HP-19037 1 EMP400 2 3 POWER EMP400 4 5 6 7 ALARM CN2 8 9 CN3 CN1 10 24V DC CN4 TB1 11
12 Copyright ORIENTAL MOTOR CO., LTD. 2001 2
1 2 3 4 5 1.1...1-2 1.2... 1-2 2.1... 2-2 2.2... 2-4 3.1... 3-2 3.2... 3-3 3.3 EMP400... 3-4 4.1...4-2 4.2...4-2 4.3...4-3 5.1... 5-2 5.2... 5-3 5.3 CN1... 5-4 5.3.1... 5-4 5.3.2... 5-5 5.3.3... 5-6 5.3.4... 5-7 5.4 CN3 CN4 EMP402... 5-8 5.4.1... 5-8 5.4.2... 5-9 5.4.3... 5-10 5.4.4... 5-11 5.5 CN2...5-12 5.5.1... 5-12 3
6 7 8 6.1...6-2 6.2... 6-3 6.2.1... 6-3 6.2.2... 6-3 6.3... 6-4 6.3.1... 6-4 6.3.2... 6-5 6.3.3... 6-8 6.4... 6-9 6.5... 6-10 6.5.1... 6-11 6.5.2... 6-12 6.5.3... 6-14 6.6... 6-17 6.6.1... 6-17 6.6.2... 6-18 6.6.3... 6-24 6.7... 6-25 7.1...7-2 7.2...7-3 7.2.1... 7-4 7.2.2... 7-5 7.2.3... 7-6 7.3...7-7 7.4... 7-8 8.1... 8-2 8.2... 8-3 8.2.1... 8-3 8.2.2... 8-4 8.2.3... 8-5 8.2.4... 8-7 8.3... 8-8 8.4... 8-9 8.5... 8-11 ABS... 8-11 ACTL... 8-12 CJMP... 8-13 D... 8-14 DEL... 8-15 DELAY... 8-16 DOWEL... 8-17 DWNLD... 8-18 EDIT... 8-19 4
EEN... 8-20 END... 8-21 ENDL... 8-22 ETIME... 8-23 H... 8-24 ID... 8-25 IN... 8-26 INC... 8-27 JMP... 8-28 LOOP... 8-29 MHOME... 8-30 MU... 8-32 OFS... 8-33 OUT... 8-34 PULSE... 8-35 R... 8-36 RAMP... 8-37 RESET... 8-38 RTNCR... 8-39 RUN... 8-40 S... 8-41 SCAN... 8-42 SEN... 8-43 T... 8-44 TIM... 8-45 UNIT... 8-46 UPLD... 8-47 V... 8-48 VS... 8-49 9 9.1...9-2 9.2...9-3 9.2.1... 9-3 9.2.2... 9-4 9.2.3... 9-4 9.2.4... 9-5 9.2.5... 9-5 9.3... 9-6 9.4...9-7 9.5...9-8 9.5.1... 9-9 9.5.2... 9-10 9.5.3... 9-11 9.5.4... 9-13 9.6...9-14 9.7...9-15 5
10 11 10.1 ALARM LED... 10-2 10.1.1... 10-2 10.2... 10-3 11.1... 11-2 11.2... 11-3 11.3... 11-4 11.4... 11-5 11.4.1... 11-5 11.4.2... 11-6 11.4.3... 11-7 11.5... 11-8 6
1
START Windows 8 6 EMP400 32 START RS-232C OP300 EMP400 1-2
2
housing ALM() 2-2
2-3
EMP400 OP300 12DC24V 5%0.45A OP300 2 300mm AWG16 (1.25mm 2 ) AWG16 (1.25mm 2 ) 2-4
3
POWER ALARM CN3 CN4 CN2 EMP400 TB1 CN1 24V DC HP-19037 EMP400 EMP401-2EMP402-2 EMP401-2 EMP402-2 EMP401-2EMP402-2 1 EMP400 2 3 4 5 6 7 8 9 10 11 I/O 54306-5011(MOLEX) 10150-3000VE ( 3M) 54331-0501(MOLEX) 10350-52A0-008 ( 3M) AXIS 54306-2611(MOLEX) 10126-3000VE ( 3M) 54331-0261(MOLEX) 10326-52A0-008 ( 3M) 3-2
POWER LED CN2 AXIS1 CN3 ALARM LED I/O CN1 AXIS2 CN4 EMP402 DC24V 3-3
EMP400 EMP402 3-4
4
housing 0 C~+50 C 20%~85% housingdin 2 housing housing25mm 50mm 50mm 4-2
DINDIN 50 C DIN 35mm DIN M3 M4-2 125 0.1mm DIN 10~20N DIN 4-3
4-4
EMP400 5
