HM-60242-4

Closed Loop Stepping Motor and Driver Package

AZ Series
AC power input Pulse input type

OPERATING MANUAL Driver

Thank you for purchasing an Oriental Motor product.
This 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.
Table of contents

1 Introduction.......................................3 10 Setting and adjustment ..................30

2 Safety precautions ...........................5 10.1 Resolution ........................................... 30
10.2 Pulse input mode ................................ 30
3 Precautions for use ..........................7
10.3 Base current ........................................ 30
4 Setup guide .......................................8 10.4 Command filter .................................... 31
5 CE Marking ......................................10
11 Guidance .........................................32
6 Preparation......................................11 11.1 Guidance for home position setting..... 32
6.1 Checking the product .......................... 11 11.2 Guidance for test operation ................. 34
6.2 How to identify the product model ....... 11 11.3 Guidance for high-speed
6.3 Combinations of motors and drivers ... 12 return-to-home peration ...................... 35
6.4 Names and functions of parts ............. 13
12 Operation.........................................37
7 Installation.......................................15 12.1 Set the home position using the
7.1 Location for installation ....................... 15 MEXE02 .............................................. 37
7.2 Installation method .............................. 15 12.2 Positioning operation........................... 38
8 Connection ......................................16 12.3 High-speed return-to-home
8.1 Connection method ............................. 16 operation ............................................. 39
8.2 Connecting to CN1 .............................. 17 12.4 JOG operation ..................................... 40
8.3 Connecting the power supply .............. 18
13 Power removal function
8.4 Grounding ........................................... 18
(ETO function) .................................42
8.5 Connecting the I/O signals .................. 19 13.1 Block diagram ..................................... 42
8.6 Connection diagram ............................ 20 13.2 Related I/O signals .............................. 42
8.7 Connecting the USB cable .................. 23 13.3 Releasing ETO state ........................... 43
8.8 Noise measures .................................. 23 13.4 Timing chart......................................... 43
8.9 Installing and wiring in compliance 13.5 To use this product safely.................... 44
with EMC Directive .............................. 25
14 Inspection........................................45
9 Explanation of I/O signals..............27
15 Alarm (protective function)............46
9.1 Input signals ........................................ 27
9.2 Output signals ..................................... 28 16 Troubleshooting .............................47
17 To use the product in more
convenient manners.......................48
18 Accessories (sold separately) .......49
 Introduction

1 Introduction

 Before use
Only qualified personnel should work with the product.
Use the product correctly after thoroughly reading the "2 Safety precautions" on p.5.
The product described in this manual has been designed and manufactured to be incorporated in
general industrial equipment.
Do not use for any other purpose. Oriental Motor Co., Ltd. is not responsible for any damage
caused through failure to observe this warning.

 Operating Manuals for the AZ Series

Operating manuals for the AZ Series Pulse input type are listed below.
The "OPERATING MANUAL Function Edition" does not come with the product. For details, contact
your nearest Oriental Motor sales office or download from Oriental Motor website download page.
After reading these manuals, keep them in a convenient place so that you can reference them at
any time.
Applicable product Type of operating manual Description of operating manual
This manual explains the functions as well
OPERATING MANUAL Motor
as the installation method and others for
(Supplied with motor)
the motor.
This manual explains the functions as well
AZ Series OPERATING MANUAL Driver
as the installation/connection method and
AC power input (Supplied with driver)
others for the driver.
Pulse input type
This manual explains the details of
OPERATING MANUAL functions and data setting methods as well
Function Edition as the operating method and others for the
driver.
This manual explains how to set data
Data setting software
OPERATING MANUAL using the accessory data setting software
MEXE02
MEXE02.

With regard to the information required to be certified under the UL Standard, refer to the
"APPENDIX UL Standards for AZ Series AC power input type" (the paper is supplied with the
product).

 Hazardous substances
The products do not contain the substances exceeding the restriction values of RoHS Directive
(2011/65/EU).

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Introduction

 General specifications
Degree of protection IP20
Ambient 0 to +55 °C (+32 to +131 °F) *
temperature (non-freezing)
Operation Humidity 85% or less (non-condensing)
environment Altitude Up to 1000 m (3300 ft.) above sea level
Surrounding
No corrosive gas, dust, water or oil
atmosphere
Ambient −25 to +70 °C (−13 to +158 °F)
Storage temperature (non-freezing)
environment, Humidity 85% or less (non-condensing)
Shipping Altitude Up to 3000 m (10000 ft.) above sea level
environment Surrounding
No corrosive gas, dust, water or oil
atmosphere
* When installing a driver on a heat sink. [material: aluminum, 200×200×2 mm (7.87×7.87×0.08 in.) equivalent].

100 M or more when 500 VDC megger is applied between the

following places:
Insulation resistance  PE terminal - Power supply terminals
 Encoder connector - Power supply terminals
 Signal I/O terminals - Power supply terminals
Sufficient to withstand the following for 1 minute:
 PE terminal - Power supply terminals 1.5 kVAC 50/60 Hz
Dielectric strength
 Encoder connector - Power supply terminals 1.8 kVAC 50/60 Hz
 Signal I/O terminals - Power supply terminals 1.8 kVAC 50/60 Hz

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 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.

Description of signs
Handling the product without observing the instructions that accompany
a "Warning" symbol may result in serious injury or death.
Handling the product without observing the instructions that accompany
a “Caution” symbol may result in injury or property damage.

Description of graphic symbols

Indicates "prohibited" actions Indicates "compulsory" actions
that must not be performed. that must be performed.

 Do not use the product in explosive or corrosive environments, in the presence of flammable gases,
locations subjected to splashing water, or near combustibles. This may cause fire, electric shock or
injury.
 Do not transport, install the product, perform connections or inspections when the power is on.
This may cause electric shock.
 Do not touch the driver while the power is on. This may cause fire or electric shock.
 The terminals on the driver's front panel marked with symbol indicate the presence of high
voltage. Do not touch these terminals while the power is on. This may cause fire or electric shock.
 Do not forcibly bend, pull or pinch the cable. This may cause fire or electric shock.
 Do not turn the FREE input to ON while the motor is operating. This may cause injury or damage to
equipment.
 Do not touch the connection terminals on the driver immediately (within 10 minute) after the power is
turned off. This may cause electric shock.
 Do not disassemble or modify the product. This may cause injury or damage to equipment.
 Assign qualified personnel the task of installing, wiring, operating/controlling, inspecting and
troubleshooting the product. Failure to do so my result in fire, electric shock, injury or damage to
equipment.
 If this product is used in a vertical application, be sure to provide a measure for the position retention
of moving parts. Failure to do so may result in injury or damage to equipment.
 When the driver generates an alarm (any of the driver's protective functions is triggered), first remove
the cause and then clear the protective function. Continuing the operation without removing the
cause of the problem may cause malfunction of the motor and driver, leading to injury or damage to
equipment.
 Install the product in an enclosure. Failure to do so may result in electric shock or injury.
 Keep the driver’s input-power voltage within the specified range. Failure to do so may result in fire or
electric shock.
 The motor and driver are designed with Class I equipment basic insulation. When installing the motor,
do not touch the product or be sure to ground them. Failure to do so may result in electric shock.
 Connect the cables securely according to the wiring diagram. Failure to do so may result in fire or
electric shock.
 Turn off the driver power in the event of a power failure. Failure to do so may result in injury or
damage to equipment.

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Safety precautions

 Do not use the product beyond its specifications. This may cause electric shock, injury or damage to
equipment.
 Keep your fingers and objects out of the openings in the product. Failure to do so may result in fire,
electric shock or injury.
 Do not touch the product during operation or immediately after stopping. This may cause a skin
burn(s).
 Keep the area around the product free of combustible materials. Failure to do so may result in fire or
a skin burn(s).
 Leave nothing around the product that would obstruct ventilation. Failure to do so may result in
damage to equipment.
 Do not forcibly bend or pull the cable that was connected to the driver. Doing so may cause damage.
 Do not touch the terminals while conducting the insulation resistance test or dielectric strength test.
This may cause electric shock.
 Use a motor and driver only in the specified combination. Failure to do so may result in fire.
 Use only an insulated screwdriver to adjust the driver's switches. Failure to do so may result in
electric shock.
 For the control power supply, use a DC power supply with reinforced insulation on its primary and
secondary sides. Failure to do so may result in electric shock.
 Before supplying power to the driver, turn all input signals to the driver to OFF. Failure to do so may
result in injury or damage to equipment.
 Provide an emergency stop device or emergency stop circuit external to the equipment so that the
entire equipment will operate safely in the event of a system failure or malfunction. Failure to do so
may result in injury.
 Before moving the motor directly with the hands, confirm that the FREE input turns ON. Failure to do
so may result in injury.
 When an abnormal condition has occurred, immediately stop operation and turn off the driver power.
Failure to do so may result in fire, electric shock or injury.
 To dispose of the product, disassemble it into parts and components as much as possible and
dispose of individual parts/components as industrial waste.

