Oriental motor CM10 Series Operating Manual
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Oriental motor CM10 Series Operating Manual

Oriental motor CM10 Series Operating Manual

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HP-13014-7
Controller Module
CM10 Series
OPERATING MANUAL
Thank you for purchasing an Oriental Motor product.
This Operating Manual describes product handling procedures and safety precautions.
• Please read it thoroughly to ensure safe operation.
• Always keep the manual where it is readily available.
This Operating Manual supports the firmware version 2.1x.

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  • Page 1 HP-13014-7 Controller Module CM10 Series OPERATING MANUAL Thank you for purchasing an Oriental Motor product. This Operating Manual describes product handling procedures and safety precautions. • Please read it thoroughly to ensure safe operation. • Always keep the manual where it is readily available.

  • Page 2: Table Of Contents

    Table of Contents 8.2.5 Mechanical Home Seeking ......55 1 Before Use ........... 3 8.3 Stopping Motion and Sequence ......64 1.1 Main Features ..........3 8.4 Teaching Positions ..........65 1.2 About Function Improvements ......4 8.5 Torque Limiting/Push-motion Operation 1.3 System Configuration ........6 (CM10-1, 5) ..68 1.4 Operating Methods ...........

  • Page 3: Before Use

    1 Before Use 1 Before Use 1.1 Main Features The CM10 Series controller module is a programmable controller that instantly makes a conventional driver a powerful indexer/driver and network ready. Easy Installation, Easy Operation • Snap on style Just snap CM10 on to your driver and you are done. You no longer need to hassle with complicated wiring and installation.

  • Page 4: About Function Improvements

    1 Before Use Simple Operations • Immediate and Program You may directly command each motion by a computer or PLC via serial ports, and immediately operate a motor. You may also store programs in the CM10, and execute them via serial ports or I/Os. The motor will automatically be operated according to the stored sequence.
  • Page 5 1 Before Use ∗ Name Change of TIMING Signal Previous Firmware New Firmware Function (Ver1.xx) (Ver.2.0x) Assignment of the timing signal (differential) DINTIM1 DINTIMDEXTZ Assignment of the timing signal (single-ended) DINTIM2 DINTIMS Input status of the timing signal (differential) DSIGTIM1 DSIGTIMDEXTZ Input status of the timing signal (single-ended) DSIGTIM2...

  • Page 6: System Configuration

    1 Before Use Be Sure to Use the Correct Version 2.1 of CANopen EDS Files The version of the EDS file that can be used depends on the firmware of the main unit. If the wrong combination is used, there may be the functions that cannot be used or the product may not work properly. Be sure to use the EDS file with the version that is applicable.

  • Page 7: Operating Methods

    1 Before Use 1.4 Operating Methods There are two ways to make the motor move, immediate command and program execution. Immediate Command Operate the motor by sending each command immediately from the master controller such as a computer or PLC via RS-232C, USB or CANopen. See "7 Start Up (Immediate Command)" on page 42 for more detail. Driver Immediate command PC, PLC...

  • Page 8: For Cm/Scx Series

    1 Before Use • USB and RS-232C cannot be connected and used at the same time. Note • Do not use two or more masters (ex. a CANopen master and a RS-232C master) at the same time to avoid confusion. Memo USB or RS-232C can be used for monitor and maintenance purposes while the CM10 is being operated by CANopen master.

  • Page 9: Safety Precautions

    2 Safety Precautions 2 Safety Precautions The precautions described below are intended to prevent danger or injury to the user and other personnel through safe, correct use of the product. Use the product only after carefully reading and fully understanding these instructions. Handling the product without observing the instructions that accompany a "Warning"...
  • Page 10 2 Safety Precautions Caution General • Do not use the device beyond its specifications, or injury or damage to equipment may result. Transportation • Do not hold the device cable. This may cause damage or injury. Installation • Keep the area around the device free of combustible materials in order to prevent fire or a skin burn (s). Conneciton •...

  • Page 11: Precautions For Use

    3 Precautions for Use 3 Precautions for Use This section covers limitations and requirements the user should consider when using this product. Preventing Electrical Noise See "5.3 Installing and Wiring in Compliance with EMC Directive" on page 18 for measures with regard to noise.

  • Page 12: Preparation

    3 : For Motorized Actuators with ESMC driver (AC input type) 3A: For Motorized Actuators with ESMC driver (DC input type) 4 : For AS/ARL Series, Motorized Actuators with AS/ARL driver 5 : For NX Series (400 to 750 W) Controller Module CM10 Series - 12 -...

  • Page 13: Combinations Of Cm10 And Drivers

    4 Preparation 4.3 Combinations of CM10 and Drivers Product Controller Module Driver Model Model Model CM10-1 CM10-1 ARD-A, ARD-C, ARD-S LSD-A, LSD-C, LSD-S NXD20-A, NXD20-C CM10-1A ARD-K LSD-K CM10-2 CM10-2 RBD215A-K, RBD228A-K, RBD242A-V, RBD245A-V CM10-3 CM10-3 ESMC-A2, ESMC-C2 CM10-3A ESMC-K2 CM10-4 CM10-4 ASD13A-A, ASD13B-A, ASD13C-A...

  • Page 14: Names And Functions Of Parts

    4 Preparation 4.4 Names and Functions of Parts POWER/ALARM LED USB connector CANopen LED RS-232C connector I/O connector CANopen connector Power connector Driver connector Encoder connector Name Description POWER/ALARM LED (green/red) Green: Lit when the power is on. Red: The LED blinks when a protective function is triggered. The cause triggering the protective function can be identified by the number of blinks the LED emits.

  • Page 15: Installation

    5 Installation 5 Installation 5.1 How to Install CM10 on the Driver • See each driver operating manual for the following instructions. Note • Before installing the CM10-1, 3, 4, 5 are sure to set the driver pulse mode switch according to the pulse mode on the CM10.
  • Page 16 5 Installation Mounting the mounting bracket • CM10-1, 2, 3, 3A, 5 a. Set the mounting bracket over the I/O terminal of the driver, and tighten the mounting bracket with the 2 screws provided. (Only 1 screw for CM10-2) b. Push the mounting bracket to mesh the two parts of the tape fastener together. •...
  • Page 17 5 Installation Mounting CM10 on the mounting bracket a. Put the rails of the mounting bracket in the slits of the CM10, insert the connector of the CM10 into the driver connector on the CM10. b. Tighten the two screws on top of the CM10 into the mounting bracket. ∗ Tightening torque: 0.4 N･m (M2.6) •...

  • Page 18: Installing The Driver

    5 Installation Memo When removing the CM10, unscrew the two screws on top of the CM10 only a few turns just enough to release it from the bracket and leave the screws as they are in the CM10. Unscrewing any more may cause the screws to not protrude out of the housing holes.
  • Page 19 5 Installation Wiring the Power Supply Cable and I/O Signals Cable Use a shielded cable of AWG24 (0.2 mm ) or more for the power supply cable and signal cable, and keep it as short as possible. To ground a shielded cable, use a metal clamp or similar device that will maintain contact with the entire circumference of the shielded cable.

  • Page 20: Connection

    6 Connection 6 Connection This chapter explains the methods for connecting to the computer, PLC, sensors, switches, external encoder, and the power supply, as well as the grounding method, connection examples and control inputs/outputs. 6.1 Overview System Configuration A sample system configuration using the CM10 is provided below. Driver Immediate Motion Creator for CM/SCX Series (Included)

  • Page 21: Connecting The Power Supply

    6 Connection 6.2 Connecting the Power Supply Connecting to the Power Supply Use the power supply connector (3 pins) to connect the power supply cable (AWG24 to 16: 0.2 to 1.5 mm ) to the main power supply connector on the CM10. Grounding CM10 Ground the driver’s Frame Ground Terminal (FG) as necessary.

  • Page 22: Connecting The Usb And Installation Of Utility Software

    6 Connection 6.3 Connecting the USB and Installation of Utility Software The USB connection can be used for all the operations including initial setup, test operation, program creation, I/O configuration and real time monitoring, using general terminal software or supplied utility software as well as user program.
  • Page 23 6 Connection Windows XP: 1. The installation of the FT232R USB UART is asked for by Windows when the CM10 is connected. Select "Install the software automatically," and click "Next." After successful installation, click "Finish." 2. The installation of the USB Serial Port is then asked for by Windows. Select "Install the software automatically,"...
  • Page 24 6 Connection • Update After installation, click "Help" - "Check New Version" on the pull down menu with the Internet connection. If a newer version of this software is available, continue to the download and update actions. • About VERBOSE and ECHO The IMC may alter automatically the ECHO (Echo ON/OFF) and VERBOSE (respond with data and description/respond with data only) parameters of the CM10 for communications and ease of use.

  • Page 25: Connecting The I/O Signals

    6 Connection 6.4 Connecting the I/O Signals Connect the PLC, switch, sensor etc. to the I/O connector (D-sub connector on the front panel of the CM10). 6.4.1 Pin Assignments At the time of shipment, any signals that have specific functions are not assigned to the I/O connector, which functions as general input "IN1 to IN9"...
  • Page 26 6 Connection Assigning Signals Assign necessary signals to the I/O using the provided utility software, Immediate Motion Creator for CM/SCX Series (IMC). Connect the CM10 to a computer and activate the IMC. Connect the CM10 to a computer, launch the IMC and follow the steps below.

  • Page 27: Input Signals

    6 Connection • Output Signal Command for Assignment Command for Logic Level Setting ALARM (alarm) OUTALARM ALARMLV END (motion end) OUTEND ENDLV RUN (sequence running) OUTRUN RUNLV MOVE (motor moving) OUTMOVE MOVELV READY (operation ready) OUTREADY READYLV LC (limiting condition) OUTLC LCLV OUTPSTS...
  • Page 28 6 Connection • SENSOR (sensor) Input This signal is used for: - Stopping motion during continuous operation. - Offset motion on the fly during continuous operation. - Secondary home input for better accuracy during the mechanical homing operation. Set the operation (hard stop, soft stop, soft stop at fixed distance from SENSOR signal, no action) using the SENSORACT command.
  • Page 29 6 Connection • CON (current on) Input This signal is used to toggle the motor current: the motor is in an excited state when ON (servo ON in the case of a servo motor), while freeing the motor shaft when OFF. This signal also controls the power to the MBFREE (magnetic brake free) output.

  • Page 30: Output Signals

    6 Connection • FREE (current off, magnetic brake free) Input - For CM10-1, 3, 5: When turning this signal (the FREE input) ON, the motor current will be turned OFF and the electromagnetic brake will be released (The FREE input of the connected driver is turned ON). - The MBFREE (magnetic brake free) output on the I/O connector: When turning this signal (the FREE input) ON, the MBFREE output on the I/O connector becomes ON.
  • Page 31 6 Connection • END (motion end) Output When in the following condition, END signal will be active. See "8.8 END (motion end) Signal" on page 76. Definition of END Signal ENDACT DEND Typical Motor Type (Source) Parameter Parameter End of pulse Stepping motor End of pulse and within end area 0<n (END area)
  • Page 32 6 Connection • MBFREE (magnetic brake free) Output This signal is used to control the electromagnetic brake The MBFREE output is ON under normal operating condition and the system power is ON (CURRENT=1). The MBFREE output turns OFF when the motor loses its holding torque due to a current cutoff or alarm (CURRENT=0).

  • Page 33: Connection Example Of I/O

    6 Connection 6.4.4 Connection Example of I/O Current Sink CM10 5/24 VDC IN-COM 5.4 kΩ 10 kΩ 5.4 kΩ 10 kΩ 5.4 kΩ 10 kΩ 5.4 kΩ 10 kΩ 5.4 kΩ 10 kΩ 5.4 kΩ 10 kΩ 5.4 kΩ 10 kΩ 5.4 kΩ...
  • Page 34 6 Connection Current Source CM10 5/24 VDC IN-COM 10 kΩ 5.4 kΩ 10 kΩ 5.4 kΩ 10 kΩ 5.4 kΩ 10 kΩ 5.4 kΩ 10 kΩ 5.4 kΩ 10 kΩ 5.4 kΩ 10 kΩ 5.4 kΩ 10 kΩ 5.4 kΩ 10 kΩ...

  • Page 35: Driver I/O Setting (Cm10-1 And Cm10-3)

    6 Connection 6.5 Driver I/O Setting ( CM10-1 and CM10-3 ) The CM10 can be used without any setting in most cases. However, the driver I/O setting is required to change in the following cases. CM10-1 - With the AR Series driver/LSD driver (AC and DC power input type), when push-motion operation is used - With the NX Series driver, when torque limiting function is used, when current position reading function is used, or when accurate mechanical home seeking operation using the...
  • Page 36 6 Connection Setting Type The following selections are available for setting. • CM10-1 Selection Description With the AR Series driver/LSD driver, when using the push-motion operation AR Push-Motion function (disabling the resolution switching function) With the NX Series driver, when torque limiting function and/or current position NX Function Expansion reading function is used, and/or when accurate mechanical home seeking...

  • Page 37: Connecting The Rs-232C

    6 Connection 6.6 Connecting the RS-232C The RS-232C connection can be used for all the operations including initial setup, test operation, program creation, I/O configuration and real time monitoring, using general terminal software or supplied utility software as well as user program. Everything you can perform via RS-232C can also be performed via USB, except daisy chain connection.
  • Page 38 6 Connection Connection Method Strip the lead wire insulation by 8 mm. Push the spring (orange) of the connector with a flat-tip screwdriver, to open a terminal port. Recommended flat-tip screwdriver: a tip of 2 mm in width, 0.4 mm in thickness Insert the cable while pushing down the flat-tip screwdriver.

  • Page 39: Connecting The Canopen

    6 Connection 6.7 Connecting the CANopen Connector, Applicable Lead Wire and Connecting Example of CANopen CAN_H SHIELD CAN_L Connector and Applicable Lead Wire Connector FK-MC 0,5/4-ST-2,5 (PHOENIX CONTACT) Applicable lead wire size AWG26 to 20 (0.14 to 0.5 mm CANopen Master Other CANopen devices SCX10 CM10...

  • Page 40: Connecting The External Encoder

    6 Connection 6.8 Connecting the External Encoder Use the terminals and housing provided in the package for the external encoder connection. Connector and Lead Wire Connector housing EHR-8 (manufactured by JST) Terminals BEH-001T-P0.6 (manufactured by JST) Applicable lead wire size AWG30 to 22 (0.05 to 0.33 mm Crimping tool YC-260R (manufactured by JST)
  • Page 41 6 Connection • Open Collector Output Encoder Connection (NPN Type) EXTA+, EXTB+, EXTZ+, Encoder power +, Encoder power - CM10 Encoder 5 VDC 2.2 kΩ×3 1, 3, 5 26LV32 or equivalent 2, 4, 6 5 VDC Over current protection circuit •...

  • Page 42: Start Up (Immediate Command)

    7 Start Up (Immediate Command) 7 Start Up (Immediate Command) This chapter explains the initial set up, how to operate the device immediately from the terminal as well as command format. These are basic skills and are applied to many modes and functions that the CM10 has. All users should read this chapter for start up.

  • Page 43: Setting The User Unit

    7 Start Up (Immediate Command) 7.3 Setting the User Unit In the CM10, the actual motion distance of the user application, such as "mm," "inch," "revolution" and "degree" is used, instead of the pulse unit that is commonly used in pulse generators and motor controllers. This is called "user unit"...
  • Page 44 7 Start Up (Immediate Command) The new value is shown in parenthesis after the active value. The new value will become Note effective only after saving (with SAVEPRM command) and resetting (with RESET command, or by cycling power) the device. •...
  • Page 45 7 Start Up (Immediate Command) - Examples when combining the CM10 with actuator products (CM10-3, 4) - Products which resolution is 0.01 mm when combining the CM10-3 and ESMC controller (EZSII Series, • EZCII Series, EZA Series) UU=mm, DPR=1, MR=100 (Since the resolution of the actuator/ESMC controller is based on one millimeter while the resolution of other motors/drivers are based on one revolution.

