-1-

Introduction-Disclaimer

This product is designed as a general industrial device. Do not use for other applications. We do nottake any responsibility for any damage that may result from the disregarding of these warnings.

In the event that an accident results from the use of this product, we do not compensate for any
damage, including abnormalities of equipment, connection devices, and/or software, any damage
resulting from malfunctions, and/or any other secondary damage.



Caution : Installation, operation and usage of ITOH DENKI MDRs in combination with a control card
designed by a third party could result in fatal

phenomena such as fire, electric shock, injuries etc

which are out of the responsibility of ITOH DENKI.

-Notes on industrial property rightsThere are some examples of parts that need to be prepared by customers, as explained within this manual.
However, this does not provide any guarantee against the existence of any rights, such as our industrial
property rights, or those of other companies.

-Notes on technical supportWe respond to technical inquiries based on the contents described within this manual, and on this productwithin the range of general items for this product unit.
There are some descriptions in this manual, about parts, equipment, and wiring arranged by customers, aswell as the controls and operation under such circumstances. However, these are not included in theguaranteed operating range and/or support.
When in use, please check and perform the aforementioned based on your responsibility according tooperation.

-About the performance level (PL) for this systemThis product is based on the performance level “C”*2

ISO-13849-1*1.

＊1：International Organization for Standardization＊2：This indicates that even though events that would result in serious injury occur infrequently underassumed risk environment, there is a high probability to avoid danger if you observe the safetycontents described in this manual.

-About installation environmentThis product is not equipped with special dust proof/waterproof countermeasures, and is intended to be usedin environments of “Pollution Degree 2” *2, as defined in IEC60664 -1 *1.
＊1： Insulation coordination for equipment within low-voltage supply systems - Part 1 of the International
Standard＊2：Non-conductive pollution will occur, but it is assumed that condensation will happen to generate
conductive property temporarily.

-2-

INDEX
1.

Safety Considerations

2.

Power

3.

Before Operation
3-1

Installation

3-2 Wiring
4. Functions
4-1

Command chart

4-2 Writing data
4-3

Reading data

4-4

Parameter setting

5. Operations

6.

5-1

Speed setting

5-2

Motor direction

5-3

Acceleration and deceleration

5-4

Model selection

5-5

Current limit

5-6

Thermal error detection/Reset

5-7

Brake mode selection

5-8

Error – Manual/Automatic recovery

5-9Motor drive mode selection

5-10

Sensor noise elimination time

5-11

Brake force boost for servo lock brake

5-12

Upper current limit for servo lock brake

5-13

Motor port output

5-14

Motor stall time

5-15

LED forcible control

Errors6-1Error output

6-2

Error classifications

6-3

LED display

7.

Servo Lock Brake

8.

Dimensions

9.

Specifications
9-1

PC board specifications

9-2

CC Link specifications

10. Troubleshooting
10-1

Motor error

10-2Error messages regarding CC Link and solutions-3-

Standard Accessories● IB-C02 (Main body)● PCB mounting screws, nuts
Cross recessed head screws：M4×15
Hexagonal nuts

：M4

Options● Power connector for motor drive (CN1) P/N WAGO231-302/026-000● Power connector for control (CN5）● CC-Link standard connector

P/N WAGO734-102

P/N：35505-6000-B0M GF

Manufacturer: 3M● Terminal resistor connector P/N：35T05-6M00-B0M GF

Manufacturer: 3M● Divider connector H shaped P/N：35720-L200-B00 AK

Manufacturer: 3M● Sensor connector

P/N：37104-3122-000 FL

Manufacturer: 3M

Suggested cable for the sensor connector: 0.14～0.3m ㎡ (AWG26～24)

Consult us if other cable is used.

1.

Safety Considerations－General description－● Switch off the power before wiring, performing maintenance, or removing the unit fromthe conveyor, to avoid the risk of electrical shock or injury.
● Follow the local/national electrical codes and regulations(labor, safety, sanitary, electrical, etc.) where the product is installed.
● Operate this product within its intended design parameters and operating specifications
to avoid the risk of electrical shock, injury, or fire.
● Do not disassemble, repair, or modify this product to avoid the risk of electrical shock or injury,
damage to the product, and voiding the warranty.
● Use an external control device/circuit when connecting to this product’s input or
output signals for important connections or control. In the event of a product failure,
the inputs or outputs may remain active and need to be bypassed.
● Do not wire a connector while it is attached to the product. Make sure all the wires areproperly seated within the connector.
● Be careful not to drop the product or expose it to impact or pressure as damage may result.
● Make sure the surface to which the product is mounted is properly grounded.
●Make sure this product and conveyor flame are connected to grounding terminal in a power
distribution panel.
● Be careful not to have switching devices (relays, contactors, etc.), which may generate or
induce noise, within close proximity of this product, its power line, or its signal lines.
● Any of electronic brake function is only operational while the product is powered.
● Make sure shut off power for motor power first and then shut off power for control.
Data may not be saved properly.
● Do not remove any connections to the product while it is in operation.
This may damage the product or shorten its lifetime.
-4-● Do not shut off power while the motor is in operation. This may damage the product or
shorten its lifetime.
● Do not stand on conveyor while power is ON to avoid the risk of product failure, electricalshock, or injury.
● Do not physically force the MDR to rotate. This may damage the product or shorten its
lifetime.