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 Precautions for use

3 Precautions for use

This section covers limitations and requirements the user should consider when using the product.

 Always use the cable (supplied or accessory) to connect the motor and driver.
Be sure to use the cable (supplied or accessory) to connect the motor and driver. In the following
condition, an appropriate accessory cable must be purchased separately.
 If a flexible cable is to be used.
 If a cable of 3 m (9.8 ft.) or longer is to be used.
 If a motor and driver package without a cable was purchased.

 Conduct the insulation resistance test or dielectric strength test separately on the
motor and the driver.
Conducting the insulation resistance test or dielectric strength test with the motor and driver
connected may result in damage to the product.

 Preventing leakage current

Stray capacitance exists between the driver’s current-carrying line and other current-carrying
lines, the earth and the motor, respectively. A high-frequency current may leak out through such
capacitance, having a detrimental effect on the surrounding equipment. The actual leakage current
depends on the driver’s switching frequency, the length of wiring between the driver and motor,
and so on.When connecting an earth leakage breaker, use one of the following products offering
resistance against high frequency current:
Mitsubishi Electric Corporation: NV series
Fuji Electric FA Components & Systems Co., Ltd.: EG and SG series

 Saving data to the non-volatile memory

Do not turn off the control power supply while writing the data to the non-volatile memory, and also
do not turn off for 5 seconds after the completion of writing the data. Doing so may abort writing the
data and cause an EEPROM error alarm to generate. The non-volatile memory can be rewritten
approximately 100,000 times.

 If vertical drive (gravitational operation) such as elevator applications is performed or

if sudden start-stop operation of a large inertial load is repeated frequently, connect
the regeneration unit RGB100.
The overvoltage alarm may generate depending on the operating condition of the motor.
When the overvoltage alarm has generated, review the operating conditions or connect an
accessory regeneration unit RGB100 (sold separately).
Refer to p.49 for connection method.

 Note on connecting a power supply whose positive terminal is grounded

The USB communication connector and CN5 connector are not insulated. When grounding the
positive terminal of the power supply, do not connect any equipment (PC, etc.) whose negative
terminal is grounded. Doing so may cause the driver and this equipment to short, damaging both.
When connecting, do not ground equipment.

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Setup guide

4 Setup guide

Wiring guide

Noise * Required 24 VDC

CN1
filer
AC power supply
24 VDC +24 V 0V
power supply MB1 MB2
p.17
p.24 TH1
+V
TH2
HWTO1+
Cable for electromagnetic brake HWTO1- HWTO2+
HWTO2- 0V
* Required p.17 EDM+ EDM-

Cable for encoder

MEXE02 (PC)

Cable for motor

* Required
Pulse signal
Noise
filer p.19 p.23
AC Main power supply

p.24 p.18

Controller

PE p.18

Gray colored cables are accessories (sold separately).

Setting of switches

Current setting switch (CURRENT) p.30  Factory setting of switches

Command filter setting switch (FIL) p.31 Base current
100%
(CURRENT: F)
Function setting switch (SW1) 1 ms
No.1: Sets the resolution. p.30 Command filter
(FIL: 1)
No.2: Sets the pulse input mode. p.30
1000 p/r
Resolution
(SW1-No.1: OFF)
HOME-PRESET switch p.32 2-pulse input mode
Pulse input mode
The home position can be set easily by (SW1-No.2: OFF)
pressing and holding the switch.

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 Setup guide

CN5 pin assignment (p.19)

Pin Signal Pin Signal

Description * Description *
No. name No. name
CW+ CW pulse input+ CW− CW pulse input−
1 13
[PLS+] [Pulse input+] [PLS−] [Pulse input−]
CCW+ CCW pulse input+ CCW− CCW pulse input−
2 14
[DIR+] [Direction input +] CN5 [DIR−] [Direction input −]
3 IN4 Control input 4 (ZHOME) 15 IN5 Control input 5 (FREE)
1 13
Control input 7
4 IN6 Control input 6 (STOP) 16 IN7
(ALM-RST)
IN-COM IN-COM
5 IN4 to IN7 input common 17 IN8, IN9 input common
[4-7] [8-9]
6 IN8 Control input 8 (FW-JOG) 18 IN9 Control input 9 (RV-JOG)
Control output 0
7 OUT0 19 OUT1 Control output 1 (IN-POS)
(HOME-END)
Control output 2 12 24
8 OUT2 20 OUT3 Control output 3 (READY)
(PLS-RDY)
9 OUT4 Control output 4 (MOVE) 21 OUT5 Control output 5 (ALM-B)
10 OUT-COM Output common 22 GND Ground
11 ASG+ A-phase pulse output+ 23 ASG− A-phase pulse output−
12 BSG+ B-phase pulse output+ 24 BSG− B-phase pulse output−
* ( ): Initial value * ( ): Initial value

Provide the data setting software MEXE02 and USB cable (commercially available)

The MEXE02 is used for teaching function and others in addition to setting of data and
parameters.
Monitor function is also enhanced. Use it to check when designing or developing equipment.

 Teaching/remote operation window  Waveform monitor window

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CE Marking

5 CE Marking
This product is affixed the CE Marking under the Low Voltage Directive and EMC Directive.

 Low Voltage Directive

 The product is a type with machinery incorporated, so it should be installed within an enclosure.
 This product cannot be used with cables normally used for IT equipment.
 Install the product within the enclosure in order to avoid contact with hands.
 When a product can be touched with hands, be sure to ground. When installing the motor and
driver, securely connect their Protective Earth Terminals.
 To protect against electric shock using an earth leakage breaker (RCD), connect a type B earth
leakage breaker to the primary side of the driver.
 When using a circuit breaker (MCCB), use a unit conforming to the EN or IEC standard.
 Isolate the motor cable, power-supply cable and other drive cables from the signal cables (CN1,
CN5) by means of double insulation.
 The temperature of the driver's heat sink may exceed 90 °C (194 °F) depending on the driving
conditions. Accordingly, take heed of the following items:
• Do not touch the driver.
• Do not use the driver near flammable objects.
• Always conduct a trial operation to check the driver temperature.

 Applicable Standards
Motor: EN 60034-1, EN 60034-5, EN 60664-1
Driver: EN 61800-5-1

 Installation condition (EN Standards)

Motor Driver
Motor is to be used as a component within Driver is to be used as a component within
other equipment. other equipment.
Overvoltage category:Ⅱ Overvoltage category:Ⅱ
Pollution degree: 3 Pollution degree: 2
Degree of protection: IP65 Degree of protection: IP20
Protection against electric shock: ClassⅠ Protection against electric shock: ClassⅠ

 EMC Directive
This product has received EMC compliance under the conditions specified in "Example of motor
and driver installation and wiring" on p.26. The conformance of your mechanical equipment to the
EMC Directive will vary depending on such factors as the control system equipment used with this
product, configuration of electrical parts, wiring and layout. It therefore must be verified through
conducting EMC measures in a state that all parts including this product have been installed in the
equipment.

Applicable Standards
EN 55011 Group1 Class A
EN 61000-6-4
EMI EN 61800-3
EN 61000-3-2
EN 61000-3-3
EN 61000-6-2
EMS
EN 61800-3

This type of PDS is not intended to be used on a low-voltage public network which supplies
domestic premises; radio frequency interference is expected if used on such a network.

−10−
 Preparation

6 Preparation
This chapter explains the items you should check, as well as the name and function of each part.

6.1 Checking the product

Verify that the items listed below are included. Report any missing or damaged items to the branch
or sales office from which you purchased the product.
 Driver..................................................... 1 unit
 CN1 connector (14 pins) ....................... 1 pc.
 CN4 connector (5 pins) ......................... 1 pc.
 CN5 connector (24 pins) ....................... 1 pc.
 Connector wiring lever .......................... 1 pc. (for CN4 connector)
 OPERATING MANUAL Driver ............... 1 copy (this document)

6.2 How to identify the product model

AZ 6 6 A A - HP 15 F - 1
Number : Length (m) of a supplied connection cable
Blank : Without a connection cable
Blank : Shaft output type
F : Flange output type (HPG geared type only)
Gear ratio
TS : TS geared type
PS : PS geared type
HP : HPG geared type
HS : Harmonic geared type
Blank : Standard type
Power supply input A : Single-phase 100-120 V
C : Single-phase/Three-phase 200-240 V
Motor type A : Single shaft
M : With electromagnetic brake
Motor length
Motor frame size 4 : 42 mm (1.65 in.) [40 mm (1.57 in.) for HPG geared type]
6 : 60 mm (2.36 in.)