  • Page 46: Making The Motor Move

    7 Start Up (Immediate Command) 7.4 Making the Motor Move (Immediate Command) Set the Motor Current ON (Only for CM10-1) Enter "CURRENT=1," and press the Enter key. (A space can be used and replaced with an equal sign between command and parameter.) >CURRENT=1 CURRENT=1 Memo...

  • Page 47: Command Format

    7 Start Up (Immediate Command) 7.5 Command Format This section shows the command format. Case {Upper/Lower} of the character does not a matter unless specified. Decimal point number is accepted in some of the parameters. The decimal point is defined as "." (period), and "," (comma) cannot be used. Note Memo See "Appendix B How to Send Commands Using ASCII Strings"...

  • Page 48: Features

    8 Features 8 Features This chapter introduces the main features of CM10. 8.1 Overview The CM10 device is designed to make motion control simple and convenient. At the same time, the system has the versatility to adopt various types of operation, powerful features to maximize performance of the motor and driver, and support functions to accelerate successful system integration.

  • Page 49: Motion Types

    8 Features 8.2 Motion Types The CM10 supports three basic types of motion: point-to-point motions, continuous motions, and electrical and mechanical home seeking. Also, linked operation that combines multiple sets of PTP-motion (point to point) is possible. This section explains each of these basic motion types. 8.2.1 PTP (Point-to-Point) Motions Point-to-point motions cause the motor to start moving from one position to another position, using a preset distance or destination.

  • Page 50: Linked Motions

    8 Features • Example Conditions: Ball screw: lead 10 mm (See "7.3 Setting the User Unit" on page 43.) Distance: 60 mm (Incremental) Running velocity: 5 mm/sec Starting velocity: 1 mm/sec Acceleration time: 0.5 sec Deceleration time: 0.5 sec >DIS=60 Velocity DIS=60 mm >VR=5...

  • Page 51: Continuous Motions

    8 Features • Example Conditions: Number of linked segments: 2 Link segment 0: Distance: 20 mm, Running velocity: 3 mm/sec Link segment 1: Distance: 60 mm, Running velocity: 5 mm/sec Starting velocity: 1 mm/sec >DIS0=20 Velocity DIS0=20 mm Distance DIS1 ( part) >DIS1=60 Running velocity...
  • Page 52 8 Features See "8.3 Stopping Motion and Sequence" on page 64 for information on stopping motions Note before they finish. Memo The minimum output frequency on the CM10 is 1 Hz. If the running velocity in a user unit is set equivalent to less than 1 Hz, the actual pulse output frequency becomes 1 Hz. •...

  • Page 53: Electrical Home Position

    8 Features 8.2.4 Electrical Home Position and Mechanical Home Position The CM10 is operated based on the position command (PC). The position command can be read and indicates the current position. When the CM10 is powered on or reset, PC is set to position zero (0). •...
  • Page 54 8 Features • Commands and Parameters Related to the Electrical Home Position Command/Parameter Parameter Value Description −MAXPOS - +MAXPOS (0) Reference and setting of the position command (current position) PRESET Reset of the position command, setting current position to be the electrical home position EHOME Start return-to-electrical home operation (When the electrical home position is not set,...

  • Page 55: Mechanical Home Seeking

    8 Features 8.2.5 Mechanical Home Seeking Mechanical home seeking is an operation in which the motor moves in a specific pattern, seeking a valid mechanical home position determined by external signals. Thirteen patterns are available, differing in their signal requirements and response. See the HOMETYP table (below) and the motion chart for each homing type on pages 60 to 63.
  • Page 56 8 Features • HOME Seeking Pattern Home Position Detector Mode HOMETYP (Motion Pattern) HOME +LS, −LS SENSOR (excitation timing) Required for valid home 2-sensor mode Required for Not used Required for valid home (See p.60) valid home Required for Required for valid home valid home Required for...
  • Page 57 8 Features • Operation and Function at Mechanical Home Seeking When mechanical home seeking operation is completed (when the operation for OFFSET is completed if OFFSET is set), the final position will be redefined as the new electrical home position, and the position counter PC will be reset to zero (0).
  • Page 58 8 Features • HOMEDCL (deviation counter clear select at mechanical home seeking operation) Select whether the deviation counter of the CM10 and/or driver is cleared at the time of detecting the home position, and you can perform an accurate home seeking operation with a servo motor or you can acquire accurate feedback information when using an encoder.
  • Page 59 8 Features When the stepping motor other than the is combined with an encoder: Measure the correct value of the deviation in advance, such as comparing the difference of deviations (PE) between PC and PF in horizontal condition and vertical condition. In the current ON state, execute PECLR (deviation counter clear), overwrite the PF value with the value of the measured deviation added to the current PF value when the motor current is ON.
  • Page 60 8 Features • HOME Seeking Pattern: HOMETYP 0 to 3 (2-sensor mode) Starting HOME starting direction +(CW) (MGHP) HOME starting direction (CCW) (MGHN) position is operation with offset. - 60 -...
  • Page 61 8 Features • HOME Seeking Pattern: HOMETYP 4 to 7 (3-sensor mode) Starting HOME starting direction +(CW) (MGHP) HOME starting direction (CCW) (MGHN) position HOMELS HOMELS HOMELS HOMELS HOMELS HOMELS HOMELS HOMELS HOMELS HOMELS HOMELS HOMELS HOMELS is operation with offset. - 61 -...
  • Page 62 8 Features • HOME Seeking Pattern: HOMETYP 8 to 11 (1-sensor mode) Starting HOME starting direction +(CW) (MGHP) HOME starting direction (CCW) (MGHN) position HOMELS HOMELS HOMELS HOMELS HOMELS HOMELS HOMELS HOMELS HOMELS HOMELS not found -> Stop operation -> Alarm HOMELS HOMELS HOMELS...
  • Page 63 8 Features • HOME Seeking Pattern: HOMETYP 12 (Sensor-less mode) Starting direction of home seeking operation: Starting direction of home seeking operation: Sensor-less home seeking Motor side Opposite the motor side operation type Hard stop position Hard stop position Hard stop position Hard stop position near the motor away from the motor...

  • Page 64: Stopping Motion And Sequence

    8 Features 8.3 Stopping Motion and Sequence There are three ways to stop motion and sequence, command via serial communication ports, operate switch or PLC with I/O port, or CANopen communication. Various stop actions including soft stop, hard stop, stop motion or stop sequence are also available as below.

  • Page 65: Teaching Positions

    8 Features 8.4 Teaching Positions The CM10 includes a position data array, which can hold up to 100 pre-defined positions. Once defined, these positions can be used as targets for point-to-point motions. The positions are referenced as POS[1] through POS[100]. •...
  • Page 66 8 Features • For freeing the shaft, use the ‘F’ key for the CM10-1, 3, 5 and use the ‘Q’ key for Note CM10-2, 4. If the driver attached to the CM10-2, 4 is equipped with an electromagnetic brake, use both the 'Q' key and the 'F' key for freeing the shaft. •...
  • Page 67 8 Features • Example *** Teach mode *** After TEACH command : Move Cont. Neg. : Move Cont. Pos. : Jog Negative : Jog Positive : Current ON/OFF : FREE ON/OFF : Save all data to EEPROM : Change Key Interval (50-500[msec]) : Change Jog Distance (0.001-500000 [Rev]) Minimum Movable Distance : 0.001 [Rev] <Space>...

  • Page 68: Torque Limiting/Push-Motion Operation

    8 Features 8.5 Torque Limiting/Push-motion Operation ( CM10-1 , 5 ) For safety operation, the maximum output torque of the servo motor can be limited. Also, push-motion operation can be performed using a A driver that has the torque limiting function (the NX Series driver) is required when performing torque limiting, and a driver that has the push-motion operation function (AR Series driver/LSD driver) is required when performing push-motion operation.
  • Page 69 8 Features Parameter Value Command Description (Factory Setting) 0, 5 (5): CM10-1, 5 Assign the driver connector on the CM10 DINx to the LC DINLC (limiting condition) input (Connect to the TLC output of the driver) 0, 4 (0): CM10-1 Assign the driver connector on the CM10 DOUTx to the TL DOUTTL (torque limiting/push-motion operation) output...
  • Page 70 8 Features Command/Parameter Parameter Value (Factory Setting) Description 0, 1 (0) Performs torque limiting/push-motion operation while setting to "1." 0-3 (0) NX Series driver Driver operation data 0-7 (0) AR Series driver/LSD driver Memo • Since pulses are accumulated in the driver during push condition, a prolonged push condition may generate an excessive position deviation alarm of the driver.

  • Page 71: Driver Current Position Reading

    8 Features 8.6 Driver Current Position Reading ( CM10-1 , 3 , 5 ) When combining with a driver that has a function to read the current position (NX Series driver or ESMC controller etc.), the current position data of the driver can be read by a dedicated command. The current position data is indicated by the user unit.
  • Page 72 8 Features Commands, which are executed via the keyboard, are as follows. The non-zero parameters indicate the port number of I/O. For example, when assigning the PRESET signal is required, type DOUTPRESET=7. To unassign, type DOUTPRESET=0. Parameter Value Command Description (Factory Setting) 0, 3 (3): CM10-3 DINPR...
  • Page 73 8 Features <Steps> 1. Execute "CURRENT=0" (servo OFF/current OFF) CURRENT=0 causes to release any load on the shaft by the motor generating torque to be zero, and the deviation in the CM10 is always forced to be zero. ∗ The driver current position can be read in servo ON/current ON state. However, when a load is applied, the position read may not be equal to the actual machine position due to the machine deflection or the deviation in the driver.
  • Page 74 8 Features Releasing the Absolute Position Loss Alarm/Setting the Home Position The absolute position loss alarm will generate when turning the power ON for the first time after connecting a battery to the driver. This is because the home position has not yet been set to the driver. When the battery voltage is decreased or the coordinate control range is exceeded, this alarm will generate.

  • Page 75: Multi Axis Operation

    8 Features 8.7 Multi Axis Operation User or the master controller can operate more than one CM10 at a time via serial communication. RS-232C (Daisy Chain) • Maximum Nodes: 36 • Address ID: command "ID n" • Addressing method: Command "@n" or "TALKn" to select device. This makes a logical connection to a specific device, whose ID is "n"...

  • Page 76: End (Motion End) Signal

    8 Features 8.8 END (motion end) Signal The END (motion end) signal is output when a motion was completed. This signal is used as a trigger to start the next motion or to perform other operations by confirming the completion of the present motion. Customers can use this signal as an output of the END signal or a sequence program, and also this signal is utilized as an internal function of the CM10.

  • Page 77: Encoder Function

    8 Features • Mechanical Home Seeking When performing mechanical home seeking operation (MGHP, MGHN), the motor stops a few times during operation and the CM10 checks the END status. Memo • In the case of the MEND command or mechanical home seeking operation, if the pulse signal output is completed and the END signal is not output in a certain time, an alarm is generated.
  • Page 78 8 Features Parameters and Relations The CM10 counts above selected signals by encoder count (EC), and convert it to user unit and continuously monitored as the feedback position (PF). The difference between PC (position command) and PF becomes the PE (position error). These relationships are shown by the following formula. Be sure to set the ER (encoder resolution) parameter first.
  • Page 79 8 Features • Perform operation and judgement based on a operation of the other parts for the device. By installing an encoder to the different parts other than the motor such as the shaft of the belt conveyor or the float to measure liquid etc., it is possible to operate or stop the motor, to operate according to the EC (encoder count) value, or to determine OK or NG when the EC reaches the set value.

  • Page 80: Math/Logical/Conditional Operators

    8 Features 8.10 Math/Logical/Conditional Operators You can use math/logical/conditional operators in a sequence program. For command reference of math/logical/conditional Operators, see "■ Math/Logical/Conditional Operators (In Sequence only)" on page 138. Math/Logical Operators The following math/logical operators can be used in a program: •...

  • Page 81: User Variables

    8 Features 8.11 User Variables As opposed to the variables (parameters) which roles are fixed such as PC and PF, there are general purpose numeric variables that can be used in various uses such as calculation etc. Variables that can be named freely and variables that can treat a character string are also provided.

  • Page 82: View And Test Functions

    8 Features • Example Command Description >CREATEVAR N_COUNTS=0 #Create user-defined numeric variable named New variable N_COUNTS is added. N_COUNTS N_COUNTS=0 >CREATEVAR N_TOTAL=10 #Create user-defined numeric variable named New variable N_TOTAL is added. N_TOTAL N_TOTAL=10 >LIST MAIN #List sequence MAIN 1) WHILE (N_COUNTS < N_TOTAL) #N_COUNTS, N_TOTAL user-defined variables MI;...
  • Page 83 8 Features Signal Status All I/O status can be reported by SIG__commands. For example, the SIGHOME replies "1" when an external HOME input signal is ON (active), and replies "0" when it is OFF (not active). • Example Command Description >LIST SLIPCHECK #List sequence SLIPCHECK 1) EHOME...
  • Page 84 8 Features The ESC key will cause the termination of the / (forward slash) command execution. While the forward slash command is executing and motion is occurring, the ESC key will first cause the termination of the forward slash command execution. The ESC must be transmitted to the device a second time to cause the motion to cease.
  • Page 85 8 Features Commands Type HELP to display the command syntax and brief description. The SPACE key on the keyboard lists the next HELP screen. Any other keyboard key will exit the HELP screen mode. --- Command List --- TALK* : Select unit in multi-unit communications : Select unit in multi-unit communications : Move Incrementally : Move Absolutely (-MAXPOS - +MAXPOS[UU])

  • Page 86: Protective Functions

    8 Features 8.13 Protective Functions For some alarm conditions, the action(s) taken when the condition is detected can be controlled by ALMACT, to suit the application • Alarm Conditions Effected by ALMACT Condition Description Alarm Code Hardware over travel Positive or negative position limit signal detected Software over travel Position outside of programmed positive and negative software position limits LIMP and LIMN...

  • Page 87: Program Creation And Execution

    9 Program Creation and Execution 9 Program Creation and Execution This chapter explains the methods used to create new programs, edit existing programs and execute programs. Memo Although these functions are introduced as keyboard operation using any general terminal software in this chapter, most of the operations can be done by using the [Program Editor] tab screen on the supplied Immediate Motion Creator for CM/SCX Series utility software.

  • Page 88: Operating Modes

    9 Program Creation and Execution 9.2 Operating Modes Choose one of three operating modes (monitor mode, program-edit mode and sequence mode) to begin a desired task from a terminal. Operation from Terminal (Monitor Mode) Operation from the terminal is available when the device’s power is input. When operating from the terminal, you can create, delete, copy, lock and execute sequences.

  • Page 89: Preparation

    9 Program Creation and Execution 9.3 Preparation Connect a personal computer via USB or RS-232C See "6.3 Connecting the USB and Installation of Utility Software" on page 22 or "6.6 Connecting the RS-232C" on page 37 as necessary. Power ON the CM10 and the driver See "6.2 Connecting the Power Supply"...
  • Page 90 9 Program Creation and Execution Example of Creating a New Sequence Enter the monitor command "EDIT ∗," and press the Enter key. (∗ indicates the sequence name or number (optional). Insert a space between "EDIT" and them.) The system enters the sequence-edit mode, and a message indicating a blank sequence (New sequence) is displayed.
  • Page 91 9 Program Creation and Execution Editing an Existing Sequence In the sequence-edit mode, existing sequences can be edited by alter inserting and deleting lines. The method used to enter commands is the same as when creating a new sequence. Enter the monitor command "EDIT ∗," and press the Enter key. (∗...
  • Page 92 9 Program Creation and Execution Example of Line Editing This section explains the steps to edit PROGRAM1 as follows: • Before editing • After editing PROGRAM1 PROGRAM1 (1) VR 5 (1) VR 5 (2) PC 12 (2) PC 12 (3) MI (3) MA 5 Line 3 is changed from MI to MA 5.
  • Page 93 9 Program Creation and Execution Insert "WAIT 10" below line 3 using the following steps: a. Enter "I 4" and press the Enter key. Line 4 is added, and the monitor waits for a command. >>Command: I 4 ( 4)_ b.