2.

Power

● Switching power supply

CN1: Motor drive（DC24V・≧10A

CN5：Control

when 2 motors run）

1.3W per PC board required (without counting sensor current)● Use separate power supply for CN1 (motor) and CN5 (control)* For motor power, use stable power supply (24VDC ≧10A) that will not be affected by varying load.
The power supply also need to be the one that will not activate protection for 20A peak current for 1msec.

3.

Before Operation
3-1 Installation
1) Make mounting holes for controller and ground wire connection to the conveyor flame or plate
where controller is attached.
(See Dimensions in Chapter 8. for mounting holes dimensions)
The product’s back place should be affixed to metallic plate to ensure heat dissipation.
Care must be paid to prevent metallic debris entry to the product.
2) Fix product tightly to the conveyor frame with supplied mounting screws and nuts withrecommended fasten tightly torque 0.58Nm.
3) Refer to “Cable Wiring Manual” provided by CC-Link Partner Association (CLPA) for network.

3-2 Wiring
・Wiring should be done while product is not powered.
・Wiring to the connectors should be done before it is inserted to the product.

SenA

SenB

24V

SensorB＜CN4
ケーブル＞<CN4CC-Link
CC-Link
cable>SenA
SenB

CC-Link

MOTOR BB RATE
421

901

901
78

STATION NO.
x10 x1

78

PWR

23

0V

DA
DB
DG
OPEN
SLD

23

<CN1
motor power>＜CN1
モータ駆動電源＞

M Power

L RUN
L ERR
SD
RD

C Power

24V
0V

456

<CN5 ＜Controlpower>
CN5制御電源＞

0V
OPEN
SEN
24V

＜FG＞ ※

456

24V
SEN
OPEN
0V

SensorAMB

MOTOR AMA

2

※ Be sure to connect 2mm size grounding wire.

-5-

① Wire 24VDC and 0V to the motor power connector<CN1(2 poles)>【Applicable wire size : 2.0~2.5mm2 (AWG 14~12)】* Daisy chain wiring not accepted, as it may cause
electrical shock, short-circuit or damage for

0V

exceeding 16A connector capacity.
* Wire membrane needs to be removed for 7mm
long from the edge.
* Wire 24V and 0V correctly.
* Do not wire while connector is inserted.

24V② Wire 24VDC and 0V to the control power connector<CN5(2 poles)>。

【Applicable wire size : 0.08~0.5mm2 (AWG 28~20)】* Daisy chain wiring not accepted as it may cause
electrical shock, short-circuit or damage for
0V

exceeding 16A connector capacity.
* Wire membrane needs to be removed for 7mm
long from the edge.
* Wire 24V and 0V correctly.

24V* Do not wire while connector is inserted.

③ Wire 24VDC and 0V to the sensor connector <CN2,CN3(4 poles)>【Applicable wire size : 0.14~0.3mm2 (AWG 26~24)】※ * Wiring order is 24VDC, input, reserved, 0V②Reserved※

viewed from the left.

①0V
④24V
③IN

④ Wire SLD,DG,DB and DA to the CC-Link connector <CN4 (5 poles)>* Wire SLD, Reserved, DG, DB, DA in

DG

order.

DB* Use specific CC-Link cable for wiring.

DA

SLD
-6-

◆About daisy chain wiring for CC-Link connector <CN4 (5pin)>
Dividerconnector
H Shaped

Terminal
resisterconnector

・There is no distinguish between upper (upstream) side and lower(downstream) side for a socket for CN4.
・Use a Divider connector H Shaped to wire for CN4.
It is possible to wire without Divider connectors H Shaped.
However, a communication will be shut off when connector is
unplugged from controller.

・ Use a terminal
resistor connector
for the terminal
controller.

* Divider connectors H Shaped require for conformance test.