5-2 EMP401-2EMP402-2 I/O AXIS 1 26 25 50 2 1 3 5 7 9 11 13 15 17 19 21 23 25 4 6 8 10 12 14 16 18 20 22 24 27 26 28 30 32 34 36 38 40 42 44 46 48 50 29 31 33 35 37 39 41 43 45 47 49 1 14 13 26 2 1 3 5 7 9 11 13 4 6 8 10 12 15 14 16 18 20 22 24 26 17 19 21 23 25 AWG28(0.08mm 2 ) M2-2 0.3 ~ 0.35N m(3.0~ 3.5kgfcm) M2.5-2 0.50 ~ 0.55N m(5.0~ 5.5kgfcm)
TB1 TB1 FG DC24V 5%0.45A AWG20(0.5mm 2 ) AWG20(0.5mm 2 ) 0.5N m(5.0kgfcm) AWG18(0.75mm 2 ) AWG18(0.75mm 2 ) 0.5N m(5.0kgfcm) 5-3
I/O50 I/O CN1 5-4
E-STOP B E-STOP E-STOP GND START S-STOP S-STOP M0~M4 M0~M4 7.2 5-5
E-STOP ALM 10.1 ALARM LED A B B START READY 10ms END END O END O 5-6
EMP400 5-7
EMP402 AXIS26 CN3 1 AXIS CN4 2 AXIS CN3 CN4 CN3 CN4 5-8
END END HOMELS AND HOMELS SLIT AND A BB LS LS LS LS A BA 3 HOMELS A BA HOMELS AND HOMELS TIM AND A B A 5-9
11DIR CW CCW PULSE12 2 CCR500 E-STOP RESET 5-10
5-11
CN2 CN2 5-12
6
2 6.3 6.4 6.5 6.3 6.5.2 6-2
0~31 32 99 7.3 33 1000 112581000 250021000 8.2.1 PULSE ID ID LS HOMELS SLIT ACTL ACTL ACTL SEN END EEN TIM TIM SLIT TIM Unit UNIT 6-3
6-4
FC04W5 FC04W5 6-5
9600bps 8 1 6-6
6-7
EMP 6-8
Windows Empty... Direct Insert mode. 1 100Hz 3000Hz6000 CW 6-9
6.7 6-10
1 Seq *1 Seq 1 Seq *2 [1] LOOP 10 2 3 4 Enter 1 [2] VS 100 [3] V 3000, TR 30 [4] D 1000 [5] INC [6] ENDL *3 *4 5 Seq 2 LOOP 10 *5 6 VS 100 7 *6 V 3000 D 1000 inc ;comment *7 ENDL.txt 2 Seq 1 [1] LOOP 10 [2] VS1 100 [3] syntax error *3 [4] D1 D 1000 3 4 6 n [5] INC1 [6] ENDL Seq 2 [1] LOOP 10 *4 [2] VS1 100 7 *6 [3] V1 3000 [4] D1 D 1000 [5] INC1 [6] ENDL *7 6-11
DWNLDEnter 6-12
Completed. 1 5 6-13
.txt UPLDEnter Select upload Sequence No.0-31,99,A 6-14
0 31 99 AEnter (Start TEST CAPTURE ) 6-15
Enter (End TEXT CAPTURE ) Enter 0> 6-16
EDITENTER 6-17
EDIT 6-18
1 EDIT 1Enter 1 A4Enter 4 6-19
b. ABS1 c. Enter 14ABS 1 6-20
DELAY 1 a. I 5Enter 5 b. DELAY 1 6-21
c. Enter 15DELAY 1 a. D7Enter (Delete line 7(Y/N)?) 6-22
b. Y c. Enter 17 6-23
Enter 0> 6-24
A/I/D Can not Overwrite >> Command: Completed. Delete line n (Y/N)? Empty...Direct Insert Mode. (ESC/Q=exit) End TEXT CAPTURE Insert line n Invalid value. Line dose not exist. Press ENTER key. Select: Ax, Ix, or Dx (Alt/Ins/Del/Q = exit) Select upload Sequence No. 0-31, 99, A (0-31, 99, ALL)? Start DOWNLOAD Start TEXT CAPTURE Syntax error. n Enter 6-25
6-26
7
3 7.2 99 RESET 7.3 7.4 7-2
7-3 CN1 M0 M4 START M0 M4 START M0~M4 CN1 : 33 ~37 M0 M1 M2 M3 M4 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 M0 M1 M2 M3 M4 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 START CN1 : 3