−11−
Preparation

6.3 Combinations of motors and drivers

Verify the model number of the purchased product against the number shown on the package label.
Check the model number of the motor and driver against the number shown on the nameplate.
 indicates A (single shaft) or M (with electromagnetic brake).
 in the model names indicates a number representing the gear ratio.
 When a connection cable is included,  in the model names indicates a number (-1, -2, -3)
representing the cable length.
Type Model Motor model Driver model
AZ46A AZM46C
AZ66A AZM66C AZD-A
AZ69A AZM69C
Standard type
AZ46C AZM46C
AZ66C AZM66C AZD-C
AZ69C AZM69C
AZ46AA-TS AZM46AC-TS
AZD-A
AZ66AA-TS AZM66AC-TS
TS geared type
AZ46AC-TS AZM46AC-TS
AZD-C
AZ66AC-TS AZM66AC-TS
AZ46AA-PS AZM46AC-PS
AZD-A
AZ66AA-PS AZM66AC-PS
PS geared type
AZ46AC-PS AZM46AC-PS
AZD-C
AZ66AC-PS AZM66AC-PS
AZ46AA-HP AZM46AC-HP
AZ46AA-HPF AZM46AC-HPF
AZD-A
AZ66AA-HP AZM66AC-HP
AZ66AA-HPF AZM66AC-HPF
HPG geared type
AZ46AC-HP AZM46AC-HP
AZ46AC-HPF AZM46AC-HPF
AZD-C
AZ66AC-HP AZM66AC-HP
AZ66AC-HPF AZM66AC-HPF
AZ46AA-HS AZM46AC-HS
AZD-A
Harmonic geared AZ66AA-HS AZM66AC-HS
type AZ46AC-HS AZM46AC-HS
AZD-C
AZ66AC-HS AZM66AC-HS

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 Preparation

6.4 Names and functions of parts

CN1 connector PWR/ALM LED (Green/Red)
DC24 V power supply input terminal (+24V, 0V) READY LED (Green)
Electromagnetic brake terminals (MB1, MB2) Current setting switch (CURRENT)
Regeneration resistor thermal input terminals (TH1, TH2)
Command filter setting switch (FIL)
Power removal signal input terminal
(HWTO1+, HWTO1−, HWTO2+, HWTO2−) Function setting switch (SW1)

Power removal monitor output terminal (EDM+, EDM−) HOME PRESET switch

CN2 connector (ENCODER) USB communication connector

CN3 connector (MOTOR)

CHARGE LED (Red)

CN4 connector

Regeneration resistor terminals (RG1, RG2) CN5 connector (I/O)

Main power supply input terminals

(L, N or L1, L2, L3)

Protective Earth Terminal

Type Name Display Description

 This LED is lit in green while the 24 VDC power
is input.
PWR/ALM LED  If an alarm (protective function) generates, the
PWR/ALM
(Green/Red) LED will blink in red.
 If the ETO function (p.42) is triggered, the LED
will blink in green.
LED
This LED is lit while the READY output is ON.
READY LED (Green) READY
It is not lit when the READY output is OFF.
This LED is lit while the main power is input. After
the main power has been turned off, the LED will
CHARGE LED (Red) CHARGE
turn off once the residual voltage in the driver
drops to a safe level.
This switch is used to set the base current for the
Current setting switch CURRENT operating current and standstill current.
Factory setting: F
Command filter setting This switch adjusts the motor response.
FIL
switch Factory setting: 1
 No.1: This switch is used to set the resolution
per revolution of the motor output shaft.
Switch Factory setting: OFF (1000 p/r)
Function setting switch SW1  No.2: This switch is used to toggle between the
1-pulse input mode and 2-pulse input mode.
The factory setting of the pulse-input mode
depends on the destination country.
This switch is used to set the starting position
HOME PRESET switch HOME PRESET (home position) when performing positioning
operation.

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Preparation

Type Name Display Description

USB communication Connects a PC in which the MEXE02 has been
−
connector installed. (USB2.0 mini-B port)
Connects the control power supply of the driver.
24 VDC power supply
+24V, 0V +24V: +24 VDC power supply input
input terminals (CN1)
0V: Power supply ground
Connect the lead wires from the electromagnetic
Electromagnetic brake brake.
MB1, MB2
terminals (CN1) MB1: Electromagnetic brake − (Black)
MB2: Electromagnetic brake + (White)
Connects the signal line of the accessory
Regeneration resistor
regeneration unit RGB100 (sold separately). If no
thermal input terminals TH1, TH2
regeneration unit is connected, short the TH1 and
(CN1)
TH2 terminals.
Connector,
Terminal Power removal signal HWTO1+, HWTO1−
Connects the switch or programmable controller.
input terminal (CN1) HWTO2+, HWTO2−
Power removal monitor
EDM+, EDM− Connects the programmable controller.
output terminal (CN1)
CN2 connector ENCODER Connects the encoder.
CN3 connector MOTOR Connects the motor.
Regeneration resistor Connects the accessory regeneration unit
RG1, RG2
terminals (CN4) RGB100 (sold separately).
Main power supply input L, N, NC
Connects the main power supply.
terminals (CN4) L1, L2, L3
CN5 connector I/O Connects the I/O signals.
Used for grounding via a grounding cable of
Protective Earth Terminal −
AWG16 to 14 (1.25 to 2.0 mm2).

−14−
 Installation

7 Installation
This chapter explains the installation location and installation method of the driver.

7.1 Location for installation

The driver has been designed and manufactured to be incorporated in equipment. Install it in a
well-ventilated location that provides easy access for inspection.
The location must also satisfy the following conditions:
 Inside an enclosure that is installed indoors (provide vent holes)
 Operating ambient temperature 0 to +55 °C (+32 to +131 °F) (non-freezing)
 Operating ambient humidity 85% or less (non-condensing)
 Area that is free of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid
 Area not exposed to direct sun
 Area free of excessive amount of dust, iron particles or the like
 Area not subject to splashing water (rain, water droplets), oil (oil droplets) or other liquids
 Area free of excessive salt
 Area not subject to continuous vibration or excessive shocks
 Area free of excessive electromagnetic noise (from welders, power machinery, etc.)
 Area free of radioactive materials, magnetic fields or vacuum
 1000 m (3300 ft.) or lower above sea level

7.2 Installation method

35 (1.38) 25 (0.98) or more
The driver is designed so that heat is dissipated via air convection
and conduction through the enclosure. Install the driver on a
flat metal plate [material: aluminium, 200×200×2 mm equivalent
(7.87×7.87×0.08 in.)] having excellent heat conductivity.

150 (5.91)
There must be a clearance of at least 25 mm (0.98 in.) in the
horizontal and vertical directions, between the driver and enclosure
or other equipment within the enclosure.
When installing the driver in an enclosure, use two screws (M4,
not supplied) to secure the driver through the mounting holes.

 Install the driver in an enclosure whose pollution degree is 2

25 (0.98) or more

Note
or better environment, or whose degree of protection is IP54
minimum.
 Do not install any equipment that generates a large amount
of heat or noise near the driver.
 Do not install the driver underneath the controller or other
equipment vulnerable to heat.
 If the ambient temperature of the driver exceeds 55 °C Unit: mm (in.)
(131 °F), improve the ventilation condition.
 Be sure to install the driver vertically (vertical position).

−15−
Connection

8 Connection
This chapter explains how to connect the motor, power supply and I/O signals to the driver, as well
as grounding method.

8.1 Connection method

The following figure shows models for the electromagnetic brake type and single-phase 200 to
240 VAC input.
CN1 connector
24 VDC Connect to +24V and 0V
* Required power supply CN1 connector

Connect to MB1 and MB2 +24 V 0V

MB1 MB2
Cable for electromagnetic brake
* Required
Connect to ENCODER

Cable for encoder

Connect to MOTOR

Cable for motor

* Required Connect to CN5

Pulse signal
Connect to L1 and L2
Main power supply
Single-phase 200-240 V

PE
Gray colored cables are accessories (sold separately).

Note  Have the connector plugged in securely. Insecure connections may cause malfunction or
damage to the motor or driver.
 When unplugging the motor cable, do so while pressing the latches on the connector.
 When plugging/unplugging the connector, turn off the power and wait for the CHARGE LED to
turn off before doing so. The residual voltage may cause electric shock.
 Do not wire the power supply cable of the driver in the same cable duct with other power lines
or motor cables. Doing so may cause malfunction due to noise.
 The lead wires of the "cable for electromagnetic brake" have polarities, so connect them
in the correct polarities. If the lead wires are connected with their polarities reversed, the
electromagnetic brake will not operate properly.
 When installing the motor to a moving part, use an accessory flexible cable offering excellent
flexibility.
 Keep 20 m (65.6 ft.) or less for the wiring distance between the motor and driver. To extend
more than 20 m (65.6 ft.) may result in the driver heat generation or increase of the electrical
noise emitted from the product.