  • Page 94: Sample Programs

    9 Program Creation and Execution 9.5 Sample Programs This section provides sample programs. Repeated Positioning Operation • Motion Pattern 90° START 9° ∗5 times =45° 18° ∗5 times Positioning Starting operation =90° position Moves 90° Moves Moves 18°∗5 times 9°∗5 times Stops 1 s Stops 1 s Stops 1 s •...
  • Page 95 9 Program Creation and Execution Executing Linked Operation • Motion Pattern Resolution: 10 mm/rev (DPR=10) Distance: 10 mm UU=mm Operating speed: 10 mm/s Distance: 20 mm Operating speed: 20 mm/s Distance: 30 mm Operating speed: 30 mm/s Velocity LINKx Setting Value LINK0 1 (linked) LINK1...

  • Page 96: Executing A Sequence

    9 Program Creation and Execution 9.6 Executing a Sequence You can execute sequences stored in the device’s memory. There are two ways to execute a sequence. To perform this via CANopen, refer to "■ Executing a sequence" on page 112. Executing a Sequence from the Terminal Connect the CM10 to the terminal by USB or RS-232C.
  • Page 97 9 Program Creation and Execution Stop the sequence execution When stopping the sequence execution is required, use the ABORT input or signal. The START input also has the ABORT function when configured. Set "START Action" to "Level", under [System Config]-[System Parameters] of the IMC.

  • Page 98: Error Messages Displayed On The Terminal

    9 Program Creation and Execution 9.7 Error Messages Displayed on the Terminal This section lists error messages that may be displayed on the terminal during program creation, syntax checking and program execution. Error Messages for Editing Unknown command: xxxx. Cause/action: Input at Editor prompt did not match any of the single-character Editor commands (which can be seen by entering 'H' for [H]elp).
  • Page 99 9 Program Creation and Execution Invalid Operator Cause/action: Math operator not an allowable operator. Invalid user parameter name. Cause/action: Too many characters or invalid characters are entered as user parameter name. Loop count must be positive integer. Cause/action: Negative number is entered as argument for LOOP. Invalid assignment.
  • Page 100 9 Program Creation and Execution Error Messages Displayed during Program Execution These are not displayed in multi axis mode. EEPROM data corrupt. Cause/action: EEPROM data is destroyed. Both +LS, −LS ON. Cause/action: Both the +LS and −LS are ON simultaneously. Check the logic setting for hardware limit sensors Normally Open (N.O.) or Normally Closed (N.C.).
  • Page 101 9 Program Creation and Execution Unexpected interrupt occurred. Cause/action: Unexpected interrupted has occurred. Sequence system internal error (xx) Cause/action: Other error (program compatibility, etc) Error Messages Relating to Monitor Commands Error: Command or parameter is unknown. Cause/action: Text entered at the command prompt is not recognized (e.g. "DIV," "VY"). Error: Action is not allowed.
  • Page 102 9 Program Creation and Execution Error: Source sequence does not exist. Sequence copy: source sequence does not exist.(e.g. "COPY X Y": Cause/action: Sequence X does not exist.)" Error: Sequence already exists. Cause/action: Rename: (new name) already exists.(e.g. "REN X Y": Sequence Y already exists.) Error: Could not delete previous sequence.

  • Page 103: Control By Canopen Communication

    10 Control by CANopen Communication 10 Control by CANopen Communication This chapter explains how to control the CM10 using CANopen communication. In this manual, physical I/O is defined as "Direct I/O" and CANopen I/O is defined as "Remote I/O." The EDS file can be found on the attached CD-ROM. (File name: CM10_x_x.eds, under CANopen_EDS folder) 10.1 Overview The CM10 uses CANopen CiA 301 protocol and the product is tested and certified by the CiA (CAN in...

  • Page 104: Led Indication

    10 Control by CANopen Communication 10.3 LED Indication The CM10 has bicolor CAN LED to indicate communication statuses including run and error. Red: Error The CANopen error LED indicates the status of the CAN physical layer and errors due to missing CAN messages (sync, guard or heartbeat).

  • Page 105: Controlling I/O Message (Pdo)

    10 Control by CANopen Communication 10.4 Controlling I/O Message (PDO) I/O Message Format The CM10 is controlled via CANopen by the following 8 byte I/O message formats; master to the CM10, and the CM10 to a master, respectively. • RPDO (Receive Process Data Object) : Master to CM10 The RPDO acts as an input of the CM10.
  • Page 106 10 Control by CANopen Communication In the Byte [1] area, signals that are commonly used are pre-assigned. For example, set the bit, Byte [1]-Bit [5] to 1. The motor current will be turned ON. CM10) RPDO (Master Bit [7] Bit [6] Bit [5] Bit [4] Bit [3]...
  • Page 107 10 Control by CANopen Communication Assigning Signals While the RIN1-RIN8 in the RPDO and ROUT1-ROUT6 in the TPDO are used as general I/O, you may also assign any of these I/Os to specific system inputs/outputs such as the ALMCLR (alarm clear), MSTOP (motor stop), MBFREE (magnetic brake free) and PSTS (pause status) in addition to pre-assigned I/Os explained before, and use these signals as the signals on the I/O connector on the CM10.
  • Page 108 10 Control by CANopen Communication Sending Message Commands Let’s make the motor move, starting with an index motion. The following procedure is required to make an incremental move, as same as the communication via the USB/RS-232C. Assume the user unit is set to "Rev" (revolution).
  • Page 109 10 Control by CANopen Communication • Confirming a Message Receipt and Status After sending message command, a confirmation of receipt is done by checking the TPDO message. The TRIG_R (trigger response) indicates that the process is completed (the message is received), and COMMAND_R areas show what are received.
  • Page 110 10 Control by CANopen Communication Requesting Current Parameter and Status Not only can you send commands to the CM10, but you may also ask the CM10 about a parameter‘s value/status. For instance, if a verifying the current VS value is required, find the command code for a "Read" of the VS from the following "IO Message command code list."...
  • Page 111 10 Control by CANopen Communication I/O Command and Message Command In some cases, the same command can be set by either I/O command or message command. • Using an I/O Command For an example of an I/O command, the MCP (move continuously positive) can be commanded by just setting the bit, Byte [1]-Bit [1] to 1 (ON).
  • Page 112 10 Control by CANopen Communication Executing a Sequence There are two ways to make a sequence execute, one is to select a sequence using remote inputs and the other one is using a message command. • Using I/O Commands (Remote Inputs) Set the program number (in decimal format) in Byte [0] area in binary format.
  • Page 113 10 Control by CANopen Communication • Using a Message Command Set the command code for run sequence, the RUN (1C05h) in COMMAND area, and set program number 3 (03h) in the DATA area as below. CM10) RPDO (Master Bit [7] Bit [6] Bit [5] Bit [4]...

  • Page 114: I/O Message Format (Pdo)

    10 Control by CANopen Communication 10.5 I/O Message Format (PDO) CM10 RPDO Mapping: Master Bit [7] Bit [6] Bit [5] Bit [4] Bit [3] Bit [2] Bit [1] Bit [0] Byte [0] RIN8 RIN7 RIN6 RIN5 RIN4 RIN3 RIN2 RIN1 Byte [1] FREE ABORT...
  • Page 115 10 Control by CANopen Communication TPDO Mapping: CM10 Master Bit [7] Bit [6] Bit [5] Bit [4] Bit [3] Bit [2] Bit [1] Bit [0] Byte [0] ROUT6 ROUT5 ROUT4 ROUT3 ROUT2 ROUT1 Byte [1] READY HOME_P MOVE START_R Byte [2] COMMAND_R Byte [3] STATUS...
  • Page 116 10 Control by CANopen Communication TRIG_R Echo of Trigger 0: Not yet Process 1: Processing Completed STATUS If sequence program cannot be executed, 0: Normal this bit is 1. 1: Process Error DATA_R Result of Read Parameter, Monitor or Maintenance See I/O Message Command Code list in Command detail.

  • Page 117: I/O Message Command Code List (Pdo)

    10 Control by CANopen Communication 10.6 I/O Message Command Code List (PDO) Format Data formats for user unit and time: For user unit, always multiply the user unit by 1000, since the decimal point is not used in message commands. The unit of time is in millisecond. Ex.
  • Page 118 10 Control by CANopen Communication Motion Commands Command Code Description Range Command 1C00h Soft Stop SSTOP 1C01h Hard Stop HSTOP 1C02h Panic Stop PSTOP 1C03h Motor Stop MSTOP 1C04h Abort Motion and Sequence Execution ABORT 1C05h Run Sequence (Sequence number is set in DATA.) 0 to 99 1C10h Start Incremental Motion, Distance DIS...
  • Page 119 10 Control by CANopen Communication Maintenance Command Command Code Description Range Command 30C0h Alarm Clear 0: Not Reset ALMCLR 1: Reset 30C5h Reset Home Position PRESET 30CAh Enable Driver Operation after Absolute Position Loss Alarm Release ABSPLSEN The minimum output frequency on the CM10 is 1 Hz. If the running velocity in a user unit is set equivalent to Note less than 1 Hz, the actual pulse output frequency becomes 1 Hz.

  • Page 120: Object Dictionary (Sdo)

    10 Control by CANopen Communication 10.7 Object Dictionary (SDO) Index Sub Index Factory Name Data Type Access Comment (hex) (Hex) Setting 1000 00 Device Type UNSIGNED32 R 00000000h 1001 00 Error Register UNSIGNED8 generic error (bit 0) only CM10 1008 00 Manufacturer Device Name Visible String SCX10...
  • Page 121 10 Control by CANopen Communication Index Sub Index Factory Name Data Type Access Comment (hex) (Hex) Setting 1A00 Transmit PDO Mapping Parameter Number of Mapped Application UNSIGNED8 Objects in PDO PDO Mapping for the nth UNSIGNED32 R 2E100110 OUTP (Index=E10h, Sub Index=01h, 16bit) Application to be Mapped PDO Mapping for the nth UNSIGNED32 R...
  • Page 122 10 Control by CANopen Communication Index Sub Index Factory Name Data Type Access Comment (hex) (Hex) Setting 2500 Linked Motion Distance or SIGNED32 Destination Number of Entries UNSIGNED8 Distance or Destination for Link SIGNED32 DIS0 (-MAXPOS to +MAXPOS) UU Segment '0' Distance or Destination for Link SIGNED32 DIS1 (-MAXPOS to +MAXPOS) UU...

  • Page 123: Timing Charts

    11 Timing Charts 11 Timing Charts Power Input DC24 V input 1 s max. OUTx output 200 ms max. CON output (Driver connector) 200 ms max. MBFREE output (I/O and driver connector) Driver Alarm Clear and Deviation Counter Clear ALMCLR input PECLR input (I/O connector) : 110 ms±5 ms...
  • Page 124 11 Timing Charts Execution and Stopping a Sequence (START, ABORT, RUN, MOVE) at STARTACT=0 2 ms min. START input 2 ms min. ABORT input at STARTACT=1 START input 2 ms max. RUN (MOVE) output 5 ms max. Motor operation ∗１ Depend on the program. ∗2 Depend on the load condition and settling time at stop.
  • Page 125 11 Timing Charts When the PSTOP Input is Turned ON ALMACT=0 ALMACT=1 ALMACT=2 (ALARM OFF) (ALARM ON) (Turn Motor Current OFF, ALARM ON) 2 ms min. 2 ms min. 2 ms min. PSTOP input 2 ms max. 2 ms max. 2 ms max.
  • Page 126 11 Timing Charts When the (+LS, −LS) Input is Used OTACT=0 OTACT=1 (Hard Stop) (Soft Stop) 2 ms min. 2 ms min. +LS/-LS input 2 ms max. 2 ms max. MOVE output READY output (ALMACT=0) END output Motor operation When the SENSOR Input is Used SENSORACT=2 SENSORACT=1 SENSORACT=0...
  • Page 127 11 Timing Charts When an ALARM is Occurred ALMACT=2 ALMACT=1 (At Current OFF Alarm [Free Run Stop]) (At Current ON Alarm) ALARM Occur 5 ms max. 5 ms max. ALARM output MOVE output READY output Motor current END output Motor operation - 127 -...
  • Page 128 11 Timing Charts Operation for Motor Excitation and Electromagnetic Brake CON input (Invert for COFF input) 2 ms max. 2 ms max. CURRENT (Status/command) 2 ms max. 2 ms max. 2 ms max. CON output FREE input 2 ms max. 2 ms max.
  • Page 129 11 Timing Charts Mechanical Home Seeking (Except HOMETYP=12) • When the Mechanical Home Seeking Operation is Completed without Passing the HOME Input. HOME input HOME input 5 ms max. 5 ms max. 5 ms max. HOMEP output 5 ms max. Positive 5 ms max.
  • Page 130 11 Timing Charts Teaching Operation • When Holding the Key Down M : CW scan input key on query keyboard. Motor operation RS-232C/USB input 500 ms max. 150 ms Motor operation RS-232C/USB input 500 ms 150 ms • To Stop Motion Immediately Motor operation SP: Space bar RS-232C/USB...

  • Page 131: Command Reference

    12 Command Reference 12 Command Reference This chapter provides detailed information about each command and parameter. In the tables below, the commands are grouped by functionality, for quick reference. After the tables, each command or parameter is described in detail, in alphabetical order. Table of Contents 12.1 Command List 12.2 I/O Signals and Command Structure...
  • Page 132 12 Command Reference Motion Commands ■ CONT Continue Motion Change Velocity 0.001 to MAXVEL EHOME Start Return-to-electrical Home MOVE Operation HSTOP Hard Stop Start Absolute Motion to the Specified -MAXPOS to +MAXPOS MOVE Destination MCP, MCN Move Continuously Positive, Move Continuously Negative MGHP, Move Go Home Positive, Move Go...
  • Page 133 12 Command Reference System Control ■ Statement Separator for Multi-statement <ESC> (Escape): Abort Operation(s) ABORT ABORT Motion and Sequence Execution ABSPLSEN Enable Driver Operation after Absolute Position Loss Alarm Release ABSREQ Reading Driver Current Position ABSREQPC Reading Driver Current MOVE Position/Updating Internal Position ALMACT...
  • Page 134 12 Command Reference INITPRM Initialize Parameters MOVE LIMP, LIMN Setting of Software -MAXPOS to +MAXPOS read Position Limits (Positive Direction, Negative Direction) 0: CM10-1, 2, 3, 4, 5 MBFREEACT Magnetic Brake Free 0: Driver Alarm is 1: SCX10 Action Unrelated 1: MBFREE Outputs on Both the Driver Connector on the...
  • Page 135 12 Command Reference User Units Rev: CM10-1, 2, 4, 5, ASCII Characters, 20 SCX10 Characters Maximum, mm: CM10-3 Except ";" and "@" System Status ■ ABSSTS Driver Status Code/Driver read read read Alarm Code Encoder Count -MAXEC to +MAXEC 500000000: CM10-1, 4, MAXEC Maximum Encoder Count read...
  • Page 136 12 Command Reference ■ 0: SCX10 DALARM Driver ALARAM 0: Not-use the read 1: CM10-1, 2, 3, 4, 5 DALARM Signal Signal Enable Input 1: Use the DALARM Signal Input 0: CM10-2, SCX10 DEND Driver END Signal 0: Internal End Area read 1: CM10-1, 3, 4, 5 Enable...
  • Page 137 12 Command Reference xxxLV System Input See Page 336 for xxxLV See Page 336 for Level/System Output command xxxLV Command Level Monitor Commands ■ Alarm Status and History HELP Display Help Information REPORT Display System Status TEACH Teach Positions MOVE TRACE Sequence Trace Control 0: Trace is Disabled...
  • Page 138 12 Command Reference Sequence Commands ■ Sequence Comment Alphanumeric Characters BREAKL Break LOOP Block BREAKW Break WHILE Block CALL Call Sequence as Subroutine Valid Sequence Name or Number, or Variable ELSE Begin ELSE Block: execute if IF is false Motion End ENDIF End of IF Block ENDL...
  • Page 139 12 Command Reference User Variables ■ A to Z User Variables -Max. Number to +Max.Number CLEARVAR Clear User-defined Variables CREATEVAR Create User-defined Variable N_xxx [Numeric Type] or S_xxx [String Type] DELETEVAR Delete User-defined Variable N_xxx [Numeric Type] or S_xxx [String Type] LISTVAR Lists all User-defined Variables N_xxx...
  • Page 140 12 Command Reference CANopen Setting ■ CANBAUD CANopen BAUD Rate 0: 10 kbps 1: 20 kbps 2: 50 kbps 3: 125 kbps 4: 250 kbps 5: 500 kbps 6: 800 kbps 7: 1 Mbps CANID CANopen Node ID 1 to 127 INITRIO Initialize Remote I/O Remote General Input Status...