1 S-STOP 3 1 Seq 1 [1] D 10000 [2] INC [3] IN 1,1 [4] H [5] SCAN 7-4
E-STOP 7-5
ALM 7-6
99 CFIG RESET 99 99RESET 99 EDIT 99 99 6 7-7
RUN RUN** Enter RUN 7-8
EMP400 8
EDIT 1 EDIT1 EDIT 1 RTNCR2 RTNCR2 IN 1 0 10 IN 1 0 PULSE1 EEN2 8.5 n 331000 125 81000 500 21000 8-2
EMP400 99 ACTL LS HOMELS SLIT ALM ALM EEN END ETIME END 10ms ID 10103000100000 PULSE SEN TIM TIM SLIT TIM SLIT UNIT 8-3
D 0 DOWEL 0 H MU 0 RAMP 0 50ms T 30.0ms/kHz V 10,000Hz VS 1,000Hz 8-4
8-5 ABS INC MHOME OFS RESET RTNCR RUN S SCAN EMP400
2 2 2 2 2D 10.2 Position counter overflow. please clear position counter. 8-6
8-7 EEPROM EEPROM EDIT EEPROM DWNLD EEPROM DEL EEPROM EDIT DWNLD EEPROM
<BKSP> 0> <ENTER> ENTER <CR(0x0A)>, <LF CR(0x0D 0x0A)>, <CR LF(0x0A 0x0D)> 0>MHOME1<ENTER> <ESC> 0>MHOME<ESC> MHOME 8-8
LS HOMELS SLIT 8-9
8-10
ABS ABS (1 I 2 I C) (1 I 2 I C) 8-11
ACTL ACTL (1 2) [, ]n1 [, ]n2 [, ]n3 [, ]n4 ([, ]n5) (1 2) 0>ACTL1 0: ACTL1 0,0,0,1,1 0>ACTL2 0: ACTL2 0,1,0,1,1 8-12
CJMP CJMP [, ]n1 [, ]n2 [, ]n3 n1 n2 n3 8-13
D D (1 2) [, ] (+ -)n (1 2) (+ -) 0>D 0: D1 = +1000 0>D1 0: D1 = +1000 0>D2 0: D2 = -1000 8-14
DEL DEL [, ]n n >Delete Seq.(n) : (Y/N) 8-15
DELAY DELAY [, ]n n 8-16
DOWEL DOWEL (1 2) [, ]n (1 2) n 0>DOWEL2 0: DOWEL2=10 [1] D 1000 [2] DOWEL 10 [3] INC [4] INC 8-17
DWNLD DWNLD 8-18
EDIT EDIT [, ]n n 0>EDIT SEQUENCE DIRECTORY: Seq.0 0Steps. Seq.1 0Steps. Seq.2 0Steps. Seq.3 0Steps. Seq.4 0Steps. Seq.5 0Steps. Seq.6 0Steps. Seq.7 0Steps. Seq.8 0Steps. Seq.9 0Steps. Seq.10 0Steps. Seq.11 0Steps. Seq.12 0Steps. Seq.13 0Steps. Seq.14 0Steps. Seq.15 0Steps. Seq.16 0Steps. Seq.17 0Steps. Seq.18 0Steps. Seq.19 0Steps. Seq.20 0Steps. Seq.21 0Steps. Seq.22 0Steps. Seq.23 0Steps. Seq.24 0Steps. Seq.25 0Steps. Seq.26 0Steps. Seq.27 0Steps. Seq.28 0Steps. Seq.29 0Steps. Seq.30 0Steps. Seq.31 0Steps. Config 0Steps. * 1000Steps free. 8-19
EEN EEN (1 2) [, ]n (1 2) n END 0>EEN1 0: EEN1=1 0>EEN2 0: EEN2=1 8-20
END END 8-21
ENDL ENDL 8-22
ETIME ETIME [, ]n n 0>ETIME 0: ETIME=10 ETIME END ETIME END [1] ETIME 100 END 100ms [2] D1 100 100 [3] D2 200 200 [4] INC1 [5] INC2 8-23
H H (1 2) [, ] [+ -] (1 2) [+ -] 0>H1 0: H1 = + 8-24
ID (1 2) [, ]n (1 2) n 10103000100000 VS, V, SEN, OFS, ACTL UNIT 0>ID1 0: ID1 = 10103000100000 8-25
IN IN [, ]n1 [, ]n2 IN [, ]n3 n1 n2 n3 00000000~11111111 IN 87654321 0>IN 0: IN 00101100 8-26
INC INC (1 2 C) (1 2 C) 8-27
JMP JMP [, ]n n 8-28
LOOP LOOP [, ]n n LOOP ENDL 8-29
MHOME MHOME (1 2) (1 2) 2 32 23 2 8-30
8-31