−16−
 Connection

8.2 Connecting to CN1

 Wiring the CN1 connector

 Applicable lead wire: AWG24 to 16 (0.2 to 1.25 mm )
2

 Length of the insulation cover which can be peeled: 10 mm (0.39 in.)

Button of the
1. Strip the insulation cover of the lead wire.
orange color
2. Insert the lead wire while pushing the button of the orange color with Lead wire
a slotted screwdriver.
3. After having inserted, release the button to secure the lead wire.

 Pin assignment list

+24V 0V
MB1 MB2
TH1 TH2
+V HWTO1+
HWTO1- HWTO2+
HWTO2- 0V
EDM+ EDM-

Display Description
Connects the control power supply.
 When the electromagnetic brake is not used:
24 VDC±5% 0.25 A
 When the electromagnetic brake is used:
+24V, 0V
24 VDC±5% 0.5 A (0.33 A for AZ46)
 When the electromagnetic brake is used and the distance between the motor
and driver is 20 m (65.6 ft.):
24 VDC±4% 0.5 A (0.33 A for AZ46)
Connect the lead wires from the electromagnetic brake.
MB1, MB2 MB1: Electromagnetic brake − (Black)
MB2: Electromagnetic brake + (White)
Connects the signal line of the accessory regeneration unit RGB100 (sold
TH1, TH2 separately). Refer to p.49 for connection method. If the regeneration unit is not
used, connect a jumper wire between the terminals as shown in the figure.
Connects the switch or programmable controller. If the power removal function
HWTO1+, HWTO1−
is not used, connect a jumper wire between the terminals as shown in the
HWTO2+, HWTO2−
figure.
EDM+, EDM− Connects the programmable controller.
For internal connections. Do not connect anything. If the power removal function
+V, 0V is not used, connect a jumper wire between the terminals as shown in the
figure.

−17−
Connection

8.3 Connecting the power supply

The connecting method varies depending on the power supply specification.
Single-phase 100-120 V Single-phase 100-120 V Three-phase 200-240 V
Connect to
Connect to
Connect to L1, L2 and L3
L1 and L2
L and N

 Wiring the CN4 connector

 Applicable lead wire: AWG18 to 14 (0.75 to 2.0 mm )
2

 Length of the insulation cover which can be peeled: 9 mm (0.35 in.)

1. Insert the connector lever. Lead wire

2. Insert the lead wire while pushing down the connector lever.

 Power supply current capacity

 Single-phase 100-120 V  Single-phase 200-240 V  Three-phase 200-240 V
Power supply Power supply Power supply
Model Model Model
current capacity current capacity current capacity
AZ46 2.7 A or more AZ46 1.7 A or more AZ46 1.0 A or more
AZ66 3.8 A or more AZ66 2.3 A or more AZ66 1.4 A or more
AZ69 5.4 A or more AZ69 3.3 A or more AZ69 2.0 A or more

8.4 Grounding
Two Protective Earth Terminals (screw size: M4) are provided on the
driver. Be sure to ground one of the Protective Earth Terminals.
You can ground either of the two Protective Earth Terminals.
Grounding wire: AWG16 to 14 (1.25 to 2.0 mm2)
Tightening torque: 1.2 N·m (170 oz-in)
Protective Earth Terminal
Connect the grounding wire of the "cable for motor" to the other (Ground one of these terminals.)
terminal to ground the motor.
Do not share the grounding wire with a welder or any other power equipment.
When grounding the Protective Earth Terminal, use a round terminal and secure the grounding
point near the driver.

−18−
 Connection

8.5 Connecting the I/O signals

 Wiring the CN5 connector

 Applicable lead wire: AWG24 to 16 (0.2 to 1.25 mm )
2

 Length of the insulation cover which can be peeled: 10 mm (0.39 in.)

Button of the
1. Strip the insulation cover of the lead wire. orange color
2. Insert the lead wire while pushing the button of the orange color with Lead wire
a slotted screwdriver.
3. After having inserted, release the button to secure the lead wire.

 Pin assignment list

Pin Signal Pin Signal
Description * Description *
No. name No. name
CW+ CW pulse input+ CW− CW pulse input−
1 13
[PLS+] [Pulse input+] [PLS−] [Pulse input−]
CCW+ CCW pulse input+ CCW− CCW pulse input−
2 14
[DIR+] [Direction input +] [DIR−] [Direction input −]
3 IN4 Control input 4 (ZHOME) 1 13 15 IN5 Control input 5 (FREE)
Control input 7
4 IN6 Control input 6 (STOP) 16 IN7
(ALM-RST)
IN-COM IN-COM
5 IN4 to IN7 input common 17 IN8, IN9 input common
[4-7] [8-9]
6 IN8 Control input 8 (FW-JOG) 18 IN9 Control input 9 (RV-JOG)
Control output 0
7 OUT0 19 OUT1 Control output 1 (IN-POS)
(HOME-END)
12 24
Control output 2
8 OUT2 20 OUT3 Control output 3 (READY)
(PLS-RDY)
9 OUT4 Control output 4 (MOVE) 21 OUT5 Control output 5 (ALM-B)
10 OUT-COM Output common 22 GND Ground
11 ASG+ A-phase pulse output+ 23 ASG− A-phase pulse output−
12 BSG+ B-phase pulse output+ 24 BSG− B-phase pulse output−
* ( ): Initial value * ( ): Initial value

−19−
Connection

8.6 Connection diagram

 Connecting to a current sink output circuit

 When pulse input is of line driver type
Controller Driver

CW (PLS)+ 100 Ω 2.2 kΩ

CW (PLS)- 100 Ω

CCW (DIR)+ 100 Ω 2.2 kΩ

CCW (DIR)- 100 Ω

0V 4.7 kΩ
IN4
2.2 kΩ

IN5 4.7 kΩ
2.2 kΩ

IN6 4.7 kΩ
2.2 kΩ

IN7 4.7 kΩ

24 VDC 2.2 kΩ
IN-COM [4-7]
0V
IN8 4.7 kΩ
2.2 kΩ

IN9 4.7 kΩ

24 VDC 2.2 kΩ
IN-COM [8-9]
0V
12 to 24 VDC

R0 10 mA or less OUT0

R0 OUT1

R0 OUT2

Output saturated
R0 OUT3 voltage 3 V max.

R0 OUT4

R0 OUT5

OUT-COM

0V ASG+
ASG-
26C31 or equivalent
BSG+
BSG-
GND

0V 0V

−20−
 Connection

Note  Use input signals at 24 VDC.

 Use output signals at 12 to 24 VDC, 10 mA or less. If the current exceeds 10 mA, connect an
external resistor R0 so that the current becomes 10 mA or less.
 The saturated voltage of the output signal is 3 VDC maximum.

 When pulse input is of open-collector type

Controller Driver

5 to 24 VDC
CW (PLS)+ 100 Ω 2.2 kΩ
R1 CW (PLS)- 100 Ω

CCW (DIR)+ 100 Ω 2.2 kΩ

R1 CCW (DIR)- 100 Ω

0V

Note  Use the CW (PLS) input and CCW (DIR) input at 5 to 24 VDC. If the voltage exceeding 5 VDC is
applied, connect an external resistor R1 so that the input current becomes 7 to 20 mA.
 When using signals at 5 VDC, apply the voltage directly.

−21−
Connection

 Connecting to a current source output circuit

 When pulse input is of line driver type
Controller Driver

CW (PLS)+ 100 Ω 2.2 kΩ

CW (PLS)- 100 Ω

CCW (DIR)+ 100 Ω 2.2 kΩ

CCW (DIR)- 100 Ω

0V
24 VDC

IN4 4.7 kΩ
2.2 kΩ

IN5 4.7 kΩ
2.2 kΩ

IN6 4.7 kΩ
2.2 kΩ

IN7 4.7 kΩ
IN-COM [4-7] 2.2 kΩ

0V
24 VDC

IN8 4.7 kΩ
2.2 kΩ

IN9 4.7 kΩ
IN-COM [8-9] 2.2 kΩ

0V
12 to 24 VDC R0 10 mA or less OUT0

R0 OUT1

R0 OUT2

Output saturated
R0 OUT3 voltage 3 V max.

R0 OUT4

R0 OUT5

0V OUT-COM

ASG+
ASG-
26C31 or equivalent
BSG+
BSG-
GND

0V 0V

−22−
 Connection

Note  Use input signals at 24 VDC.

 Use output signals at 12 to 24 VDC, 10 mA or less. If the current exceeds 10 mA, connect an
external resistor R0 so that the current becomes 10 mA or less.
 The saturated voltage of the output signal is 3 VDC maximum.