  • Page 141: I/O Signal And Command Structure

    12 Command Reference 12.2 I/O Signal and Command Structure This table represents the corresponding relations for a series of command groups that are used when assigning or displaying I/O signals. Immediate commands that have same functions as the I/O signals are also shown with the corresponding relations. Immediate CANopen Remote I/O I/O Assignment...

  • Page 142: Command Description

    12 Command Reference 12.3 Command Description The details of commands are explained in alphabetical order. # : Sequence Comment Execution Mode Sequence Syntax #Commenting Text Range Alphanumeric Characters (not case sensitive), space and sign (! " # $ % & ' ( ) * + - . / : ; < = > ? @ [ \ ] ^ _ ) See Also EDIT, LIST Description...
  • Page 143 12 Command Reference +, -, *, /, %, &, |, ^, <<, >> Execution Mode Sequence Syntax Z = X n Y X = Numeric Value or Variable n = Math Operator Y = Numeric Value or Variable Z = Variable See Also A to Z Description...
  • Page 144 12 Command Reference ＼ : Global Command Execution Mode Immediate Syntax ＼Command See Also @, ID, TALK, VERBOSE Description Global command operator. Attaching this operator before the command enables command to all the units. "＼ID" is for checking all devices assigned ID numbers currently active on the daisy chain communication network.
  • Page 145 12 Command Reference ; : Statement Separator Execution Mode Immediate and Sequence Syntax Command; Command Description The semicolon (;) allows for multiple command statements to be used on a single command line. The maximum number of characters per one line is 80 characters. Note The semicolon cannot be used as a separator after an SACS or SAS command.
  • Page 146 12 Command Reference @ : Select Device Execution Mode Immediate Syntax Range id = *, 0 to 9 and A to Z (not case sensitive) See Also TALK, ID, \ (BACKSLASH) Description Makes a logical connection to a specific device in a multiple device, e.g. daisy chain configuration. That device can then be uniquely addressed and programmed.
  • Page 147 12 Command Reference <ESC> : (Escape) Abort Operation(s) Execution Mode Immediate Syntax <ESC> (Escape Key or Character (1Bh)) See Also ABORT, ALMACT, HSTOP, MSTOP, MSTOPACT, PSTOP, SSTOP, TD Description <ESC> represents an escape key or character (1Bh). <ESC> will abort motion, decelerating to a stop. <ESC>...
  • Page 148 12 Command Reference a!=b, a<=b, a<b, a=b, a==b, a>=b, a>b : Conditional Operators Execution Mode Sequence See Also IF, WHILE Description The following conditional operations may be used in a sequence, as part of an IF or WHILE statement. a and b can be constants or any variable available within sequences.
  • Page 149 12 Command Reference ABORT : ABORT Motion and Sequence Execution Execution Mode Immediate, Sequence and CANopen Syntax ABORT See Also <ESC>, ALMACT, HSTOP, MSTOP, MSTOPACT, PSTOP, SSTOP Description The ABORT command stops the motion and the execution of a sequence. If the motor is running, the motor decelerates to start velocity VS over deceleration time TD, and then stops completely.
  • Page 150 12 Command Reference ABSPLSEN : Enable Driver Operation after Absolute Position Loss Alarm Release Execution Mode Immediate, Sequence and CANopen Syntax ABSPLSEN See Also PRESET, ALMCLR, MGHP, MGHN, DSIGxxx (DSIGREQ), DOUTxxx (DOUTREQ) When the NX Series driver is used in the absolute system, executing this command after releasing the Description absolute position loss alarm will enable mechanical home seeking operation.
  • Page 151 12 Command Reference ABSREQ : Reading Driver Current Position Execution Mode Immediate, Sequence and CANopen Syntax ABSREQ See Also PABS, ABSSTS, PRESET, ABSREQPC, DINxxx (DINPR, DINP0, DINP1), DOUTxxx (DOUTREQ, DOUTCK), ROUTxxx (ROUTABSDATA), DSIGxxx (DSIGREQ) Description This command reads and indicates the current position data, driver status code and driver alarm code from the driver that has the current position output function (the NX Series driver, ESMC controller etc.).
  • Page 152 12 Command Reference ABSREQPC : Reading Driver Current Position/Updating Internal Position Execution Mode Immediate, Sequence and CANopen Syntax ABSREQPC Commands not MOVE Allowed See Also PABS, ABSSTS, PRESET, ABSREQ, DINxxx (DINPR, DINP0, DINP1), DOUTxxx (DOUTREQ, DOUTCK), ROUTxxx (ROUTABSDATA), DSIGxxx (DSIGREQ) Description This command reads and indicates the current position data, driver status code and driver alarm code from the driver that has the current position output function (the NX Series driver, ESMC controller etc.), and it...
  • Page 153 12 Command Reference ABSSTS : Driver Status Code/Driver Alarm Code Execution Mode Immediate, Sequence and CANopen Syntax ABSSTS Access READ See Also ABSREQ, ABSREQPC, PABS, ROUTxxx (ROUTABSDATA) Description This is a variable to which the driver status code and driver alarm code acquired by ABSREQ or ABSREQPC is written.
  • Page 154 12 Command Reference ALM : Alarm Status and History Execution Mode Immediate and CANopen (Recent Alarm Only) Syntax See Also xxxLV (ALARMLV), ALMACT, ALMCLR, ALMMSG, ALMSET, CURRENT, OUTxxx (OUTALARM), DALARM, INxxx (INALMCLR), RINxxx (RINALMCLR), DOUTxxx (DOUTACLDCL) Description The ALM command displays the current alarm code, history of the last 10 alarm and warning issues, a brief alarm code description, and the elapsed time for the latest alarm code and warning message.
  • Page 155 12 Command Reference ALMACT : ALARM Action Execution Mode Immediate Syntax ALMACT=n Range n = 0: Motor Current Remains ON (ALARM OFF) 1: Motor Current Remains ON (ALARM ON) 2: Turn Motor Current OFF (ALARM ON) Factory Setting SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory.
  • Page 156 12 Command Reference ALMCLR : ALARM Clear Execution Mode Immediate and CANopen Syntax ALMCLR See Also INxxx (INALMCLR), RINxxx (RINALMCLR), DALARM, ALM, xxxLV (ALARMLV), ALMACT, ALMMSG, ALMSET, OUTxxx (OUTALARM), CURRENT Description The ALMCLR command attempts to clear the system alarm status. If the alarm condition is no longer present, the system will become fully operational again.
  • Page 157 12 Command Reference ALMMSG : ALARM Message Action Execution Mode Immediate Syntax ALMMSG=n Range n = 0: No Messages 1: Messages, Alarms only 2: Messages, Alarms and Warnings Factory Setting SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 158 12 Command Reference ALMSET : Set User ALARM Execution Mode Immediate and Sequence Syntax ALMSET See Also xxxLV(ALARMLV), ALM, ALMACT, ALMCLR, ALMMSG, OUTxxx (OUTALARM), SIGxxx (SIGALARM) Description The ALMSET command allows the user to place the device in a forced alarm state. Example Command Description...
  • Page 159 12 Command Reference A to Z : User Variables Execution Mode Immediate and Sequence Syntax A=n (in sequence only : expression) Upper and lower case are permitted, but 'A' and 'a' reference the same variable. There are 26 variables. Range n = -Maximum Number to +Maximum Number expression must evaluate to a value within the same range as n, and can be any of: - constant numeric value...
  • Page 160 12 Command Reference Example Command Description #Set the variable B to a value of 0.1 >B 0.1 #Device response B=0.1 #List sequence 1 >LIST 1 #Query the user for the value of the variable A via the serial port 1) A=KB #Use A as a loop count 2) LOOP A #Move incrementally...
  • Page 161 12 Command Reference BAUD : RS-232C BAUD Rate Execution Mode Immediate and Sequence Syntax BAUD=n Range n = 0: 9600 (bps) 1: 19200 2: 38400 3: 57600 4: 115200 Factory Setting SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the parameter RESET value is reset to the last saved value at device power up.
  • Page 162 12 Command Reference BREAKL : Break LOOP Block Execution Mode Sequence Syntax BREAKL See Also BREAKW, ELSE, ENDIF, ENDL, IF, LOOP, WEND, WHILE Description Exits the innermost LOOP block. Often used to exit a LOOP based on the value of a conditional statement. Example Command Description...
  • Page 163 12 Command Reference BREAKW : Break WHILE Block Execution Mode Sequence Syntax BREAKW See Also BREAKL, ELSE, ENDIF, ENDL, IF, LOOP, WEND, WHILE Description Exits the innermost WHILE block. Often used to exit a WHILE block based on the value of a conditional statement. Example Command Description...
  • Page 164 12 Command Reference CALL : Call Sequence as Subroutine Execution Mode Sequence Syntax CALL n Range n = Valid Sequence Name or Number, or Variable See Also DIR, RET Description Executes a sequence as a subroutine, then returns to the calling sequence. If target is a variable name (e.g.
  • Page 165 12 Command Reference CANBAUD : CANopen BAUD Rate Execution Mode Immediate Syntax CANBAUD=n Range n = 0: 10 (kbps) 1: 20 (kbps) 2: 50 (kbps) 3: 125 (kbps) 4: 250 (kbps) 5: 500 (kbps) 6: 800 (kbps) 7: 1 (Mbps) Factory Setting SAVEPRM &...
  • Page 166 12 Command Reference CANID : CANopen Node Address Execution Mode Immediate Syntax CANID=n Range n = 1 to 127 Factory Setting SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 167 12 Command Reference CLEARALL : Return to Factory Condition Execution Mode Immediate Syntax CLEARALL Commands not MOVE, RUN Allowed See Also CLEARPOS, CLEARSEQ, CLEARVAR, INITPRM Description Clears all parameters, POS[x] position array data and all sequences. The CLEARALL command will clear all of the input and output assignments.
  • Page 168 12 Command Reference CLEARPOS : Clear POS[x] Position Array Data Execution Mode Immediate Syntax CLEARPOS Commands not MOVE, RUN Allowed See Also CLEARALL, CLEARSEQ, CLEARVAR, TEACH Description Clears all POS[x] position array data. Position data will set to 0. Caution The CLEARPOS command writes to EEPROM.
  • Page 169 12 Command Reference CLEARSEQ : Clear Sequences Execution Mode Immediate Syntax CLEARSEQ Commands not Allowed See Also CLEARALL, CLEARPOS, CLEARVAR, DEL, EDIT Description Clears all sequences from the nonvolatile memory (EEPROM). The amount of time required to delete the sequences varies based on the number of sequences saved in memory. Caution The CLEARSEQ command writes to EEPROM.
  • Page 170 12 Command Reference CLEARVAR : Clear User-defined Variables Execution Mode Immediate Syntax CLEARVAR SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory. Otherwise, the parameter value is reset to the last saved value at device power up. If no new parameter value was saved, then the value is set to the factory setting.
  • Page 171 12 Command Reference CONT : Continue Motion Execution Mode Immediate, Sequence and CANopen Syntax CONT See Also PAUSE, PAUSECLR, INxxx (INPAUSE, INPAUSECL), OUTxxx (OUTPSTS) Description Resumes a motion after a PAUSE command or PAUSE input has caused a motion to pause. The remaining portion of the interrupted motion is completed.
  • Page 172 12 Command Reference COPY : Copy Sequence Execution Mode Immediate Syntax COPY source target Range source and target can be any valid sequence number (0-99) or name (consisting of letters, numbers or underscore, 10 characters maximum, must start with a letter except n, s, N, S, with no distinction of a capital letter or small letter.) Commands not Allowed See Also...
  • Page 173 12 Command Reference CREATEVAR : Create User-defined Variable Execution Mode Immediate Syntax CREATEVAR {N_xxx | S_xxx} {value | string} Range xxx = Variable Name: 1 to 10 Alphanumeric Characters value | string (optional): initial numeric value (N_xxx) or string value (S_xxx). If empty, N_xxx variables are initialized to 0 and S_xxx variables are initially empty.
  • Page 174 12 Command Reference Example Command Description #Create user-defined numeric variable >CREATEVAR N_DEPTH named N_DEPTH New variable N_DEPTH is added. N_DEPTH=0 #Set user-defined numeric variable value >N_DEPTH 10.02 N_DEPTH=10.02 #Create user-defined string variable named >CREATEVAR S_LABEL IDLE S_LABEL, initialize to "IDLE" New variable S_LABEL is added.
  • Page 175 12 Command Reference CURRENT : Current On/Off Execution Mode Immediate, Sequence and CANopen Syntax CURRENT=n Range n = 0: Motor Current is OFF 1: Motor Current is ON 0: If the STRSW is set to zero(0) (CM10-1, 5) Factory Setting 1: If the STRSW is set to 1 (CM10-2, 3, 4, SCX10) Access READ and WRITE...
  • Page 176 12 Command Reference CV : Change Velocity Execution Mode Immediate, Sequence and CANopen Syntax CV=n Range n = 0.001 to MAXVEL (user units/second) (In sequences, the maximum value is further limited by "Max. Number.") See Also DPR, MA, MCP, MCN, MI, MIx, VR, VS, UU, MAXVEL, SCHGVR, SCHGPOS Description The CV command can be used to change the running velocity during an incremental positioning index (MI) or absolute positioning index (MA).
  • Page 177 12 Command Reference DALARM : Driver ALARM Signal Enable Execution Mode Immediate and Sequence Syntax DALARM=n n = 0: Do not use the ALARM signal input on the driver connector of the CM10/SCX10 Range 1: Use the ALARM signal input on the driver connector of the CM10/SCX10 0: SCX10 Factory Setting 1: CM10-1, 2, 3, 4, 5...
  • Page 178 12 Command Reference DD : Driver Operation Data Execution Mode Immediate, Sequence and CANopen Syntax DD=n Range n = 0 to 3 (torque limiting) 0 to 7 (push-motion operation) Factory Setting SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 179 12 Command Reference DEL : Delete Sequence Execution Mode Immediate Syntax DEL target Range target can be the name or number of any existing sequence. Commands not Allowed See Also CLEARALL, CLEARSEQ, COPY, DIR, EDIT, LOCK, UNLOCK Description Deletes a sequence from EEPROM. The system will request confirmation of the DEL action. A deleted sequence cannot be recovered.
  • Page 180 12 Command Reference DELETEVAR : Delete User-defined Variable Execution Mode Immediate Syntax DELETEVAR {N_xxx | S_xxx} Range xxx = Variable Name: 1 to 10 Alphanumeric Characters SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 181 12 Command Reference #N_LOOPS is gone N_name Numeric Data ========== ============ S_name String Data ========== ==================== LABEL OM USA #SAVEPRM required to make this change permanent >SAVEPRM (EEPROM has been written 17 times) Enter Y to proceed, other key to cancel. y Saving Parameters..OK.
  • Page 182 12 Command Reference DEND : Driver END Signal Enable Execution Mode Immediate and Sequence Syntax DEND=n Range n = 0: Internal End Area 1: Driver END Signal 0: CM10-2, SCX10 Factory Setting 1: CM10-1, 3, 4, 5 SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 183 12 Command Reference DIN : Driver General Input Status Execution Mode Immediate, Sequence and CANopen Syntax Range 0 to 127 (integer values) /: real time monitor (immediate mode only) Access READ See Also DIO, DINx, DOUT, DOUTx, DINxxx (DINALARM), INITDIO, REPORT Description The DIN command displays the current status of all the general purpose inputs on the driver connector of the CM10/SCX10, as one integer number.
  • Page 184 12 Command Reference DINSG : Driver System Signal Input Status Execution Mode Immediate, Sequence and CANopen Syntax DINSG Range 0 to 127 (integer values) /: real time monitor (immediate mode only) Access READ See Also DIN, DOUTSG, DIO, DSIGxxx Description The DINSG command displays the current status of all of the system driver inputs, as one integer number.
  • Page 185 12 Command Reference DINx : Individual Driver General Input Status Execution Mode Immediate and Sequence Syntax DINx (INx is a signal: IN1 to IN7) Range n = 0: Not Active 1: Active /: real time monitor (immediate mode only) Access READ See Also DIN, DIO, DINSG...
  • Page 186 12 Command Reference DINxxx : Driver System Signal Input Assignment Execution Mode Immediate Syntax DINxxx=n "xxx" represents the signal name to be assigned, and "n" represents the assigned terminal number ("that" becomes the INn general when unassigned). SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 187 12 Command Reference Example Command Description #Unassign the ALARM input >DINALARM=0 DINALARM=1(0) >SAVEPRM #Save the parameter assignments (EEPROM has been written 2 times) Enter Y to proceed, other key to cancel. Y Saving Parameters..OK. #Establish the saved parameter value >RESET Resetting system.
  • Page 188 12 Command Reference DIO : Driver I/O Status Execution Mode Immediate Syntax Range n = 0: Not Active 1: Active /: real time monitor Access READ See Also DIN, DOUT, DINx, DOUTx, DSIGxxx, DINSG, DOUTSG, IO, RIO Description DIO displays the current status of general purpose inputs and outputs on the driver connector of the CM10/SCX10 and assigned system input/output signals on the driver connector of the CM10/SCX10.