MU MU [, ] n n 0>MU 0: MU = 0 [1] MU 0 [2] INC1 [3] DELAY 1 1 [4] INC2 [5] OUT 1,1 1 [1] MU 1 [2] INC1 [3] DELAY 1 1 [4] INC2 [5] OUT 1,1 1 8-32
OFS OFS (1 2) [, ] (+ -)n (1 2) (+ -) n 16,777,215 0>OFS 0: OFS1 = 10 0>OFS1 0: OFS1 = 10 0>OFS2 0: OFS2 = 20 8-33
OUT OUT [, ]n1 [, ]n2 OUT [, ]n3 n1 1~6 n2 n3 000000~111111 OUT 654321 0>OUT 0: OUT 000000 8-34
PULSE PULSE (1 2) [, ]n (1 2) n 0>PULSE1 0: PULSE1=1 0>PULSE2 0: PULSE2=2 8-35
R R (1 2) (1 2) System status: Error: Hardware status: Motion parameters: Position: 0> R 8-36
RAMP RAMP (1 2) [, ]n1 ([, ]n2) (1 2) n1 0.1~200,000.0 0.1ms 0>RAMP1 0: RAMP1 = 0 0>RAMP2 0: RAMP2 = 0 n2 8-37
RESET RESET 8-38
RTNCR RTNCR (1 2) (1 2) 8-39
RUN RUN [, ]n n 0~31,99 8-40
S S (1 2) (1 2) <ESC> S-STOP 8-41
SCAN SCAN (1 2) (1 2) V 8-42
SEN SEN (1 2), [, ]n (1 2) n 0>SEN1 0: SEN1 = 2 0>SEN2 0: SEN2 = 2 2 3 +LS -LS VS -LS CW +LS VS +LS -LS CCW VS +LS -LS HOMELS3 -LS HOMELS +LS CW V VS 3HOMELS CCW VS 8-43
T T (1 2) [, ]n (1 2) n 0.5~1,000ms/kHz 0.1ms/kHz 0>T1 0: T1 = 500 0>T2 0: T2 = 500 8-44
TIM TIM (1 2) [, ]n1 [, ]n2 (1 2) n1 n2 0>TIM1 0: TIM1 = 0,0 0>TIM2 0: TIM2 = 1,0 HOMELS 8-45
UNIT UNIT (1 2) [, ]n1 [, ]n2 (1 2) n1 0.0001~9.9999 n2 1.0~255.0 0>UNIT1 0: UNIT1 = 1,1 UNIT OFS 1Unit UnitUNIT UNIT Unit 1 1 D 10001,000 Unit 0.01 1 D 1000100,000 Unit 0.01 50 D 10005,000,000 (D/n1) n2 : 5 5001 : 50 : 4n2 8-46
UPLD UPLD 8-47
V V (1 2) [, ]n (1 2) n 10~200,000Hz 10,000 0>V1 0: V1 = 10000 0>V2 0: V2 = 20000 8-48
VS VS (1 2) [, ]n (1 2) n 10~200,000Hz 1,000 0>VS1 0: VS1 = 1000 0>VS2 0: VS2 = 2000 8-49
8-50
OP300 EMP400 9
3mm3mm RS-232C 0~50 C 45 +0.5 mm 0 139 +0.5 mm 0 CN2 FC04W5 9-2
M EDIT TEACH AX1 AX2 M AX1 EDIT AX2 TEACH 9-3
3 1 LED 8 1 9-4
OP300 7 8 9-5
M AX1 EDIT AX2 TEACH AX1LED UINT 1 LED M AX1 EDIT AX2 TEACH 9-6
D Ed00-0000 EDITLED Ed00-00002 4 D 9-7
4 9-8
D tc00-0000 TEACHLED D tc00-00002 4 1 9-9
tc00-0000 TEACHLED Ho AX1LED AX2LED Ho.StArt Ho End 9-10
ABSINC 1 tc00-0000 TEACHLED St00 9-11
1 2 9-12
tc00-0000 TEACHLED vs vrtr AX1LED AX2LED 9-13
9-14
OP300 EMP400 OP300 OP300EMP400 EMP400 9-15
9-16
10
ALM ALARM LED 10.2 ALARM LED E-STOP ALM ALM E-STOP switch active. ACTL Driver alarm. CW limit switch active.ccw limit switch active.cw CCW limit switch active. 10-2
Command disabled while executing. Command is not allowed in immediate mode. Command is not allowed in program mode. CW limit switch active. ACTL CCW limit switch active. ACTL CW CCW limit switches active. ACTL 10-3