 When pulse input is of open-collector type

Controller Driver

5 to 24 VDC

CW (PLS)+ 100 Ω 2.2 kΩ

R1 CW (PLS)- 100 Ω

CCW (DIR)+ 100 Ω 2.2 kΩ

R1 CCW (DIR)- 100 Ω

0V

Note  Use the CW (PLS) input and CCW (DIR) input at 5 to 24 VDC. If the voltage exceeding 5 VDC is
applied, connect an external resistor R1 so that the input current becomes 7 to 20 mA.
 When using signals at 5 VDC, apply the voltage directly.

8.7 Connecting the USB cable

Connect the USB cable that is satisfied the following specification to the USB communication
connector.
Specification USB2.0 (Full Speed)
Length: 3 m (9.8 ft.) or less
Cable
Type: A−mini-B

Note  Connect the driver and PC directly using the USB cable.
 In large electrically noisy environments, use the USB cable with a ferrite core or install a ferrite
core to the USB cable.

8.8 Noise measures

The electrical noise is of two types: One is a noise to invade into the driver from the outside and
cause the driver malfunction, and the other is a noise to emit from the driver and cause peripheral
equipments malfunction.
For the noise that is invaded from the outside, take measures to prevent the driver malfunction. It is
needed to take adequate measures because signal lines are very likely to be affected by the noise.
For the noise that is emitted from the driver, take measures to suppress it.

 Measures against electrical noise

There are the following three methods mainly to take measures against the electrical noise.

 Noise suppression
 When relays or electromagnetic switches are used together with the system, use noise filters and
CR circuits to suppress surges generated by them.
 Use an accessory cable (sold separately) when extending a wiring distance between the motor
and driver. This is effective in suppressing the electrical noise emitted from the motor.
 Cover the driver by a metal plate such as aluminum. This is effective in shielding the electrical
noise emitted from the driver.

−23−
Connection

 Prevention of noise propagation

 Connect a noise filter in the power supply cable of driver.
 Place the power lines, such as the motor and power supply cables, keeping a distance of
200 mm (7.87 in.) or more from the signal lines, and also do not bundle them or wire them in
parallel. If the power cables and signal cables have to cross, cross them at a right angle.
 Use a shielded cable of AWG18 to 14 (0.75 to 2.0 mm ) for the power lines. Use a shielded cable
2

of AWG24 to 16 (0.2 to 1.25 mm2) for the signal lines.

 Keep cables as short as possible without coiling and bundling extra lengths.
 To ground a shielded cable, use a metal cable clamp that Shielded cable
Cable cramp
will maintain contact with the entire circumference of the
cable. Ground the cable clamp near the product.
 When grounding PE terminals of multiple drivers to a grounding point, it becomes more effective
to block the electrical noise since impedance on the grounding point is decreased. However,
ground them so that a potential difference does not occur among the grounding points. An
accessory driver cable including with a ground wire is available (sold separately). Refer to p.49 for
details.

 Suppression of effect by noise propagation

 Loop the noise propagated cable around a ferrite core. Doing so will prevent the propagated
noise invades into the driver or emits from the driver. The frequency band in which an effect by
the ferrite core can be seen is generally 1 MHz or more. Check the frequency characteristics of
the ferrite core used. To increase the effect of noise attenuation by the ferrite core, loop the cable
a lot.
 Change the transmission method of the pulse signal to the line driver type in order to prevent
noise effects. When the pulse signal of the controller is the open collector type, use an accessory
pulse signal converter for noise immunity (sold separately). Refer to p.49 for details.

 Noise suppression parts

 Noise filter
 Connect the following noise filter (or equivalent) to the power line. Doing so will prevent the
propagated noise through the power line. Install the noise filter as close to the driver as possible.
Single-phase 100-120 V
Manufacture Three-phase 200-240 V
Single-phase 200-240 V
SOSHIN ELECTRIC CO.,LTD HF2010A-UPF HF3010C-SZA
Schaffner EMC FN2070-10-06 −

 Use the AWG18 (0.75 mm ) or thicker wire for the input and output cables of the noise filter, and
2

secure firmly using a cable clamp etc. so that the cable does not come off the enclosure.
 Place the input cable as far apart as possible from the output cable, and do not wire the cables in
parallel. If the input and output cable are placed at a close distance or if they are wired in parallel,
the noise in the enclosure affects the power cable through stray capacitance, and the noise
suppressing effect will reduce.
 Connect the ground terminal of the noise filter to the grounding point, using as thick and short a
wire as possible.

−24−
 Connection

 When connecting a noise filter in an enclosure, wire the input cable of the noise filter as short as
possible. Wiring in long distance may reduce the noise suppressing effect.
• Recommended wiring example • Wiring example where the noise tends to generate

Enclosure Enclosure
Driver Driver
Noise
generated

Noise Noise
filter filter

Input cable

 Noise suppression parts (accessories)

Accessories are sold separately. Refer to p.49 for details.

 Driver cable
This cable is a shielded cable for good noise immunity to connect the driver and controller. The
ground wires useful to grounding are provided at both ends of the cable. The EMC measures are
conducted using the Oriental Motor driver cable.

 Pulse signal converter for noise immunity

This is a noise filter for pulse signal lines. It eliminates the noise of the pulse signal and changes
the pulse signal to the line driver type.

 Surge suppressor
This product is effective to suppress the surge which occurs in a relay contact part. Connect it when
using a relay or electromagnetic switch. CR circuit for surge suppression and CR circuit module are
provided.

8.9 Installing and wiring in compliance with EMC Directive

Effective measures must be taken against the EMI that the motor and driver may give to adjacent
control-system equipment, as well as the EMS of the motor and driver itself, in order to prevent
a serious functional impediment in the machinery. The use of the following installation and wiring
methods will enable the motor and driver to be compliant with the EMC directive. Refer to p.10 for the
applicable standards.
Oriental Motor conducts EMC measurements on its motors and drivers in accordance with
"Example of motor and driver installation and wiring" on p.26.
The user is responsible for ensuring the machine's compliance with the EMC Directive, based on
the installation and wiring explained below.

 Connecting noise filter

In large electrically noisy environments, connect a noise filter. Refer to "Noise filter" on p.24 for
details.

 Connecting the AC power line reactor

When inputting single-phase 240 V, insert a reactor (5 A, 5 mH) in the AC power line to ensure
compliance with EN 61000-3-2.

 Connecting the 24 VDC power supply

Use a 24 VDC power supply compliant with the EMC Directive.
Use a shielded cable for the wiring , and keep it as short as possible.
Refer to "Prevention of noise propagation" on p.24 for grounding the shielded cable.

−25−
Connection

 Connecting the motor cable

Use an accessory motor cable (sold separately) when extending the wiring distance between the
motor and driver.

 Connecting the signal cable

Refer to "Prevention of noise propagation" on p.24.

 How to ground
 The cable used to ground the motor, driver and noise filter must be as thick and short as possible
so that no potential difference is generated.
 Choose a large, thick and uniformly conductive surface for the grounding point.
 Be sure to ground the Protective Earth Terminal of the motor and driver. Refer to p.18 for grounding
method.

 Example of motor and driver installation and wiring

Noise 24 VDC
power Cable
AC filter Shielded cable cramp

Driver
PE FG Cable for FG
electromagnetic brake

Cable for encoder

Cable for motor

Signal cable Controller

Noise (Driver cable)

Cable
Motor filter
AC cramp
FG
FG
FG
FG PE
PE
Grounded panel
FG
is a shield box.
Gray colored cables are accessories (sold separately).

Note The driver uses parts that are sensitive to electrostatic charge. Take measures against static
electricity since static electricity may cause the driver to malfunction or suffer damage.

−26−
 Explanation of I/O signals

9 Explanation of I/O signals

9.1 Input signals

The following input signals of the driver are photocoupler inputs. The signal state represents the
"ON: Carrying current" or "OFF: Not carrying current" state of the internal photocoupler rather than
the voltage level of the signal.

 CW (PLS) input, CCW (DIR) input

These inputs serve as the CW and CCW inputs in the 2-pulse input mode, or PLS and DIR inputs in
the 1-pulse input mode. Set the pulse input mode of the driver according to the pulse output mode
of the controller (pulse generator) used with the driver. When inputting the pulse, check the PLS-
RDY output is turned ON.
ON
PLS-RDY output
OFF
0 s or more
ON
Pulse input
OFF

Note When the motor is at standstill, be sure to keep the photocoupler in OFF state.

 Maximum input pulse frequency

 When the controller is of line driver type: 1 MHz (duty cycle is 50%)
 When the controller is of open-collector type: 250 kHz (duty cycle is 50%)

 2-pulse input mode

ON
When the CW input is turned from OFF to ON, the motor CW input
OFF
will rotate by one step in CW direction. 1 μs or more
When the CCW input is turned from OFF to ON, the ON
motor will rotate by one step in CCW direction. CCW input
OFF

CW
Motor operation
CCW

Note Do not input the CW signal and CCW signal simultaneously. If the other signal is input while
one of the signals is ON, the motor cannot operate normally.