  • Page 189 12 Command Reference DIR : Sequence Directory Execution Mode Immediate Syntax DIR target Range target is optional. If given, it should be a valid sequence number or name See Also COPY, EDIT, REN Description Lists directory information for one or all sequences in memory. If target is given, lists information for that sequence only, with summary.
  • Page 190 12 Command Reference DIRINV : Direction Invert Execution Mode Immediate and Sequence Syntax DIRINV n Range n = 0: Motor rotates in the Clockwise (CW) direction for positive distance values. 1: Motor rotates in the Counter-Clockwise (CCW) direction for positive distance values. Factory Setting SAVEPRM &...
  • Page 191 12 Command Reference DIS : Distance for Incremental Motion Execution Mode Immediate, Sequence and CANopen Syntax DIS=n Range n = -MAXPOS to +MAXPOS (user units) Factory Setting SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 192 12 Command Reference DISx : Distance or Destination for Link Segment 'x' Execution Mode Immediate, Sequence and CANopen Syntax DISx=n (x is a number of linked segments: x=0 to 3.) Range n = -MAXPOS to +MAXPOS (user units) Factory Setting SAVEPRM The new value takes effect immediately.
  • Page 193 12 Command Reference DOUT : Driver General Output Control Execution Mode Immediate, Sequence and CANopen Syntax DOUT=n Range n = 0 to 255 (integer values) /: real time monitor (immediate mode only) Access READ and WRITE READ only in CANopen See Also DIO, DOUTx, DIN, DINx, DSIGxxx, DOUTSG, REPORT Description...
  • Page 194 12 Command Reference DOUTSG : Driver System Signal Output Status Execution Mode Immediate, Sequence and CANopen Syntax DOUTSG Range 1 to 16382 (integer values) /: real time monitor (immediate mode only) Access READ See Also DOUT, DINSG, DIO, DSIGxxx, REPORT Description The DOUTSG command displays the current status of all the system driver outputs, as one integer number.
  • Page 195 12 Command Reference DOUTx : Individual Driver General Output Control Execution Mode Immediate and Sequence Syntax DOUTx=n (OUTx is signal name: OUT１ to OUT8) ∗ "=n" is required only when controlling. Range n = 0: Not Active 1: Active /: real time monitor (immediate mode only) Factory Setting Access READ and WRITE...
  • Page 196 12 Command Reference DOUTxxx : Driver System Signal Output Assignment Execution Mode Immediate Syntax DOUTxxx=n "xxx" represents the signal name to be assigned, and "n" represents the assigned terminal number ("that" becomes the OUTn general output when unassigned). SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory.
  • Page 197 12 Command Reference Command Signal Description Range (n) See Also Factory Setting (n) DOUTM1 Data Select Bit 1 DD, TL 0: CM10-1 , 2 , 3 , 4 , 0: CM10-2 , 3 , 4 SCX10 0, 6: CM10-1 , 5 6: CM10-5 0 to 8: SCX10 DOUTM2...
  • Page 198 12 Command Reference DPR : Distance per Revolution Execution Mode Immediate and Sequence Syntax DPR=n Range n = 0.500 to 51200.000 (user units per revolution) Factory Setting SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 199 12 Command Reference Example Command Description #Set the user units to mm (millimeters) >UU mm UU=mm #Set the distance per revolution to 10 >DPR 10 user units, device responds with DPR=1(10) mm rescaled limits and new ranges Position range = +/- 500000(500000) Velocity range = 0.001 - 2480(24800) Minimum Movable Distance = +/- 0.001(0.001) #Save the parameter assignments...
  • Page 200 12 Command Reference DREADY : Driver READY Signal Enable Execution Mode Immediate and Sequence Syntax DREADY=n Range n = 0: Disable 1: Enable 0: CM10-2, 3, 4, SCX10 Factory Setting 1: CM10-1, 5 SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 201 12 Command Reference DSIGxxx : Status for Driver System Input Signal/Driver System Output Signal Execution Mode Immediate and Sequence ("xxx" indicate the signal name on the driver connector. of the CM10/SCX10. ex: DSIGALARM) Syntax DSIGxxx Range 0: "xxx" input/output is not active 1: "xxx"...
  • Page 202 12 Command Reference Example Command Description 1) CURRENT 1 #Motor current ON 2) WHILE (DSIGREADY!=1);WEND #Wait for driver READY signal ON 3) EHOME #Move to position zero 4) MEND #Wait for motion to complete - 202 -...
  • Page 203 12 Command Reference EC : Encoder Count Execution Mode Immediate, Sequence and CANopen Syntax Range -MAXEC to +MAXEC /: real time monitor (immediate mode only) Factory Setting Access READ, WRITE READ only while motion is in progress. See Also PF, ENC, ER, MR, PC, PE, ENDACT Description EC is the value of the encoder counter, created from the A and B signals in the encoder.
  • Page 204 12 Command Reference ECHO : Communications Echo Control Execution Mode Immediate Syntax ECHO=n Range n = 0: OFF, Commands are suppressed and not shown on the terminal 1: ON, Commands are echoes back to the terminal Factory Setting SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 205 12 Command Reference EDIT : Edit Sequence Execution Mode Immediate Syntax EDIT target Range target (optional): any valid sequence number (0-99) or name (consisting of letters, numbers or underscore, 10 characters maximum, must start with a letter except n, s, N, S, with no distinction of a capital letter or small letter.) Commands not Allowed See Also...
  • Page 206 12 Command Reference EHOME : Start Return-to-electrical Home Operation Execution Mode Immediate, Sequence and CANopen Syntax EHOME Commands not MOVE Allowed See Also HOMETYP, LIMP, LIMN, MGHP, MGHN, PC, SLACT Description EHOME starts an absolute motion to position 0 (PC=0) The motion caused by EHOME is equivalent to an "MA 0"...
  • Page 207 12 Command Reference ELSE : Begin ELSE Block: execute if IF is false Execution Mode Sequence Syntax ELSE See Also IF, ENDIF, WHILE, WEND Description Branches to an alternate operation if the preceding conditional IF statement is not true. Example Command Description #List sequence 5...
  • Page 208 12 Command Reference ENC : Encoder Selection Execution Mode Immediate, Sequence Syntax ENC=n Range n = 0: Not Used 1: Driver Encoder 2: External Encoder 0: CM10-2, SCX10 Factory Setting 1: CM10-1, 3, 4, 5 SAVEPRM & RESET Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the parameter value is reset to the last saved value at device power up.
  • Page 209 12 Command Reference Example Command Description #Changing the ENC >ENC=1 #Device response ENC=0(1) [Not use(Driver)] #Save the parameter assignments >SAVEPRM #Device response (EEPROM has been written 21 times) Enter Y to proceed, other key to cancel. y Saving Parameters..OK. #Establish the saved parameter >RESET values Resetting system.
  • Page 210 12 Command Reference END : Motion End Execution Mode Sequence Syntax See Also Description The END statement can be used to formally terminate sequence text. END behaves exactly the same as a return statement (RET), but END, if used, must be the last statement in the sequence.
  • Page 211 12 Command Reference ENDACT : System End Action Execution Mode Immediate and Sequence Syntax ENDACT=n Range n = 0: End of Pulse Generation Greater than 0.001 to Max.pos/2: End Area (end of pulse generation AND motor is within end area) Factory Setting SAVEPRM &...
  • Page 212 12 Command Reference ENDIF : End of IF Block Execution Mode Sequence Syntax ENDIF See Also IF, ELSE, WHILE, WEND Description Indicates the completion of innermost conditional IF statement. Example Command Description #List sequence 5 >LIST 5 #If input 1 is ON, then do line 2 1) IF (IN1=1) #Move continuously, positive direction #Branch on not true, if line 1 is not true, then do line 4...
  • Page 213 12 Command Reference ENDL : End of LOOP Block Execution Mode Sequence Syntax ENDL See Also LOOP, BREAKL Description Terminates the innermost LOOP block Example Command Description #List sequence 5 >LIST 5 #Distance equals 1 user unit 1) DIS=1 #Loop the following 5 times 2) LOOP 5 #Do an Index Move #Wait for the move to end before executing the next command...
  • Page 214 12 Command Reference ENDWAIT : END wait time Execution Mode Immediate Syntax ENDWAIT=n Range n = 0.1 to 40.0 (seconds) Factory Setting SAVEPRM & RESET Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the parameter value is reset to the last saved value at device power up.
  • Page 215 12 Command Reference ER : Encoder Resolution Execution Mode Immediate and Sequence Syntax ER=n Range n = 10 to 51200 Factory Setting 100: CM10-3 200: CM10-2 1000: CM10-1, 4, 5, SCX10 SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 216 12 Command Reference EVx : Configure Event Output Execution Mode Immediate and Sequence Syntax EVx OUTy=z m=n EVx 0 Range x: Event Channel Number; 1 or 2 on the I/O connector) y: Output Number; 1 to 4 (general purpose output 'OUT1 to OUT4' z: Output Logic Level after Trigger;...
  • Page 217 12 Command Reference FREE : Current OFF, Magnetic Brake Free Execution Mode Immediate, Sequence and CANopen Syntax FREE=n Range n = 0: Normal Condition 1: Motor Shaft Free Factory Setting Access READ and WRITE See Also INxxx (INFREE), SIGxxx (SIGFREE), xxxLV (FREELV), CURRENT Description The FREE command is used to control the state of the FREE signal that is tied with the FREE and MBFREE output on the driver connector of the CM10/SCX10 and the MBFREE output on the I/O connector (if...
  • Page 218 12 Command Reference GA, GB : Electrical Gear Ratio (GA/GB) Execution Mode Immediate and Sequence Syntax GA=n {Numerator} GB=n {Denominator} Range n = 1 to 100 (integer values) Factory Setting SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 219 12 Command Reference Example Command Description #Set user units to mm (millimeters) >UU mm UU=mm #Set the distance per revolution to 10 >DPR 10 DPR=1(10) mm Position range = +/- 500000(500000) Velocity range = 0.001 - 2480(24800) Minimum Movable Distance = +/- 0.001(0.001) #Set the electrical gear ratio numerator >GA 3 to 3: system rescales again...
  • Page 220 12 Command Reference HELP : Display Help Information Execution Mode Immediate Syntax HELP Description Displays help information. Each screen displays the command syntax and a brief description. The SPACE key on the keyboard lists the next HELP screen. Any other keyboard key will exit the HELP screen mode. Example Command Description...
  • Page 221 12 Command Reference HOMEDCL : Select the Deviation Counter Clear During Mechanical Home Seeking Operation Execution Mode Immediate and Sequence Syntax HOMEDCL=n n = 0: Clear Deviation Counter in CM10/SCX10 at Homing Range 1: Clear Deviation Counter in both CM10/SCX10 and Driver at Homing 2: Not Clear Deviation Counter neither CM10/SCX10 nor Driver at Homing 0: CM10-1, 2, 3, 4, SCX10 Factory Setting...
  • Page 222 12 Command Reference HOMETYP : Mechanical Home Seeking Mode Execution Mode Immediate, Sequence and CANopen Syntax HOMETYP=n n = 0 to 11 (0): CM10-1, 2, 4, 5 Range 0 to 12 (0): CM10-3, SCX10 Factory Setting SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 223 12 Command Reference HSTOP : Hard Stop Execution Mode Immediate, Sequence and CANopen Syntax HSTOP See Also <ESC>, ABORT, MSTOP, MSTOPACT, PSTOP, SSTOP, PAUSE Description HSTOP stops the motor as quickly as possible. This command does not stop a sequence program. The HSTOP command operates independently of the motor stop action setting (MSTOPACT).
  • Page 224 12 Command Reference ID : Device ID Execution Mode Immediate Syntax ID=n Range n = *, 0 to 9 and A to Z (upper or lower case, not case sensitive) Factory Setting SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 225 12 Command Reference IF : Begin IF Block: execute if IF is true Execution Mode Sequence Syntax IF (element1 {Conditional Operator} element2) Range Conditional Expression See Also ELSE, ENDIF, WHILE, BREAKW, WEND, LOOP, BREAKL, ENDL Description Executes the conditional branching of an IF statement. Parentheses are required. Element1 and element2 may be any numeric variable available to sequences, or any numeric constant within the range -(Maximum Number) to +(Maximum Number).
  • Page 226 12 Command Reference IN : General Input Status Execution Mode Immediate, Sequence and CANopen Syntax Range 0 to 511 (integer values) /: real time monitor (immediate mode only) Access READ See Also IO, INx, xxxLV (INxLV), OUT, OUTx, INxxx, INSG, INITIO, REPORT, OUTTEST Description The IN command displays the current status of all the general purpose inputs, as one integer number.
  • Page 227 12 Command Reference INCABSx : Link Type for Link Segment 'x' Execution Mode Immediate, Sequence and CANopen Syntax INCABSx=n ( x is a number of linked segments: x=0 to 3.) Range n = 0: Absolute 1: Incremental Factory Setting SAVEPRM The new value takes effect immediately.
  • Page 228 12 Command Reference INITDIO : Initialize Driver I/O Execution Mode Immediate Syntax INITDIO SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up. If no new parameter value was saved, then the value is set to the factory setting.
  • Page 229 12 Command Reference INITIO : Initialize I/O Execution Mode Immediate Syntax INITIO SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up. If no new parameter value was saved, then the value is set to the factory setting.
  • Page 230 12 Command Reference All I/O configurations are set to factory #Device response default. Execute SAVEPRM then RESET to activate new #Save the parameter assignments settings. #Device response >SAVEPRM (EEPROM has been written 21 times) #Establish the saved parameter values Enter Y to proceed, other key to cancel. y Saving Parameters..OK.
  • Page 231 12 Command Reference INITPRM : Initialize Parameters Execution Mode Immediate Syntax INITPRM RESET Reset required before new value becomes active. Commands not MOVE, RUN Allowed See Also CLEARALL, CLEARPOS, CLEARSEQ, CLEARVAR, INITIO, INITDIO, INITRIO Description When executing the INITPRM command, the all parameters except position array data (POS[x]) and sequence programs restore to the factory setting.
  • Page 232 12 Command Reference INITRIO : Initialize Remote I/O Execution Mode Immediate Syntax INITRIO SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up. If no new parameter value was saved, then the value is set to the factory setting.
  • Page 233 12 Command Reference INSG : System Signal Input Status Execution Mode Immediate, Sequence and CANopen Syntax INSG Range 0 to 2096127 (integer values) /: real time monitor (immediate mode only) Access READ See Also IN, xxxLV, OUTSG, IO, SIGxxx, REPORT, OUTTEST Description The INSG command displays the current status of all the system input signals, as one integer number.
  • Page 234 12 Command Reference INx : Individual General Input Status Execution Mode Immediate and Sequence Syntax (INx is a signal name: IN1 to IN9) Range n = 0: Not Active 1: Active /: real time monitor (immediate mode only) Access READ See Also IN, INSG, INxLV, IO, OUTTEST, OUTx, SIGxxx, REPORT Description...
  • Page 235 12 Command Reference INxxx : System Signal Input Assignment Execution Mode Immediate Syntax INxxx=n ("xxx" represents the signal name to be assigned, and "n" represents the assigned terminal number ("n" becomes the INn input at the time of general input) Range n = 0 to 9 Factory Setting...
  • Page 236 12 Command Reference Example Command Description #Assign the ABORT signal to input 2 >INABORT 2 #Save the parameter assignments INABORT=0(2) >SAVEPRM (EEPROM has been written 2 times) Enter Y to proceed, other key to cancel. Y Saving Parameters..OK. #Establish the saved parameter value >RESET Resetting system.
  • Page 237 12 Command Reference IO : Input/Output Status Execution Mode Immediate Syntax Range /: real time monitor (immediate mode only) See Also xxxLV, INxxx, OUTxxx, IN, OUT, OUTTEST, INx, OUTx, SIGxxx, DIO, RIO, REPORT Description IO displays the current status of general purpose inputs and outputs and system input signals and system output signals.
  • Page 238 12 Command Reference KB : Keyboard Input Execution Mode Sequence Syntax variable = KB Range variable refers to any numeric variable which sequences can write to. Actual permitted range depends on variable -Max.Num to +Max.Num See Also KBQ, SAS, SACS, VIEW Description KB transmits a data entry prompt over the serial port, accepts a numeric value from the serial port, and assigns that value to variable.
  • Page 239 12 Command Reference KBQ : Keyboard Input (Quiet) Execution Mode Sequence Syntax variable = KBQ Range variable refers to any numeric variable which sequences can write to. Actual permitted range depends on variable -Max.Num to +Max.Num See Also KB, SAS, SACS, VIEW Description KBQ accepts a numeric value from the serial port, and assigns that value to variable.
  • Page 240 12 Command Reference LIMP, LIMN : Setting of Software Position Limits (Positive Direction, Negative Direction) Execution Mode Immediate and Sequence Syntax LIMP n: Maximum Permitted Position LIMN n: Minimum Permitted Position Range n = -MAXPOS to +MAXPOS (user units) Factory Setting SAVEPRM &...
