DIN Rail Mounting Model SG00J-D Weight: 0.7 lb. (0. kg) d B09 Recessed Mounting Model SG00J-U Weight: 0. lb. (0.15 kg) d B095. (5). Max. 0. (.7 Max.) 0.0 (5.5) (0.7) () Model Number of Axes Number of Settings Positioning Setting Mode Data Setting Method Mode Positioning Pulse Output Mode Operation Modes Modes Move Distance Setting Range Starting Pulse Speed Setting Range (VS) Operating Pulse Speed Setting Range (VR) Acceleration/Deceleration Rate Setting Range (TR) Mechanical Home Return Function Input Signals Output Signals Power Supply Input Ambient Temperature Ambient Humidity 1.9 () 0. (5.5) Panel thickness range (1 ) Recessed Mounting Adapter.MAX. (106max.) (.5) SG00J-D SG00J-U 1 Axis Profiles Set with touch key on front panel (stored in EEPROM) Incremental Mode (point to point) Sequential-Step Positioning Step-Select Positioning Incremental Pulses 100 Hz10 khz (100 Hz Units) 100 Hz00 khz (100 Hz Units) 1100 ms/khz ( rate ) 1-Pulse Output/-Pulse Output Mode select possible Positioning Operation (INDEX Operation) Return to Mechanical Home Operation (HOME Operation) Continuous Operation (SCAN Operation) JOG Operation Test mode only External Input Mode (EXT) Program Mode (PROG) Test Mode (TEST) Sensor detection of home through designation of mechanical home detection direction of rotation VDC Photocoupler Input, Input Resistance.7 kω Transistor Output Linked to Photocoupler VDC 5 ma maximum VDC5% Current Consumption 0.1 A F10 F (0 C0 C ) (Nonfreezing) 0%5% (Noncondensing) The following acceleration/deceleration rates can be selected. (unit: ms/khz) 1,,, 5, 6,, 10, 1, 1, 15, 16, 1, 0,,, 5, 6,, 0, 5, 0, 5, 50, 60, 70, 0, 90, 100 Rear Connection Socket Flush Connection Socket (Included) 0.7 DIA. (.5) Holes Screw M.5 11 Places 0. (.) 0.1 (7.) Panel Mounting Cut-Out Dimensions MAX. (50max.) (00.) (5 ) 0.76 MAX. (70max.) 0.16 () (5 0 ) 1.MAX. (1.max.) 0.05 (1.) 0.1 () 0. (5) 1.9 (5.) 0.1 (.5) Stepping s Introduction AS AS PLUS ASC RK CFK CSK PMC UMK CSK PK/PV PK UI10G EMP01 SC00 EMP0 SC00E SG00J SMK Accessories Closed Loop A 5-Phase Microstep AC Input DC Input AC Input DC Input 5-Phase Full/Half DC Input AC Input DC Input & Packages -Phase Stepping s lers -Phase Full/Half with Indexer without with Low-Speed Synchronous s Before Using a Stepping Dimensions C-71 Connection and Operation C-7 ORIENTAL MOTOR GENERAL CATALOG 00/00 C-71

22 Stepping s Connection and Operation Connection Socket Signal Table Pin No. Signal Designation I/O Function S: Switching Positioning/Home Detection Operation 1 Operation Mode Input Input D: Switching Positioning/Home Detection Operation and Continuous Operation Input VDC Power Supply Input Output 5 Input 6 Input 7 Output Output 9 Input MODE key Up key VDC Busy Sensor Start CW Pulse/Pulse CCW Pulse/Rotation Direction Emergency Stop S: CW Scan D: M0 [CW Scan] S: CCW Scan D: M1 [CCW Scan] External input mode LED Program mode LED Test mode LED Input Input Down key Data display SET key Output during Pulse Oscillation Mechanical Home Detection Sensor Start Signal CW Pulse (-pulse input mode)/pulse (1-pulse input mode) CCW Pulse (-pulse input mode)/rotation Direction (1-pulse input mode) Stop all operations (including busy output) S: CW Continuous Operation D: Data Select Signal [CW Continuous Operation] S: CCW Continuous Operation D: Data Select Signal [CCW Continuous Operation] Indications in brackets [ ] apply to state when mode switching signal was input. Only pins 1, 10, 11 differ for sequential positioning and selection positioning. "S" in the table indicates sequential positioning and "D" indicates selection positioning. EXT (LED): Lights up when external input is selected. PROG (LED): Lights up when program mode is selected. TEST (LED): Lights up when test mode is selected. Data display: Shows operation and setting status. MODE key key key SET key Connection Diagram VDC power supply 1 Programmable controller VDC Operating mode switch Emergency stop CW scan [M0] CCW scan [M1] V Busy Sensor Start SG00J Pin No. Pulse (CWpulse) Direction (CCW-pulse) Pulse (CWpulse) Direction (CCWpulse) 1 The pulse output section uses a constant-current circuit, so no external resistor is required. Connect5 V power directly to the driver terminals and connect the VDC and 5 VDC terminals to each other. Use a VDC home sensor. This should be normally closed during normal operation. When not using the emergency stop input signal, always connect to the VDC terminal. The "E.STOP" message is displayed when the power supply turns off. The names in brackets [ ] are for data selection positioning type. Description of Input/Output Signals Output Signals to Input Signals from Programmable Output Signals to ler and Limit Sensor Programmable ler Pin No. 7, 10 Ω Photocoupler circuit TLP11 equivalent Pin No. 1, 5, 6 9, 10, Ω.7k Ω VDC Pin No. 5 ma Max. 10 kω 10 kω 1 VDC C-7 ORIENTAL MOTOR GENERAL CATALOG 00/00