 1-pulse input mode

1 μs or more 1 μs or more
When the PLS input is turned from OFF to ON while the
ON
DIR input is ON, the motor will rotate by one step in CW PLS input
OFF
direction.
ON
When the PLS input is turned from OFF to ON while the DIR input
OFF
DIR input is OFF, the motor will rotate by one step in
CCW direction. CW
Motor operation
CCW

 ZHOME input
When the ZHOME input is turned ON, the motor will move to the home position set by the HOME
PRESET switch. Since it does not require sensors, return-to-home is possible at high-speed.

−27−
Explanation of I/O signals

 FREE input
When the FREE input is turned ON, the motor current will be cut off. When an electromagnetic
brake motor is used, the electromagnetic brake will be released.
The motor output shaft can be rotated manually since the motor holding torque is lost.
Note Do not turn the FREE input ON when driving a vertical load. Since the motor loses its holding
torque, the load may drop.

 STOP input
When the STOP input is turned ON, the motor will stop. Pulse input will also be disabled. When
inputting pulses, turn the STOP input OFF.
Note When the motor was stopped by the STOP input, be sure to turn the pulse input OFF. If the STOP
input is turned OFF while inputting pulses, the motor may suddenly start rotating.

 ALM-RST input
If the ALM-RST input is turned from OFF to ON while an alarm is generated, the alarm will be reset
(The alarm will be reset at the ON edge of the ALM-RST input).
Before resetting an alarm, turning the pulse input OFF, and then remove the cause of the alarm and
ensure safety.
Note that some alarms cannot be reset with the ALM-RST input.

 FW-JOG input, RV-JOG input

These signals are used to start JOG operation.
The motor continuously operates in the forward direction when turning the FW-JOG input ON, and
the motor continuously operates in the reverse direction when turning the RV-JOG input ON. If the
signal having inputted is turned OFF, the motor will stop.
If the FWD-JOG and RVS-JOG inputs are turned ON simultaneously, the motor will stop.

9.2 Output signals

The driver outputs signals in the photocoupler/open-collector output mode or line driver output
mode. The signal state represents the "ON: Carrying current" or "OFF: Not carrying current" state
of the internal photocoupler rather than the voltage level of the signal.

 HOME-END output
When the home position is set or when high-speed return-to-home operation is complete, the
HOME-END output turns ON.

 IN-POS output
When the motor has completed its movement, the IN-POS output will turn ON.
When the motor detection position is in a range of the "(IN-POS)Positioning completion signal
range" parameter (initial value: 1.8°) as a center of the command position, the IN-POS output turns
ON.
Command position
ON
IN-POS output
OFF

Motor position
(IN-POS)Positioning completion signal range

 PLS-RDY output
When the driver is ready to execute operation by inputting pulses, the PLS-RDY output turns ON.
Input the pulse to the driver after the PLS-RDY output has turned ON.

−28−
 Explanation of I/O signals

 READY output
When the driver is ready to execute operation, the READY output turns ON. Input the pulse or
operation start signal to the driver after the READY output has turned ON.

 MOVE output
The MOVE output turns ON while the motor is operating.

 ALM-B output
When an alarm generates, the ALM-B output will turn OFF, and the motor will stop. At the same
time, the PWR/ALM LED on the driver will blink in red. The ALM-B output is normally closed.

 ASG output, BSG output

The ASG output is used to output pulses according to motor operation. The motor position can be
monitored by counting the ASG output pulses. The number of output pulses per motor revolution
varies depending on the resolution effective when turning the power on.
The BSG output has a 90° phase difference with respect to the ASG output. The motor rotation
direction can be determined by detecting the BSG output level at the rise of the ASG output.
CW rotation CCW rotation
ON
ASG output
OFF
90°
ON
BSG output
OFF

Note  The ASG output and BSG output are subject to a maximum delay of 0.1 ms with respect to
motor operation. Use these outputs to check the position at which the motor is stopped.
 Connect a termination resistor of 100  or more between the driver and the input of the line
receiver.

−29−
Setting and adjustment

10 Setting and adjustment

This chapter explains how to adjust/set the motor and driver functions.

SW1
Current setting switch (CURRENT)

Command filter setting switch (FIL)

Function setting switch (SW1) →ON

No.1: Sets the resolution.
No.2: Sets the pulse input mode.

Note Be sure to turn off the driver power before setting the function setting switch (SW1). The new
setting of the SW1 will become effective after the power is cycled.

10.1 Resolution
Set a resolution per revolution of the motor output shaft using the SW1-No.1 of the function setting
switch.

OFF: 1000 p/r (factory setting)

ON: 10000 p/r

10.2 Pulse input mode

Set a pulse input mode of the driver according to the pulse output mode of the controller (pulse
generator) used with the driver. Set a desired mode using the SW1-No.2 of the function setting
switch. The factory setting of the pulse input mode depends on the destination country.

OFF: 2-pulse input mode

ON: 1-pulse input mode

10.3 Base current

Set the base current rate (%) for the operating current and standstill current. Set using the current
setting switch (CURRENT). If the load is small and there is an ample allowance for torque, motor
temperature rise can be suppressed by setting a lower operating current.
The actual operating current and standstill current are as follows.
 Operating current: Maximum output current × Base current rate
 Standstill current: Maximum output current × Base current rate × 0.5
The dial settings and corresponding base current rates are listed below.
Dial setting Base current rate (%) Dial setting Base current rate (%)
0 6.3 8 56.3
1 12.5 9 62.5
2 18.8 A 68.8
3 25.0 B 75.0
4 31.3 C 81.3
5 37.5 D 87.5
6 43.8 E 93.8
7 50.0 F 100 (factory setting)

−30−
 Setting and adjustment

Note  Excessively low operating current or standstill current may cause a problem in starting the
motor or holding the load in position. Set a suitable current for your application.
 The motor torque is proportional to the current. If the CURRENT switch is set to "7" (50%) while
the operating torque is set to 100% (maximum output current), only 50% of the torque is
output.

Base current 100%

Base current 50%

Torque [N•m]

Rotation speed [r/min]

10.4 Command filter

The motor response to input pulses can be adjusted with the command filter setting switch (FIL).
When setting a higher value for the command filter, lower vibration at low speed operation or
smoother operation at starting/stopping of the motor can be achieved. However, if this setting is
too high, synchronization performance is decreased. Set a suitable value based on the load or
application.
The dial settings and corresponding command filter time constant are listed below.
Command filter time Command filter time
Dial setting Dial setting
constant (ms) constant (ms)
0 0 8 30
1 1 (factory setting) 9 50
2 2 A 70
3 3 B 100
4 5 C 120
5 7 D 150
6 10 E 170
7 20 F 200

−31−
Guidance

11 Guidance
If you are new to the AZ Series, read this section to understand the operating methods along with
the operation flow.

 How to read the guidance

This chapter explains the operation procedure as follows.

Home position setting (p.32) * * Perform the home position setting only
once initially. Once the home position is
 set, it is no need to set afterward.
Trial operation (p.34)

High-speed return-to-home operation (p.35)

 Checking the factory setting

The driver is explained as a state of the factory setting.
Setting item Factory setting
Resolution 1000 P/R (0.36°/step)
Operating current F (Base current 100%)
Command filter time constant 1 (1 ms)
Home position Motor position at power on

11.1 Guidance for home position setting

The home position has not set at the time of shipment. Before starting operation, be sure to set the
home position. Perform the home position setting only once initially. Once the home position is set,
the driver keeps the home information even if the power supply is shut down.

STEP 1 Connect the motor, power supply and MEXE02 to the driver
1. Wire the driver by reference to the figure. Be sure to connect a 24 VDC power supply.
2. Move the motor to a desired home position manually.

* Required CN1 connector

+24 V 0V
24 VDC Connect to +24 V, 0 V
power supply

Connect to ENCODER

Cable for encoder

PC in which the MEXE02
Connect to MOTOR has been installed

Cable for motor

* Required
Main power supply

Move the motor to a desired

home position manually. Gray colored cables are
PE accessories (sold separately).

−32−
 Guidance

STEP 2 Turn on the power and set the home position

1. Turn on the 24 VDC power supply and main power supply.
2. Keep pressing the HOME PRESET switch for one second.
Red color and green color on the PWR/ALM LED blinks simultaneously. (Red and green colors
may overlap and it may be visible to orange.)

PWR/ALM LED

HOME PRESET switch

3. Remove the hand from the HOME PRESET switch within three seconds after the PWR/ALM
LED started blinking, and press the switch again.
After both red color and green color on the PWR/ALM LED are lit, only green color continues to
be lit.
The home position is set.
Note For the procedure 3, be sure to perform within three seconds after the PWR/ALM LED started
blinking. If three seconds were passed, the PWR/ALM LED will return to the state being lit in green.
In this case, perform from the procedure 2 again.