  • Page 241 12 Command Reference Example Command Description #Set positive motion limit >LIMP 10 LIMP=0(10) Rev #Set negative motion limit >LIMN -10 LIMN=0(-10) Rev #Set software limit enable >SLACT 1 SLACT=0(1) #Configure HOME input only >INHOME 1 INHOME=0(1) #Set Home type. Use software limit >HOMETYP 8 instead of LSP, LSN HOMETYP=8...
  • Page 242 12 Command Reference LINKx : Link Control for Link Segment 'x' Execution Mode Immediate, Sequence and CANopen Syntax LINKx=n ( x is a number of linked segments: x=0 to 2.) Range n = 0: Segment (x) Terminates Motion 1: Link Segment (x) to Segment (x+1) Factory Setting SAVEPRM The new value takes effect immediately.
  • Page 243 12 Command Reference LIST : List Sequence Contents Execution Mode Immediate Syntax LIST target [startline] [endline] Range target can be the name or number of any existing sequence [startline] is an optional line number. [endline] is an optional line number, if [startline] is specified. If given, it must not be less than [startline]. See Also DIR, EDIT Description...
  • Page 244 12 Command Reference LISTVAR : Lists all User-defined Variables Execution Mode Immediate Syntax LISTVAR See Also CLEARVAR, CREATEVAR, N_xxx, S_xxx Description LISTVAR lists the names and values of all user-defined variables (String – S_xxx and Numeric – N_xxx) Example Command Description #List all user-defined variables >LISTVAR...
  • Page 245 12 Command Reference LOCK : Lock Sequence Execution Mode Immediate Syntax LOCK target Range target can be the name or number of any existing sequence. Commands not Allowed See Also DEL, DIR, EDIT, UNLOCK Description LOCK prevents changes to a sequence. A locked sequence cannot be deleted, renamed, or overwritten (by COPY or EDIT).
  • Page 246 12 Command Reference LOOP : Begin Counted LOOP Block Execution Mode Sequence Syntax LOOP n Range n = 1 to Max.Num (integer values), Loop Count See Also BREAKL, ENDL, WHILE, WEND Description LOOP begins a "loop block" structure, which must be terminated later in the sequence by a corresponding ENDL (end loop) command.
  • Page 247 12 Command Reference MA : Start Absolute Motion to the Specified Destination Execution Mode Immediate, Sequence and CANopen Syntax MA n Range n = -MAXPOS to +MAXPOS (user units) In immediate mode, 'n' can be a constant or any POS [x] position array variable. In a sequence, 'n' can be a constant or any variable which can be read within a sequence.
  • Page 248 12 Command Reference Example Command Description >LIST MOVEABS #Set PC=0 1) PC=0 #Set ramp times 2) TA=0.1; TD=0.1 #Set velocities 3) VS=0; VR=10 4) LOOP #Message-1 SAS Position 1 #Move to 0.25 user unit MA 0.25 MEND; WAIT 1 #Message-2 SAS Position 2 #Move to 0.75 user unit MA 0.75...
  • Page 249 12 Command Reference MAXEC : Maximum Encoder Count Execution Mode Immediate Syntax MAXEC 500000000: CM10-1, 4, 5, SCX10 Factory Setting 100000000: CM10-2 50000000: CM10-3 Access READ See Also EC, MAXPOS, ER Description MAXEC is the largest permitted value for encoder count (EC). EC must be between -MAXEC and +MAXEC.
  • Page 250 12 Command Reference MAXPOS : Maximum Position Value Execution Mode Immediate Syntax MAXPOS Factory Setting 500000 (user units) Access READ See Also DPR, GA, GB, MAXVEL Description MAXPOS (maximum position) is the largest permitted value for position-related parameter entry. Position related parameters (DIS, DISx, PC, OFFSET, SCHGPOS, LIMP, LIMN, ENDACT) must be between –MAXPOS and +MAXPOS.
  • Page 251 12 Command Reference MAXVEL : Maximum Velocity Value Execution Mode Immediate Syntax MAXVEL 1240: CM10-1, 4, 5, SCX10 Factory Setting 6200: CM10-2 12400: CM10-3 Access READ See Also DPR, GA, GB, MAXPOS Description MAXVEL (maximum velocity) is the largest permitted value for velocity-related parameter entry. Velocity related parameters (VS, VR, etc.) must be less than or equal to MAXVEL.
  • Page 252 12 Command Reference MBFREEACT : Magnetic Brake Free Action Execution Mode Immediate Syntax MBFREEACT=n Range n = 0: Driver alarm is unrelated. 1: MBFREE outputs on both the driver connector oｆ the CM10/SCX10 and the I/O connector become inactive when a driver alarm is active (electromagnetic brake is locked).
  • Page 253 12 Command Reference MCP, MCN : Move Continuously Positive, Move Continuously Negative Execution Mode Immediate, Sequence and CANopen Syntax MCP, MCN See Also <ESC>, ABORT, DIRINV, DPR, PSTOP, INxxx (INLSP, INLSN, INMSTOP, INPAUSE), xxxLV (INxLV, MSTOPLV), LIMP, LIMN, MSTOPACT, PAUSE, TA, TD, UU, VR, VS Description MCP and MCN start continuous motions, with no defined final position.
  • Page 254 12 Command Reference Example Command Description >LIST VCHANGE 1) TA 0.5; TD 0.5; VR 1 #Move continuously (positive) 2) MCP 3) LOOP IF (IN1=1) #Increase speed VR=VR+1; MCP #Send message 1 SAS Increase speed by 1 rev/sec WAIT TA WHILE (IN1=1); WEND ENDIF ( 10) IF (IN2=1)
  • Page 255 12 Command Reference MEND : Wait for Motion End Execution Mode Sequence Syntax MEND See Also SIGxxx (SIGMOVE, SIGEND), WHILE, WEND, IF, ENDIF Description MEND suspends sequence processing until motion is complete. Motion commands start motions, but do not wait for motion to complete. Other operations can be performed while the motor is moving.
  • Page 256 12 Command Reference MGHP, MGHN : Move Go Home Positive, Move Go Home Negative Execution Mode Immediate, Sequence and CANopen Syntax MGHP (move go home positive) MGHN (move go home negative) Commands not MOVE Allowed See Also DIRINV, INxxx (INHOME, INLSP, INLSN), RINxxx (RINHOME, RINLSP, RINLSN), HOMETYP, xxxLV (HOMELV), PC, OFFSET, OUTxxx (OUTHOMEP), OUTSG, SIGxxx (SIGHOMEP) Description MGHP and MGHN start motion patterns, attempting to find a mechanical home position which links...
  • Page 257 12 Command Reference Example Command Description #Check HOME input configuration >INHOME INHOME=1(1) #Set start velocity VS to 1 mm/second >VS 1 VS=1 mm/sec #Set run velocity VR to 20 mm/second >VR 20 VR=20 mm/sec #Use HOME, LSP, LSN >HOMETYP 4 HOMETYP=4 #Start seeking home, positive direction >MGHP...
  • Page 258 12 Command Reference MI : Start Incremental Motion, Distance DIS Execution Mode Immediate, Sequence and CANopen Syntax Commands not MOVE Allowed See Also DPR, DIS, MA, TA, TD, UU, VR, VS, CV Description MI starts a point-to-point incremental motion. The distance moved is determined by DIS, in user units. The direction of motion is determined by the arithmetic sign of DIS.
  • Page 259 12 Command Reference MIx : Start Linked Motion at Link Segment 'x' Execution Mode Immediate, Sequence and CANopen Syntax Range x = 0: Start with Link Segment 0 1: Start with Link Segment 1 2: Start with Link Segment 2 3: Start with Link Segment 3 Commands not MOVE...
  • Page 260 12 Command Reference Example Command Description #Set user units to in. (inches) >UU in #Device response UU=in #Set the velocity for linked move 1 to 5 user units/second >VR1 5 #Device response VR1=5 in/sec #Set the distance for linked move 1 to 10 user units >DIS1 10 #Device response DIS1=10 in...
  • Page 261 12 Command Reference MR : Motor Resolution Execution Mode Immediate and Sequence Syntax MR=n Range n = 10 to 51200 Factory Setting 100: CM10-3 200: CM10-2 1000: CM10-1, 4, 5, SCX10 SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 262 12 Command Reference MSTOP : Motor Stop Execution Mode Immediate, Sequence and CANopen Syntax MSTOP See Also <ESC>, ABORT, HSTOP, INxxx (INMSTOP), MSTOPACT, xxxLV (MSTOPLV), PSTOP, SSTOP Description MSTOP causes the motor to stop. This command does not stop a sequence program. Stop action can be a soft stop with controlled deceleration, or a hard stop (as quickly as possible), depending on motor stop action (MSTOPACT).
  • Page 263 12 Command Reference MSTOPACT : Motor Stop Action Execution Mode Immediate Syntax MSTOPACT=n Range n = 0: Hard Stop (stop as quickly as possible) 1: Soft Stop (controlled deceleration over time) Factory Setting SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 264 12 Command Reference N_xxx : User-defined Numeric Variables Execution Mode Immediate and Sequence Syntax N_xxx=n xxx=Variable Name: 1 to 10 Alphanumeric Characters (N_xxx can be the name of any existing user-defined numeric variable) Range n = -Maximum Number to +Maximum Number Factory Setting SAVEPRM The new value takes effect immediately.
  • Page 265 12 Command Reference OFFSET : Offset for Mechanical Home Seeking Execution Mode Immediate, Sequence and CANopen Syntax OFFSET=n Range n = -MAXPOS to +MAXPOS (user units) Factory Setting SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 266 12 Command Reference OTACT : Overtravel Action Execution Mode Immediate Syntax OTACT=n Range n = 0: Hard Stop (stop as quickly as possible) 1: Soft Stop (controlled deceleration over time) Factory Setting SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 267 12 Command Reference OUT : General Output Status Execution Mode Immediate, Sequence and CANopen Syntax OUT=n ∗ "=n" is required only when controlling. Range n = 0 to 15 (integer values) /: real time monitor (immediate mode only) Factory Setting Access READ and WRITE READ only in CANopen...
  • Page 268 12 Command Reference OUTSG : System Signal Output Status Execution Mode Immediate, Sequence and CANopen Syntax OUTSG Range n = 0 to 1983 /: real time monitor (immediate mode only) Access READ See Also SIGxxx, OUT, xxxLV, IO, REPORT, OUTTEST Description OUTSG displays the current status of all the system output signals, as one integer number.
  • Page 269 12 Command Reference OUTTEST : I/O Test Utility Execution Mode Immediate Syntax OUTTEST Commands not MOVE, RUN Allowed See Also IN, INx, INSG, SIGxxx, OUT, OUTx, OUTSG, IO, REPORT, xxxLV Description OUTTEST starts a utility process to check I/O connections and levels. Inputs are continuously monitored and displayed, and outputs can be set or cleared, to confirm proper external connections.
  • Page 270 12 Command Reference OUTx : Individual General Output Control Execution Mode Immediate and Sequence Syntax OUTx=n (OUTx is a signal name: OUT1 to OUT4) ∗ "=n" is required only when controlling. Range n = 0: Not Active 1: Active /: real time monitor (immediate mode only) Factory Setting Access READ and WRITE...
  • Page 271 12 Command Reference OUTxxx : System Signal Output Assignment Execution Mode Immediate Syntax OUTxxx=n "xxx" represents the signal name to be assigned, and "n" represents the assigned terminal number ("that" becomes the OUTn general output when unassigned). Range n = 0 to 4 Factory Setting 0 (unassigned) SAVEPRM &...
  • Page 272 12 Command Reference PABS : Driver Current Position Execution Mode Immediate, Sequence and CANopen Syntax PABS Range -2,147,483.648 to +2,147,483.647 Access READ See Also ABSREQ, ABSREQPC, ABSSTS, ROUTxxx (ROUTABSDATA) Description This is a variable to which the driver current position acquired by ABSREQ or ABSREQPC is written. The variable unit is the user unit.
  • Page 273 12 Command Reference PAUSE : Pause Motion Execution Mode Immediate, Sequence and CANopen Syntax PAUSE See Also SSTOP, CONT, INITIO, INxxx (INPAUSE, INPAUSECL), OUTxxx (OUTPSTS), OUTSG, xxxLV (PAUSECLLV, PAUSELV, PSTSLV), SIGxxx (SIGPAUSE, SIGPAUSECL, SIGPSTS), PAUSECLR Description PAUSE interrupts a motion, stopping the motor by controlled deceleration (soft stop). The applicable motion includes incremental motion (MI), absolute motion (MA) and continuous motion (MCP, MCN).
  • Page 274 12 Command Reference PAUSECLR : Pause Clear Execution Mode Immediate, Sequence and CANopen Syntax PAUSECLR See Also PAUSE, CONT, INxxx (INPAUSECL), RINxxx (RINPAUSECL), SIGxxx (SIGPAUSECL), OUTxxx (OUTPSTS) Description PAUSECLR clears the on-going operation state that has been paused by the input of a PAUSE signal or a PAUSE command.
  • Page 275 12 Command Reference PC : Position Command Execution Mode Immediate, Sequence and CANopen Syntax PC=n Range n = -MAXPOS to +MAXPOS (user units) /: real time monitor (immediate mode only) Factory Setting Access READ and WRITE READ only while motion is in progress See Also EHOME, MA, MGHP, MGHN, MI, PCI, PE, PF, PFI, MAXPOS Description...
  • Page 276 12 Command Reference PCI : Incremental Position Command Execution Mode Immediate and Sequence Syntax Range -2*MAXPOS to +2*MAXPOS /: real time monitor (immediate mode only) Access READ See Also PC, PE, PF, PFI Description PCI is the change in position command PC (position command) since the last motion started. PCI is continuously updated by the system.
  • Page 277 12 Command Reference PE : Position Error Execution Mode Immediate, Sequence and CANopen Syntax Range -MAXPOS to +MAXPOS /: real time monitor (immediate mode only) Access READ See Also ENDACT, PC, PCI, PF, PFI Description PE is the position error, the difference between position command (PC) and actual position (PF), in user unit. PE=PC- PF.
  • Page 278 12 Command Reference PECLR : Position Error Clear Execution Mode Immediate, Sequence and CANopen Syntax PECLR Commands not MOVE Allowed See Also INxxx (INPECLR), xxxLV (PECLRLV), SIGxxx (SIGPECLR), RINxxx (RINPECLR), EC, PC, PE, PF, ENDACT Description PECLR command resets the PE (position error) value to zero (0). When PECLR command is executed, the PC value is set to equal to PF value.
  • Page 279 12 Command Reference PF : Feedback Position Execution Mode Immediate, Sequence and CANopen Syntax PF=n Range n = −MAXPOS to +MAXPOS (user units) /: real time monitor (immediate mode only) Factory Setting Access READ, WRITE READ only while motion is in progress. See Also EC, ER, PC, PCI, PE, PFI, ENC, ENDACT Description...
  • Page 280 12 Command Reference PFI : Incremental Feedback Position Execution Mode Immediate and Sequence Syntax Range −2*MAXPOS to +2*MAXPOS (user units) /: real time monitor (immediate mode only) Access READ See Also PC, PCI, PE, PF Description PFI is the difference between actual motor position PF and the value of position command PC at the beginning of the last motion.
  • Page 281 12 Command Reference PLSINV : Pulse Output Invert Execution Mode Immediate Syntax PLSINV=n Range n = 0: Positive Logic 1: Negative Logic Factory Setting SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 282 12 Command Reference POS[x] : Position Array Data Execution Mode Immediate, Sequence and CANopen Syntax POS[x]=n (x is a number of position array data: x=1 to 100.) Range n = -MAXPOS to +MAXPOS Factory Setting SAVEPOS The new value takes effect immediately. However, SAVEPOS is required to save the parameter values in nonvolatile memory.
  • Page 283 12 Command Reference PRESET : Reset Home Position Execution Mode Immediate, Sequence and CANopen Syntax PRESET Commands not MOVE Allowed See Also DOUTxxx (DOUTPRESET), PC, PF, OUTxxx (OUTHOMEP), SLACT, LIMP, LIMN, ABSPLSEN Description When the PRESET command is executed, PC (position command) is set to zero. This position will be the electrical home.
  • Page 284 12 Command Reference PSTOP : Panic Stop Execution Mode Immediate, Sequence and CANopen Syntax PSTOP See Also <ESC>, MA, MCP, MCN, MGHP, MGHN, MI, EHOME, SSTOP, HSTOP, MSTOP, INxxx (INPSTOP), ALMACT, ABORT Description PSTOP stops the motor as quickly as possible (hard stop) and stop sequence, and then takes the alarm action determined by ALMACT, which may involve setting an alarm (alarm 68h), aborting sequences, and possibly disabling motor current.
  • Page 285 12 Command Reference PULSE : Pulse Output Mode Execution Mode Immediate Syntax PULSE=n Range n = 0: 2 Pulse Mode 1: 1 Pulse Mode Factory Setting SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 286 12 Command Reference REN : Rename Sequence Execution Mode Immediate Syntax REN target newname Range 'target' must be the name or number of an existing sequence. 'newname' must be a valid sequence name (consisting of letters, numbers or underscore, 10 characters maximum, must start with a letter except n, s, N, S, with no distinction of a capital letter or small letter.) Commands not Allowed...
  • Page 287 12 Command Reference REPORT : Display System Status Execution Mode Immediate Syntax REPORT See Also ALM, IO, OUTTEST Description REPORT displays a system status summary. The REPORT command can be an effective tool for troubleshooting problems with the system. The REPORT command displays the status and active level of all of the inputs and outputs, the values of important parameters, the value of position command PC, and the alarm and warning history.
  • Page 288 12 Command Reference RESET : Reset Device Execution Mode Immediate Syntax RESET See Also STRSW, VERBOSE, SAVEPRM, SAVEPOS, SAVEALL Description RESET resets the device. Performing a RESET operation is similar to cycling power, but may respond quicker. Several events occur when the device is reset: 1) Motor current is disabled, and the Magnetic Brake Control (MBFREE) output, if configured, is set to its open, non-conducting state.