Driver alarm. E-STOP switch active. ENDL without LOOP. HOME sequence error. Interpolation error. Invalid value. Line dose not exist. Missing ENDL. Missing parameter. NVRAM checksum error. ACTL LOOP ENDL SEN LOOP ENDL 10-4
Out of memory. Overtime waiting for END EEN Position counter overflow. Please clear Position counter. RESET RTNCR Sequence dose not exist. S-STOP switch active. Syntax error. TIMING (or SLIT) signal is not within HOME active region. TIM Too many nested LOOPs. 10-5
10-6
EMP400 11
CN1IN1 CN1END [1] PULSE1 2 2 [2] ETIME 50 END 50ms [3] T1 30.0 30ms/kHz [4] VS1 500 500Hz [5] V1 10000 10000Hz [6] IN 1,1 IN 1 [7] D1 2000 2000 [8] H1 + CW [9] INC1 11-2
CN1IN1 [1] PULSE1 2 2 [2] T1 30.0 30ms/kHz [3] VS1 500 500Hz [4] V1 10000 10000Hz [5] H1 + CW [6] SCAN1 [7] IN 1,1 IN 1 [9] V1 2000 2000Hz S S-STOP 11-3
[1] PULSE1 2 2 [2] T1 30.0 30ms/kHz [3] VS1 500 500Hz [4] V1 1000 1000Hz [5] H1 + CW [6] SCAN1 [7] DELAY 1 1 [8] V1 2000 2000Hz [9] DELAY 2 2 S S-STOP 11-4
: AS46AA 1 : 0.36 [1] PULSE1 2 2 [2] UNIT 1,1 [3] T1 50 50ms/kHz [4] VS1 500 500Hz [5] V1 1200 1200Hz [6] H1 + CW [7] MHOME1 [8] LOOP 5 8125 [9] D1 25 25 9 [10] INC1 [11] DELAY 1 1 [12] ENDL [13] D1 250 250 90 [14] INC1 [15] LOOP 5 15195 [16] D1 50 50 18 [17] DELAY 1 1 [18] INC1 [19] ENDL 11-5
: AS46AA 13601 1000 Unit36010.36 [1] PULSE1 2 2 [2] UNIT 0.36,1 [3] T1 50 50ms/kHz [4] VS1 500 500Hz [5] V1 1200 1200Hz [6] H1 + CW [7] MHOME1 [8] LOOP 5 8125 [9] D1 9 9 [10] INC1 [11] DELAY 1 1 [12] ENDL [13] D1 90 90 [14] INC1 [15] LOOP 5 15195 [16] D1 18 18 [17] DELAY 1 1 [18] INC1 [19] ENDL 11-6
: SPF60B10-1SD 1 10mm 1 1000 Unit10mm/10.01 [1] PULSE1 2 2 [2] UNIT 0.01,1 mm [3] T1 50 50ms/kHz [4] VS1 500 500Hz [5] V1 1200 1200Hz [6] H1 + CW [7] MHOME1 [8] LOOP 5 8125 [9] D1 5 5mm [10] INC1 [11] DELAY 1 1 [12] ENDL [13] D1 15 15mm [14] INC1 [15] LOOP 5 15195 [16] D1 2 2mm [17] DELAY 1 1 [18] INC1 [19] ENDL 11-7
CN1IN1 CN2IN2 [1] CJMP 1,1,4 1 4 [2] CJMP 2,1,10 2 10 IN1 IN2 [3] JMP 1 1 [4] VS1 1000 1000Hz [5] V1 3000 3000Hz MHOME [6] H1 + CW [7] T1 10 10ms/kHz INC [8] MHOME1 [9] END [10] VS 1000 1000Hz [11] V1 3000 3000Hz [12] H1 + CW [13] T1 10 10ms/kHz [14] D1 3000 3000 [15] INC1 [16] END 11-8
11-9
INA OM LTD. Tel:(032)822-2042~3 Fax:(032)819-8745 TAIWAN ORIENTAL MOTOR CO., LTD. Tel:(02)8228-0707 Fax:(02)8228-0708 SINGAPORE ORIENTAL MOTOR PTE LTD. Tel:(745)7344 Fax:(745)9405 ORIENTAL MOTOR (MALAYSIA) SDN BHD Tel:(03)79545778 Fax:(03)79541528 ORIENTAL MOTOR CO., LTD. Headquarters Tokyo, Japan Tel:(03)3835-0684 Fax:(03)3835-1890