See the following timing charts for the procedure of home position setting.
1 sec
ON 2 3 3
HOME PRESET switch
OFF
1
ON
PWR/ALM LED (Green)
OFF
1 sec
ON
PWR/ALM LED (Red)
OFF

ON
HOME-END output
OFF

−33−
Guidance

11.2 Guidance for test operation

This is an example to perform test operation using the MEXE02.
After performing "11.1 Guidance for home position setting" on p.32, continuously perform test
operation.
Note Before operating the motor, check the condition of the surrounding area to ensure safety.

1. Click the [Teaching, remote operation] short-cut button in the left side of the screen.
The teaching/remote operation window appears.

2. Click "Start the teaching remote operation."

Since the pop-up window (Warning) is displayed, click [Yes].

3. Perform test operation of the motor using the JOG operation buttons.

−34−
 Guidance

11.3 Guidance for high-speed return-to-home operation

After operation, return the motor to the home position. Using high-speed return-to-home operation
(ZHOME) can return the motor position to the home position easily.
After performing "11.2 Guidance for test operation" on p.34, continuously perform high-speed return-
to-home operation.

STEP 1 Check the present position

1. Check the "Actual position" in the teaching/remote operation window.

2. To check if the ABZO sensor has memorized the home position, once turn off the power, and
turn on again.
3. Check the "Actual position" again.
Check that the actual position is not 0.

STEP 2 Execute high-speed return-to-home operation

1. Click "ZHOME operation."
Since the pop-up window (Warning) is displayed, click [Yes].

The motor will start high-speed return-to-home operation.

2. After the motor returns to the home position, check that the "actual position" is 0.

−35−
Guidance

STEP 3 End the teaching/remote operation

To end the teaching/remote operation, unselect "Start the teaching remote operation."

−36−
 Operation

12 Operation
Three types of operation signals are assigned to the CN5 connector at the time of shipment.
This chapter explains operations (positioning operation, JOG operation, and high-speed return-to-
home operation) that can be performed in the factory setting only.

12.1 Set the home position using the MEXE02

The home position can be set using the MEXE02 other than the HOME PRESET switch of the
driver.
1. Click the [Teaching, remote operation] short-cut button int the left side of the screen.
The teaching/remote operation window appears.

2. Click the "Teaching, remote operation," and click [Yes] on the pop-up window (Warning).

3. Adjust the motor position using the JOG operation switches.

−37−
Operation

4. When adjusting the motor position manually, click [FREE: ON] first, and click [Yes] on the pop-
up window (Warning).
The holding power of the motor output shaft is lost, and the output shaft can be turned by hand.
After adjustment, click [FREE: OFF], and recover the motor excitation.

5. After setting the motor home position, click [Position Preset], and click [Yes] on the pop-up
window (Warning).
The home position is set and written to the driver.

12.2 Positioning operation

Positioning operation is performed by inputting pulses.
1. Turn on the 24 VDC power supply and main power supply.
The READY output and PLS-RDY output turn ON.
2. Check the PLS-RDY output has been turned ON and input pulses.
The motor will start positioning operation.
When the pulse is stopped inputting and the operation is complete, the READY output will turn
ON.
1
ON
24 VDC power
OFF
1
ON
Main power
OFF
2
ON
Pulse input
OFF

ON
READY output
OFF
2
ON
PLS-RDY output
OFF

ON
IN-POS output
OFF

Motor operation

Refer to the OPERATING MANUAL Function Edition for details about operation.

−38−
 Operation

12.3 High-speed return-to-home operation

High-speed return-to-home operation is used to return to the home position that is set by the HOME
PRESET switch.
1. Turn on the 24 VDC power supply and main power supply.
The READY output and PLS-RDY output turn ON.
2. Check the READY output has been turned ON and turn the ZHOME input ON.
The READY output turns OFF, and the motor will start high-speed return-to-home operation.
3. If the READY output has been turned OFF, the ZHOME input may be turned OFF.
When reaching the home position, the operation will be stopped.
The HOME-END output and READY output will turn ON.
1
ON
24 VDC power OFF
1
ON
Main power
OFF
2 3
ON
ZHOME input
OFF

ON
HOME-END output
OFF
2
ON
READY output 3
OFF

ON
PLS-RDY output
OFF

Motor operation

 When changing the operating condition of high-speed return-to-home

operation
1. Click on the “Paremeter,” “Motor and Mechanism(Coordinates/JOG/Home Operation),” in the left
side of the screen.
Motor and mechanism parameter window will appears.

−39−
Operation

2. The operating condition can be changed using three parameters in the figure.

3. After changing the operating condition, click the [Writing data] icon in the toolbar to download to
the driver.

The process has been completed.

12.4 JOG operation

Constant speed operation (inching operation) can be performed with JOG operation.
The motor operates continuously while the FW-JOG input or RV-JOG input is being ON.
1. Turn on the 24 VDC power supply and main power supply.
The READY output and PLS-RDY output turn ON.
2. Check the READY output has been turned ON and turn the FW-JOG input or RV-JOG input ON.
The motor will start operation.
When the FW-JOG input is turned ON, the motor rotates in the forward direction, and when the
RV-JOG input is turned ON, the motor rotates in the reverse direction.
3. Turn the input signal OFF.
The motor will decelerate to a stop.
When the motor stops, the READY output will turn ON.
1
ON
24 VDC power
OFF
1
ON
Main power
OFF
2 3
FW-JOG input or ON
RV-JOG input OFF
2
ON
READY output
OFF

ON
PLS-RDY output
OFF

ON
IN-POS output
OFF

Motor operation

−40−
 Operation

 When changing the operating condition of JOG operation

1. Click on the “Paremeter,” “Motor and Mechanism(Coordinates/JOG/Home Operation),” in the left
side of the screen.
Motor and mechanism parameter window will appears.

2. The operating condition can be changed using five parameters in the figure.

3. After changing the operating condition, click the [Writing data] icon in the toolbar to download to
the driver.

The process has been completed.

−41−
Power removal function (ETO function)

13 Power removal function (ETO function)

The power removal function (ETO function) is used to stop the motor forcibly by inputting the signal
externally. This function makes the FET turn OFF without involving the CPU. Therefore, it cuts
off the power to the motor by the electronic circuit without using the software, causing the motor
generating torque to turn to zero.
Related I/O signals are the HWTO input and EDM output.

13.1 Block diagram

Main power
supply
Motor

4.7 kΩ
HWTO1+ HWTO1
HWTO1-

4.7 kΩ
HWTO2+ HWTO2
HWTO2-

EDM+ ASIC
EDM
EDM-

Signal name Specificaion

HWTO1+ input
HWTO1− input
24 VDC±10%
HWTO2+ input
HWTO2− input
EDM+ output 30 VDC or less, 50 mA or less
EDM− output Output saturated voltage 1.1 V

13.2 Related I/O signals

 HWTO input
When either of the HWTO1 input or HWTO2 input is turned OFF, the power to the motor is cut off
by the electronic circuit without involving the CPU, causing the motor to stop. In this time, the PWR/
ALM LED will blink in green.
When an electromagnetic brake motor is used, the electromagnetic brake continues to hold the
position.

−42−
 Power removal function (ETO function)

 EDM output
If both the HWTO1 input and HWTO2 input are turned OFF, the EDM output will turn ON.
HWTO1 input HWTO2 input EDM output Motor excitation
ON ON OFF Excitation
ON OFF OFF
OFF ON OFF Non-excitation
OFF OFF ON

13.3 Releasing ETO state

If the STOP input is turned ON while the ETO function is activated, the ETO state can be released
(effective at the ON edge of the STOP input).
Be sure to turn the STOP input ON after turning the HWTO1 input and HWTO2 input ON.

13.4 Timing chart

1. When both the HWTO1 input and HWTO2 input have been turned OFF, the EDM output will turn
ON.
The power supply to the motor will be shut off.
2. Stop the pulse input.
3. Turn the HWTO1 input and HWTO2 input ON.
4. Turn the STOP input ON.
The power is supplied to the motor, and the motor will be excited.
5. Turn the STOP input OFF.
The PLS-RDY input turns ON, and the driver will be ready to operate.
ON 2
Pulse input
OFF
1 3
HWTO1 input ON
HWTO2 input OFF
ON
EDM output
OFF
4 5
ON
STOP input
OFF

ON
PLS-RDY output
OFF

ON
MOVE output
OFF

ON
Motor excitation
OFF

Hold
Electromagnetic brake
Release

−43−
Power removal function (ETO function)

13.5 To use this product safely

 When the ETO function is used, be sure to conduct a risk assessment of equipment in
advance to satisfy the safety requirements of the entire system.
 Even if the ETO function is activated, the following potential risks can be estimated.
Be sure to confirm the safety by conducting a risk assessment.
 The motor output shaft may be rotated by an external force. If the motor output shaft is kept in
place, install an external brake mechanism or equivalent. Do not use the brake mechanism of the
electromagnetic brake motor for braking the motor rotation.
 If the ETO function is activated, the driver stops supplying the power to the motor. However,
the input power to the driver is not shut off, and the driver is not electrically isolated. Before
performing maintenance or inspection, always turn off the driver power, and check the voltage
with a circuit tester after the CHARGE LED is turned off.