  • Page 289 12 Command Reference RET : Sequence Return Execution Mode Sequence Syntax See Also ABORT, CALL, END Description RET terminates processing of the sequence that is currently running as a subroutine. If the sequence that contains "RET" was CALL'ed from another sequence, the original sequence will resume at the statement following the CALL statement.
  • Page 290 12 Command Reference RIN : Remote General Input Status Execution Mode Immediate, Sequence and CANopen Syntax Range 0 to 255 /: real time monitor (immediate mode only) Access READ See Also RIO, RINx, ROUT, ROUTx, RINxxx, INITRIO, REPORT Description The RIN command displays the current status of all the general purpose remote inputs, as one integer number.
  • Page 291 12 Command Reference RINx : Individual Remote General Input Status Execution Mode Immediate and Sequence Syntax RINx (RINx is a signal name: RIN1 to RIN8) Range n = 0: Not Active 1: Active /: real time monitor (immediate mode only) Access READ See Also...
  • Page 292 12 Command Reference RINxxx : Remote System Signal Input Assignment Execution Mode Immediate Syntax RINxxx=n "xxx" represents the signal name to be assigned, and "n" represents the assigned terminal number ("that" becomes the RINn remote general input when unassigned). Range n = 0 to 8 Factory Setting 0 (unassigned)
  • Page 293 12 Command Reference RIO : Remote I/O Status Execution Mode Immediate Syntax Range /: real time monitor (immediate mode only) See Also RINxxx, ROUTxxx, RIN, ROUT, RINx, ROUTx, DIO, IO, REPORT Description RIO displays the current status of general purpose remote inputs and remote outputs and system remote input signals and system remote output signals.
  • Page 294 12 Command Reference ROUT : Remote General Output Control Execution Mode Immediate, Sequence and CANopen Syntax ROUT=n ∗ "=n" is required only when controlling Range n = 0 to 63 (integer values) /: real time monitor (immediate mode only) Factory Setting Access READ and WRITE READ only in CANopen...
  • Page 295 12 Command Reference ROUTx : Individual Remote General Output Control Execution Mode Immediate and Sequence Syntax ROUTx=n (ROUTx is a signal name: ROUT1 to ROUT6) ∗ "=n" is required only when controlling. Range n = 0: Not Active 1: Active /: real time monitor (immediate mode only) Factory Setting See Also...
  • Page 296 12 Command Reference ROUTxxx : Remote System Signal Output Assignment Execution Mode Immediate Syntax ROUTxxx=n Range n = 0 to 6 Factory Setting 0 (unassigned) SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 297 12 Command Reference RUN : Run Sequence Execution Mode Immediate and CANopen Syntax RUN target Range 'target' must be the name or number of an existing sequence. Commands not Allowed See Also EDIT, DIR, ABORT, <ESC>, INxxx (INSTART) Description RUN starts execution of a sequence. Sequences can also be started with the dedicated START input if assigned on the I/O connector and/or the CANopen remote I/O.
  • Page 298 12 Command Reference S_xxx : User-defined String Variables Execution Mode Immediate and Sequence Syntax S_xxx=text xxx = 1 to 10 Alphanumeric Characters (S_xxx can be the name of any existing user-defined string variable.) Range text = 20 Characters Maximum Factory Setting Text is Empty.
  • Page 299 12 Command Reference SACS : Send ASCII Control String Execution Mode Sequence Syntax SACS string Range string : a series of ASCII characters or control codes, maximum 70 characters. See Also KB, KBQ, SAS, VIEW Description SACS transmits an ASCII string out the serial port. The string begins with the first non-space character following the SACS command, and continues to the last non-space character on the line.
  • Page 300 12 Command Reference SAS : Send ASCII String Execution Mode Sequence Syntax SAS string Range string : a series of ASCII characters, maximum 70 characters. See Also SACS, VIEW, KB, KBQ Description SAS transmits an ASCII string out the serial port, verbatim, appends a Carriage Return and Line Feed pair, and refreshes the system prompt.
  • Page 301 12 Command Reference SAVEALL : Save All Data Execution Mode Immediate Syntax SAVEALL Commands not MOVE, RUN Allowed See Also CLEARALL, RESET, SAVEPOS, SAVEPRM, INITPRM, CLEARPOS Description SAVEALL saves the all current parameter settings and position array data to nonvolatile memory (EEPROM).
  • Page 302 12 Command Reference SAVEPOS : Save Position Array Data Execution Mode Immediate Syntax SAVEPOS Commands not MOVE, RUN Allowed See Also CLEARALL, CLEARPOS, RESET, SAVEALL, SAVEPRM, INITPRM, TEACH, POS[x] Description SAVEPOS saves the all position array data (POS[x]) to nonvolatile memory (EEPROM). SAVEPOS affects the values of the position array data (following a power cycle or RESET command).
  • Page 303 12 Command Reference SAVEPRM : Save Parameters Execution Mode Immediate Syntax SAVEPRM Commands not MOVE, RUN Allowed See Also CLEARALL, SAVEALL, SAVEPOS, RESET, INITPRM Description SAVEPRM saves the all current parameter settings to nonvolatile memory (EEPROM). SAVEPRM affects the values of most parameters at system start (following a power cycle or RESET command).
  • Page 304 12 Command Reference SCHGPOS : Distance from SENSOR Input to the Stop Position Execution Mode Immediate, Sequence and CANopen Syntax SCHGPOS=n Range n = 0 to MAXPOS (user units) Factory Setting SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 305 12 Command Reference SCHGVR : Velocity after SENSOR Input Execution Mode Immediate, Sequence and CANopen Syntax SCHGVR=n Range n = 0.001 to MAXVEL (user units/second) Factory Setting SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 306 12 Command Reference SENSORACT : SENSOR Input Action Execution Mode Immediate Syntax SENSORACT=n Range n = 0: Hard Stop (stop as quickly as possible) 1: Soft Stop (controlled deceleration over time) 2: Soft Stop at Fixed Distance from SENSOR Signal 3: No Action Factory Setting SAVEPRM &...
  • Page 307 12 Command Reference SIGxxx : Status for System Input Signal/System Output Signal Execution Mode Immediate and Sequence Syntax SIGxxx ("xxx" indicate the signal name on the I/O connector. ex: SIGABORT) Range 0: "xxx" input/output is not active. 1: "xxx" input/output is active. /: real time monitor (immediate mode only) Access READ...
  • Page 308 12 Command Reference Example Command Description #List sequence SETTLETIME >LIST SETTLETIME #Start incremental motion 1) MI #Wait for motion profile complete (SIGMOVE=0) 2) MEND #Store TIMER value 3) Z=TIMER #While SIGEND=0… 4) WHILE (SIGEND=0) # … make variable T be elapsed time T=TIMER-Z #End of WHILE block 6) WEND...
  • Page 309 12 Command Reference SLACT : Software Position Limit Control Enable Execution Mode Immediate and Sequence Syntax SLACT n Range n = 0: Software position limits are disabled. 1: Software position limits are enabled after homing. Factory Setting SAVEPRM & RESET Required to execute any changes made to the parameter value and to save in nonvolatile memory.
  • Page 310 12 Command Reference Example Command Description #Positive position limit: 10 rev >LIMP 10 LIMP=0(10) Rev #Negative position limit: 10 rev >LIMN -10 LIMN=0(-10) Rev #Enable position limit checking >SLACT 1 SLACT=0(1) #Assign HOME input to input 1 >INHOME 1 INHOME=0(1) #Select HOME type 8 >HOMETYP 8 HOMETYP=8...
  • Page 311 12 Command Reference SSTOP : Soft Stop Execution Mode Immediate, Sequence and CANopen Syntax SSTOP See Also TD, HSTOP, MSTOP, MSTOPACT, PSTOP, ABORT Description SSTOP stops the motor with a controlled deceleration. The motor decelerates to start velocity VS over deceleration time TD, and then stops completely.
  • Page 312 12 Command Reference STARTACT : START Input Action Execution Mode Immediate Syntax STARTACT=n Range n = 0: START input starts sequence execution when asserted. While the sequence is running, START input also resumes the motion that has been paused by PAUSE command or input 1: START input starts sequence execution when asserted, and aborts sequence execution and motion when cleared.
  • Page 313 12 Command Reference STRDCS : Driver Step Angle at System Start Execution Mode Immediate and Sequence Syntax STRDCS=n Range n = 0: CS Output Off at System Start 1: CS Output On at System Start Factory Setting SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 314 12 Command Reference STRSW : Current State at System Start Execution Mode Immediate Syntax STRSW=n Range n = 0: Motor Current Off at System Start 1: Motor Current On at System Start 0: CM10-1, 5 Factory Setting 1: CM10-2, 3, 4, SCX10 SAVEPRM &...
  • Page 315 12 Command Reference TA : Acceleration Time Execution Mode Immediate, Sequence and CANopen Syntax TA=n Range n = 0.001 to 500.000 (seconds) Factory Setting SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 316 12 Command Reference TALK : Select Device Execution Mode Immediate Syntax TALKid Range id = *, 0 to 9 and A to Z See Also @, ID, \ (BACKSLASH) Description TALK makes a logical connection to a specific device in a multiple device, e.g. daisy chain configuration. That device can then be uniquely addressed and programmed.
  • Page 317 12 Command Reference TD : Deceleration Time Execution Mode Immediate, Sequence and CANopen Syntax TD=n Range n = 0.001 to 500.000 (seconds) Factory Setting SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 318 12 Command Reference TEACH : Teach Positions Execution Mode Immediate Syntax TEACH Commands not MOVE, RUN Allowed See Also POS[x] Description TEACH starts a utility process to find and store target positions into the position data array (POS[x]). While the TEACH process runs, the motor can be moved until an intended target position is reached, and then that position value can be stored in the POS[x] array.
  • Page 319 12 Command Reference TIM : Select Timing Input Signal Execution Mode Immediate and Sequence Syntax TIM=n Range n = 0: Use the TIMDEXTZ Input Signal for Mechanical home Seeking 1: Use the TIMS Input Signal for Mechanical Home Seeking Factory Setting SAVEPRM &...
  • Page 320 12 Command Reference TIMER : Running Timer Execution Mode Immediate, Sequence and CANopen Syntax TIMER=n Range n = 0.000 to 500000.000 (seconds) /: real time monitor (immediate mode only) Factory Setting Access READ and WRITE See Also ALM, WAIT Description TIMER is a running timer, counting seconds.
  • Page 321 12 Command Reference TL : Torque Limiting/Push-motion Operation/Current Cutback Release Execution Mode Immediate, Sequence and CANopen Syntax TL=n Range n = 0: OFF 1: ON Factory Setting Access READ, WRITE See Also DD, DOUTxxx (DOUTTL, DOUTM0, DOUTM1, DOUTM2, DOUTCS), INxxx (INTL), DINxxx (DINLC), OUTxxx (OUTLC), SIGxxx (SIGTL, SIGLC), DSIGxxx (DSIGTL, DSIGLC, DSIGM0, DSIGM1, DSIGM2) Description ・When using a driver that has a torque limiting function (NX Series driver etc.), the torque will be limited...
  • Page 322 12 Command Reference TRACE : Sequence Trace Control Execution Mode Immediate Syntax TRACE=n Range n = 0: Trace is disabled. 1: Trace is enabled. Factory Setting Access READ, WRITE See Also RUN, ABORT, LIST Description TRACE enables or disables tracing of sequence statements. When sequence tracing is enabled (TRACE=1), sequence statements are displayed as they are executed, one statement at time, surrounded by "curly braces"...
  • Page 323 12 Command Reference UNLOCK : Unlock Sequence Execution Mode Immediate Syntax UNLOCK target Range Target can be the name or number of any existing sequence. Commands not Allowed See Also DIR, EDIT, LOCK Description UNLOCK unlocks a sequence that has been previously locked with the LOCK command. A locked sequence cannot be deleted, renamed, or overwritten (by COPY or EDIT).
  • Page 324 12 Command Reference USBBAUD : USB BAUD Rate Execution Mode Immediate and Sequence Syntax USBBAUD= n Range n = 0: 9600 (bps) 1: 19200 2: 38400 3: 57600 4: 115200 Factory Setting SAVEPRM & Required to execute any changes made to the parameter value and to save in nonvolatile memory. Otherwise, the RESET parameter value is reset to the last saved value at device power up.
  • Page 325 12 Command Reference UU : User Units Execution Mode Immediate Syntax UU=User Unit Name Range User Unit Name = ASCII Characters, 20 Characters Maximum, Except ";" and "@" Factory Setting Rev: CM10-1, 2, 4, 5, SCX10 mm: CM10-3 SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 326 12 Command Reference VC : Velocity Command Execution Mode Immediate, Sequence and CANopen Syntax Range -MAXVEL to +MAXVEL /: real time monitor (immediate mode only) (In sequences, the maximum value is further limited by "Max. Number".) Access READ See Also VR, VS Description VC is the instantaneous velocity command, or set-point.
  • Page 327 12 Command Reference VER : Display Firmware Version Execution Mode Immediate Syntax Description VER displays the system's firmware version information. Example Command Description >VER #Display the firmware version CM10-1 / 2.02 / Sep 6 2011 #Typical response (product name / firm ware version number / >...
  • Page 328 12 Command Reference VERBOSE : Command Response Control Execution Mode Immediate Syntax VERBOSE=n Range n = 0: Respond with Data only 1: Respond with Data and Descriptive Text Factory Setting SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 329 12 Command Reference VIEW : View Parameter Execution Mode Sequence Syntax VIEW element Range 'element' can be the name of any parameter or variable available in sequences. See Also KB, KBQ, SACS, SAS, VERBOSE Description VIEW transmits the value of a parameter or variable without any extra characters. When a value is transmitted in response to a simple query (using just the parameter or variable name), the system transmits the numeric value, followed by a carriage return, a linefeed, and a new prompt.
  • Page 330 12 Command Reference VR : Running Velocity Execution Mode Immediate, Sequence and CANopen Syntax VR=n Range n = 0.001 to MAXVEL (user units/second) (In sequences, the maximum value is further limited by "Max. Number".) Factory Setting SAVEPRM The new value takes effect immediately. However, SAVEPRM is required to save the parameter values in nonvolatile memory.
  • Page 331 12 Command Reference VRx : Running Velocity of Link Segment 'x' Execution Mode Immediate, Sequence and CANopen Syntax VRx=n (x is a number of linked segments: x=0 to 3.) Range n = 0.001 to MAXVEL (user units/second) (In sequences, the maximum value is further limited by "Max. Number".) Factory Setting SAVEPRM The new value takes effect immediately.
  • Page 332 12 Command Reference VS : Starting Velocity Execution Mode Immediate, Sequence and CANopen Syntax VS=n Range n = 0 to MAXVEL (user units/second) ∗ Although a value of "0" can be set, the minimum value of VS is limited to 1Hz at pulse output. If a user unit value equivalent to less than 1Hz is entered, the VS is internally set to 1Hz.
  • Page 333 12 Command Reference WAIT : Wait for Specified Time Execution Mode Sequence Syntax WAIT n Range n = 0.0 to 500000.0 (seconds) See Also KB, KBQ, TIMER, MEND Description WAIT causes sequence execution to wait for the indicated time, before proceeding to the next statement. Example Command Description...
  • Page 334 12 Command Reference WEND : End of WHILE Block Execution Mode Sequence Syntax WEND See Also ENDIF, ENDL, IF, LOOP, WHILE, BREAKW Description WEND terminates the innermost WHILE block in a sequence. Processing returns to the WHILE which started the block, for re-evaluation. If the WHILE condition fails, processing continues with the statement following the WEND statement.
  • Page 335 12 Command Reference WHILE : Begin WHILE Block Execution Mode Sequence Syntax WHILE (Conditional Expression) Conditional Expression: element1 {Conditional Operator} element2 Range Conditional Expression See Also WEND, BREAKW, IF, LOOP Description WHILE begins a conditional iterative block. Statements between the opening WHILE statement and the closing WEND statement execute while the conditional expression is true.
  • Page 336 12 Command Reference xxxLV : System Input Level/System Output Level Execution Mode Immediate "xxx" signal input/output assignment) Syntax xxxLV=n Range < Except: EXTZLV, TIMDLV> n = 0: Normally Open 1: Normally Closed <EXTZLV, TIMDLV> n = 0: Positive Logic 1: Negative Logic Factory Setting <...
  • Page 337 12 Command Reference Command Signal Description See Also TLLV Torque Limiting /Push-motion Operation /Current Cutback Release <General Input> Command Signal Description See Also INxLV Individual General Input Status (x=1 to 9) <Output> Command Signal Description See Also ALARMLV ALARM Alarm ALARM, ALM, ALMCLR ENDLV Motion End...

  • Page 338: Troubleshooting

    13 Troubleshooting 13 Troubleshooting This chapter explains the system's protective functions and procedures for troubleshooting alarm conditions. 13.1 Protective Functions and Troubleshooting This section covers the system's protective functions and methods used to recover from alarm conditions. • Most alarm conditions cause motion and sequence processing to stop, and some of them cause the system to disable motor current and lose holding torque.
  • Page 339 13 Troubleshooting • How to Check the Protective Functions The type of protective function that has been activated can be checked using the following two methods: 1) Count how many times the ALARM LED blinks on the front side of the device. An example of the ALARM LED’s blinking cycle is shown in the figure below.

  • Page 340: Types Of Protective Functions (Alarms)

    13 Troubleshooting 13.2 Types of Protective Functions (Alarms) ALARM Alarm ALMCLR Protective Phenomenon Description Action Effect Function Code Blinks Motion and Clears Out of position The PABS value Check that PABS is in the sequence alarm range exceeded the range. execution coordinate control stop...
  • Page 341 13 Troubleshooting ALARM Alarm ALMCLR Protective Phenomenon Description Action Code Effect Function Blinks Motion and Clears LS logic error Positive and negative - Check limit sensors and sequence alarm position limit signals wiring. execution on simultaneously - Check input signal stop configuration.
  • Page 342 13 Troubleshooting ALARM Alarm ALMCLR Protective Phenomenon Description Action Code Effect Function Blinks Motion and Clears Panic stop System executed a If a panic stop was sequence alarm panic stop because of unexpected: execution a PSTOP input or - Check PSTOP input stop.

  • Page 343: Inspection

    14 Inspection 14 Inspection It is recommended that periodic inspections be conducted after each operation of the device. If an abnormal condition is noted, discontinue any use and contact your nearest office. During Inspection • Are any of the device mounting screws loose? •...

  • Page 344: Specifications

    15 Specifications 15 Specifications Operation Mode Immediate/Stored program Programs Number of Programs Size Total sequences: 6 kB (compiled) 21 kB (text + compiled) 1 sequence: 6 kB (text) 2 kB (compiled) Immediate Motion Creator for CM/SCX Series (supplied software) Programming Method or General terminal software Function Example Subroutines, Math/Logical/Conditional operators, User variables...
  • Page 345 15 Specifications General Specification Operation Degree of IP20 protection Environment Ambient 0 to +50 °C (+32 to +122 °F) (non-freezing) temperature Humidity 85% or less (non-condensing) Altitude Up to 1000 m (3300 ft.) above sea level Surrounding No corrosive gas, dust, water or oil atmosphere Storage Ambient...
  • Page 346 15 Specifications Dimensions unit: mm (inch) • CM10-1, 3, 4, 5 0.5 (0.02) max. 18.5 (0.73) max. 87 (3.43) × M2.6 38.6 (1.52) 22 (0.87) 8 LEADS (ENCODER) 5 (0.20) 32 (1.26) • CM10-2 0.5 (0.02) max. 18.5 (0.73) max. 87 (3.43) ×...
  • Page 347 15 Specifications • CM10-1 with ARD-A, C, S, LSD-A, C, S driver 160 (6.30) 45 (1.77) 125 (4.92) ARD-A,C,S CM10-1 2x#4-40UNC 38.6 (1.52) 18.5 (0.73) max. 87 (3.43) 27 (1.06) 62 (2.44) 5 (0.20) 32 (1.26) • CM10-1 with NXD20-A, C driver 175.5 (6.91) 50 (1.97) 140 (5.51)
  • Page 348 15 Specifications • CM10-1A with ARD-K, LSD-K driver ARD-K 95.8 (3.77) 35 (1.38) 4 (0.16) 60 (2.36) CM10-1 2x#4-40UNC 38.6 (1.52) 18.5 (0.73) max. 87 (3.43) 52.3 (2.06) 5 (0.20) 32 (1.26) • CM10-2 with RBD215A-K, RBD228A-K, RBD242A-V, RBD245A-V driver 48.8 (1.92) 116 (4.57) RBD2...
  • Page 349 15 Specifications • CM10-3 with ESMC-A2, C2 controller 156.5 (6.16) 46 (1.81) 122 (4.80) ESMC-A2,C2 CM10-3 2x#4-40UNC 38.6 (1.52) 18.5 (0.73) max. 87 (3.43) 3.5 (0.14) 63 (2.48) 5 (0.20) 32 (1.26) • CM10-3 with ESMC-K2 controller 134.8 (5.31) 46 (1.81) 100 (3.94) ESMC-K2 CM10-3...
  • Page 350 15 Specifications • CM10-4 with ASDxxx-A, C, S, ARLDxxx-A, C, S driver See "4.3 Combinations of CM10 and Drivers" for Driver Model. 155.2 (6.11) 45 (1.77) 4.4 (0.17) 120 (4.72) □□ -A,C,S CM10-4 2x#4-40UNC 38.6 (1.52) 18.5 (0.73) max. 87 (3.43) 65.2 (2.57) 62.7 (2.47) 5 (0.20)

  • Page 351: Appendix A Signals For Driver

    Appendix A Signals for Driver Appendix A Signals for Driver A.1 Connector Pin Assigment for Driver CM10-1 (For AR (LSD)/NX Series driver) CM10-1 Driver Driver General Signal Name of Signal Name of I/O When AR Series Driver/LSD Signal Name Description NX Series Driver Releasing Driver...
  • Page 352 Appendix A Signals for Driver CM10-2 (For RBK Series driver) RBK Series Driver CM10-2 Driver General I/O Signal Name Signal Name Description When Releasing Assignment PLS+ input PLS+/(CW+) Pulse output +/(CW pulse output +) PLS24+ input No connection DIR+ input DIR+/(CCW+) Direction output +/(CCW pulse output +) AWO input...
  • Page 353 Appendix A Signals for Driver CM10-3 (For ESMC controller) ESMC Controller CM10-3 Driver General I/O Signal Name Signal Name Description When Releasing Assignment OUT-COM IN-COM Input common ALARM Alarm input MOVE MOVE Motor moving input Motion end input/Position data output ready END/OUTR END/PR input...
  • Page 354 Appendix A Signals for Driver CM10-4 (For AS Series driver/ARL Series driver) AS/ARL Series Driver CM10-4 Driver General I/O Signal Name Signal Name Description When Releasing Assignment Vcc+5V 5V_OUT Power for Driver I/O Ground connecton Vcc+24V No connection CCW+/DIR.+ DIR+/(CCW+) Direction output/(CCW pulse output) CCW-/DIR.- DIR-/(CCW-)
  • Page 355 Appendix A Signals for Driver CM10-5 (NX Series driver) NX Series Driver CM10-5 Driver General I/O Signal Name Signal Name Description When Releasing Assignment Ground connecton ASG+ ASG+ A-phase pulse differential input ASG- ASG- BSG+ BSG+ B-phase pulse differential input BSG- BSG- ZSG+...

  • Page 356: Input Signals For Driver

    Appendix A Signals for Driver A.2 Input Signals for Driver Signals • ALARM (alarm) Input (CM10-1, 2, 3, 4, 5) This signal is used to input the alarm signal (ALM output) from the driver. If a driver alarm has occurred, the system ALARM signal/status becomes active (alarm code 6Eh: driver alarm). The motor will decelerate to a stop and the sequence program will also stop.
  • Page 357 Appendix A Signals for Driver • ASG/BSG (ASG pulse/BSG pulse differential) Inputs (CM10-1, 3, 4, 5) These signals are used to input the pulse output signals (ASG, BSG) from the driver that correspond the motor operation. The CM10 continuously monitors the feedback position (PF), calculated from encoder count (EC) that counts these input pulses.
  • Page 358 Appendix A Signals for Driver Memo • The warning outputs from the AR Series driver/LSD driver, NX Series driver and the electromagnetic brake control signal output from the NX Series driver are not supported. However, these signals are connected to the driver general input IN2 of the CM10-1/CM10-5.

  • Page 359: Output Signals For Driver

    Appendix A Signals for Driver A.3 Output Signals for Driver Signals • PLS/CW and DIR/CCW Output (CM10-1, 2, 3, 4, 5) These terminals are used to output the pulse and direction signals to the driver. The motor will rotate in the CW direction with the DIR (direction) output turned ON and in the CCW direction with the DIR output turned OFF.
  • Page 360 Appendix A Signals for Driver This signal can be controlled using the ALMCLR input signal on the system I/O connector (if assigned), the ALMCLR command or CANopen communication. When the alarm is inactive, this signal functions as the deviation counter clear, and can be controlled using the PECLR input signal on the system I/O connector (if assigned), the PECLR command or CANopen communication.

  • Page 361: Appendix B How To Send Commands Using Ascii Strings

    Appendix B How to Send Commands Using ASCII Strings Appendix B How to Send Commands Using ASCII Strings Abbreviation for ASCII Data For convenience, following expressions are used in this manual. Description ASCII Hex (Dec) [BEL] BELL 07h (7) [BS] Back Space 08h (8) [LF]...
  • Page 362 Appendix B How to Send Commands Using ASCII Strings Command Format Following shows the command format. Case (Upper/Lower) of the character is not a matter unless specified. Decimal point number is accepted in some of the parameters. • Parameters No '=' (only spaces) can be accepted only for constant (immediate) value entry. (Format) [Parameter] [=(2Dh)] [Parameter value] [EOL] [Parameter] [SP] [Parameter value (constant)] [EOL] ■...

  • Page 363: Appendix C Tips

    Appendix C TIPS Appendix C TIPS The CM10 has useful functions that may not be found immediately. This section shows references that might conveniently be used. Motion Command • Changing velocity during motion - If moving for positioning by MI or MA, use the command CV to set the new desired speed . - If moving continuously by MCP, set the new VR, and execute the MCP command again.
  • Page 364 Appendix C TIPS Maintenance • Viewing I/O status all at once - Use the IO command for I/O connector signals, the DIO command for driver connector on the CM10 signals and the RIO command for remote I/Ox (CANopen) signals. • Viewing individual input state, viewing and toggling individual output state - Use the INx and OUTx commands for I/O connector signals, the DINx and DOUTx commands for driver connector on the CM10 signals, and the RINx and ROUTx commands for remote I/Ox (CANopen) signals.
  • Page 365 Appendix C TIPS Sequence Program • Commenting inside a sequence - Use the‘#’ followed by a commenting text. • Temporarily disable specific command lines in a sequence - Insert a ‘#’ before command line. • Using user variable, either numeric value or text string in a sequence - Set desired variable with CREATEVAR command.
  • Page 366 8:30 to 5:00 , P.S.T. (M-F) Tel:0211-52067-00 Fax:0211-52067-099 A.M. P.M. 7:30 to 5:00 , C.S.T. (M-F) Munich Office A.M. P.M. Tel:(02)8228-0707 Fax:(02)8228-0708 E-mail: techsupport@orientalmotor.com Tel:089-3181225-00 Fax:089-3181225-25 www.orientalmotor.com Hamburg Office Tel:+65-6745-7344 Fax:+65-6745-9405 Tel:040-76910443 Fax:040-76910445 Tel:(03)22875778 Fax:(03)22875528 Tel:01256-347090 Fax:01256-347099 Tel:+66-2-251-1871 Fax:+66-2-251-1872 Tel:01 47 86 97 50...

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