 The EDM output is not an output signal to ensure the safety. Do not use the EDM
output for any other purpose except for monitoring a failure.

−44−
 Inspection

14 Inspection
It is recommended that periodic inspections be conducted for the items listed below after each
operation of the motor. If an abnormal condition is noted, discontinue any use and contact your
nearest Oriental Motor sales office.

 During inspection
 Are the openings in the driver blocked?
 Are any of the mounting screws or connection parts of the driver loose?
 Is there attachment of dust, etc., on the driver?
 Are there any strange smells or appearances within the driver?
Note The driver uses semiconductor elements, so be extremely careful when handling them. Static
electricity may damage the driver.

−45−
Alarm (protective function)

15 Alarm (protective function)

When an alarm generates, the ALM-B output will turn OFF and PWR/ALM LED will blink in red.
Before resetting an alarm, always remove the cause of the alarm and ensure safety.
For details about alarms, refer to the "OPERATING MANUAL Function Edition."

 Example of the alarm monitor screen of the MEXE02

The alarm message can be checked using the "Alarm monitor" of the MEXE02.

The measures are The cause that

displayed. generated the alarm
is displayed.

−46−
 Troubleshooting

16 Troubleshooting
During motor operation, the motor or driver may fail to function properly due to an improper setting
or wiring. When the motor cannot be operated correctly, refer to the contents provided in this
section and take appropriate action. If the problem persists, contact your nearest Oriental Motor
sales office.

This chapter describes problems that may occur during operation in

addition to the initial settings.
Refer to the OPERATING MANUAL Function Edition for these contents.

Phenomenon Possible cause Remedial action

 The motor is not Turn the C-ON input ON and confrm that the
The C-ON input is turned OFF.
excited. motor will be excited.
 The motor output shaft
The FREE input is turned ON. Turn the FREE input OFF.
can be moved by hand.
An electromagnetic brake motor is
Check the connections between
used and the electromagnetic brake is
electromagnetic brake and driver.
in the holding state.
The STOP input is turned ON. Turn the STOP input OFF.
The motor does not The position (distance) is not set in
operate. the operation data while positioning Check the operation data.
operation.
The FWD-JOG input and RVS-JOG
Turn either FWD-JOG input or RVS-JOG input
input are turned ON simultaneously in
ON.
the JOG operation.
The motor does not rotate  Signals are not connected properly.  Wire signals correctly.
although the READY LED  Multiple signals have been input  Check if the signal line is disconnected.
is lit. simultaneously.  Check if the wrong signal is input.
The motor rotates in the
The "motor rotation direction" Check the setting of the "motor rotation
direction opposite to the
parameter is set wrong. direction" parameter.
specified direction.
 With TS geared motor, the gear output shaft
rotates in the direction opposite to the motor
The gear output shaft
A gear that rotates in the direction when the gear ratio is 20 or 30.
rotates in the direction
opposite to the motor shaft is used.  With Harmonic geared motors, the gear
opposite to the motor.
output shaft always rotates in the direction
opposite to the motor.
Connection error in the motor or power Check the connections between the driver,
supply. motor and power supply.
Motor operation is Return the CURRENT switch to its initial
unstable. setting and check. If the current is too low,
The base current setting is too low.
the motor torque will also be too low and
operation will be unstable.
Lower the current using the CURRENT
Motor vibration is too
Load is too small. switch. Vibration will increase if the motor’s
great.
output torque is too large for the load.
The electromagnetic The power is not supplied to the Check the connection of the electromagnetic
brake does not release. electromagnetic brake. brake.

Note  Check the alarm message using the MEXE02 when the alarm generates.
 I/O signals can be monitored using the MEXE02. Use to check the wiring condition of the I/O
signals.

−47−
To use the product in more convenient manners

17 To use the product in more convenient

manners
Using the MEXE02, you can set the operation data or change I/O signals that assign to the CN5
connector. Also, you can monitor the operating status or perform test operation.
Refer to the OPERATING MANUAL Function Edition for details about operation.

Like to set the resolution Like to change the I/O Like to improve the
based on the function assignment characteristics

Like to utilize convenient Like to check operation Like to change the

functions for maintenance by the waveform monitor alarm conditions

−48−
 Accessories (sold separately)

18 Accessories (sold separately)

 Driver cable
This cable is a shielded cable for the driver control I/O that has good noise immunity.
The ground wires useful to grounding are provided at both ends of the cable.
Model Length [m (ft.)]
CC16D010B-1 1 (3.3)
CC16D020B-1 2 (6.6)

 Pulse signal converter for noise immunity

It eliminates the noise of the pulse signal and changes the pulse signal to the line driver type.
Model: VCS06

 CR circuit for surge suppression

This product is effective to suppress the serge which occurs in a relay contact part. Use it to protect
the contacts of the relay or switch.
Model: EPCR1201-2

 CR circuit module
This product is effective to suppress the surge which occurs in a relay contact part. Use this product
to protect the contacts of the relay or switch.
4 pieces of CR circuit for surge suppression are mounted on the compact circuit, and this product
can be installed to the DIN rail. This product can make the wiring easily and securely since it also
supports terminal block connection.
Model: VCS02

 Regeneration unit
Connect the regeneration unit if gravitational operation or other operations involving up/down
movement, or sudden starting/stopping of a large inertial load, will be repeated frequently.
Always connect the regeneration unit if an overvoltage protection warning or alarm generates.
Model: RGB100

 Connecting the regeneration unit

Regeneration unit
 The two thin lead wires (AWG22: 0.3 mm ) of
2
RGB100 CN1
the regeneration unit are the thermostat outputs. To TH1 and TH2
Connect them to the TH1 and TH2 using the CN1
150 °C (302 °F)

connector.
R: 150 Ω

AWG22
 Regenerative current flows through the two thick
[N.C.]

lead wires (AWG18: 0.75 mm2) of the regeneration

unit. Connect them to the RG1 and RG2 using the
CN4 connector.

CN4
To RG1 and RG2

AWG18

−49−
Accessories (sold separately)

Note  Before connecting the regeneration unit, be sure to remove the jumper wire from the CN1
connector.
 If the allowable power consumption of the regeneration unit exceeds the allowable level,
the thermostat will be triggered and the regeneration unit overheat alarm of the driver will
generate. If the regeneration unit overheat alarm generates, turn off the power and check the
connection or operating condition.

 Regeneration unit specification

Model RGB100
Continuous regenerative power: 50 W *
Allowable current consumption
Instantaneous regenerative power: 600 W
Resistance value 150 
Operation: Opens at 150±7 °C (302±12.6 °F)
Thermostat operating temperature
Reset: Closes at 145±12 °C (293±21.6 °F) [normally closed]
Thermostat electrical rating 120 VAC 4 A, 30 VDC 4 A (minimum current: 5 mA)
* Install the regeneration unit in a location where heat dissipation capacity equivalent to a level achieved with a
heat sink [made of aluminum, 350×350×3 mm (13.78×13.78×0.12 in.)] is ensured.

−50−
−51−
 Unauthorized reproduction or copying of all or part of this Operating Manual is prohibited.
If a new copy is required to replace an original manual that has been damaged or lost, please contact your
nearest Oriental Motor branch or sales office.
 Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising
from use of any information, circuit, equipment or device provided or referenced in this manual.
 Characteristics, specifications and dimensions are subject to change without notice.
 While we make every effort to offer accurate information in the manual, we welcome your input. Should you
find unclear descriptions, errors or omissions, please contact the nearest office.
 and are registered trademark or trademark of Oriental Motor Co., Ltd., in Japan and
other countries.
Other product names and company names mentioned in this manual may be registered trademarks
or trademarks of their respective companies and are hereby acknowledged. The third-party products
mentioned in this manual are recommended products, and references to their names shall not be construed
as any form of performance guarantee. Oriental Motor is not liable whatsoever for the performance of these
third-party products.
© Copyright ORIENTAL MOTOR CO., LTD. 2013

• Please contact your nearest Oriental Motor office for further information.

Technical Support Tel:(800)468-3982 Singapore Korea

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Tel:1800-806161 Hong Kong Branch
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Tel:1800-888-881 Headquarters Tokyo, Japan
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