Terminal controller

To master PLC

Functions
Motor AM A軸

SensorB

＜CN4＞

SenA
SenB

B RATE
421

901

901

78

STATION NO.
x10 x178

M Power

24V

PWR

＜CN3＞

23

0V

DA
DB
DG
OPEN
SLD

23

＜CN1＞

0V
OPEN
SEN
24V

CC-Link

MOTOR B

SensorA

MOTOR A

L RUN
L ERR
SD
RD

24V
0V

C Power

＜CN5＞

24V
SEN
OPEN
0V

456

＜CN2＞

Motor B
M B軸

456

4.

CC-Link
communication
CC-Link
通信ケーブル cable

SW1 Baud rate setting
SW１

1

2

3

OFF
OFF
OFF
OFF
ON

OFF
OFF
ON
ON
OFF

OFF
ON
OFF
ON
OFF

Baud rate

156kbps
625kbps
2.5Mbps
5Mbps
10Mbps* SW1-4 is not used.

Switching SW-4 won’t change anything.

SW2, SW3 are for setting station number
・SW2 = ones place・SW3 = tens place(example)

SW3 SW2 Station No
0
3
3
2
7
27
* Station number needs to be set between 1 and 64.
* Station number needs to be set between 1 and 42 in case structure is made only with remotedevice stations. In case of mixed structure, station number can be up to 64 maximum.
* Setting statioin number to 0 or beyond 64 is recognized as error and L ERR. LED illuminates.

Initialization
Because this unit does not require initialization, flag to require initialization data process, flag to complete
initialization data process, flag to complete initialization data setting, and flag to require initialization datasetting are invalid.

Remote station Ready becomes ON after power is injected.

-7-

PLC
・We recommend the use of Mitsubishi PLC.
・In case Mitsubishi ladder programming software (GX Works2, etc) is not used, CSP data may not
be used.
・In case CSP data cannot be used, parameter settings need to be done by ladder programming.

4-1

Command chart

CommandCommandSub command

Function

0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08

*
*
*
*
*

0x01
CW acceleration
0x01
CCW acceleration
0x01
CW deceleration
0x01
CCW deceleration
0x01
Stall time
0x01
Motor CPU Ver
0x01
Servo lock brake boost value
0x01
Current limit value
0x01
Thermal error detection
0x09
0x02
Thermal error reset
0x0A
0x01
Motor port output
0x0B
0x01
Motor drive mode
0x0C
0x01
Brake mode selection
0x0D
0x01
Error - Manual/Automatic reset
0x0E
0x01 Servo lock brake upper current limit
0x0F
0x01
Status reasing
0x11
0x01
Status clear
0x14
0x01
Motor LED forcible cotrol
0x01
MSM measured data 1
0x02
MSM measured data 2
0x03
MSM measured data 3
0x15
0x04
MSM measured data 40x05
MSM measured data 50x06
MSM mode
0x01
Acceleration setting
0x16
0x02
Deceleration setting
0x17
0x01
Calculated life value reading
0x01
Speed 10x02
Speed 20x20
0x03
Speed 30x04
Speed 40x21
0x01
Sensor noise elimination time
0x22
0x01
PC board Version
Model selection
0x23
0x01
□ marked are validated only when power is injected.
Parameter set values are reflected (validated) when power is re-injected after power is once
switched off.
Set parameters on parameter setting display in GX Works2, and write the values in the
PCboard.
Stall time is fixed and cannot be changed.
Acceleration/deceleration setting is automatically set in accordance with the motor turning
direction and speed setting.

-8-

4.2

Writing Data
Bit control
M o t o r A
7
6
5
4
3
2
1
S p e e d S 4p e e d S 3p e e d S 2p e e d E 1r r o r c l Re ea sr e t C C W
S y s t e m a r e a

R Y 0
R Y 1

R Y 0
R Y 1

0
R UC NW

R U N

M o t o r B
F
E
D
C
B
A
9
8
S p e e d S 4p e e d S 3p e e d S 2p e e d E 1r r o r c ls ee an rD / R
C C W R UC NW R U N
I n i t i a l i z a t i o n
S y s t e m a r e a
r e q u e s t* Functions are assigned by bit to Motor A and Motor B respectively as the above table.
* If more than 2 poitns are set to 1, speed 1 has highest priority: Speed >speed 2 > speed 3 >speed 4
* To change the motor turning direction, first change the bit from 1 to 0, then set 1 to RUN on
reversing direction.

C o m m a n d
C o n t e n t
C W R U N
MD R t u r n s f o r C W d ir e c t i o n
C C W R UMND R t u r n s f o r C C W d i r e c t i o n s
R e s e t I B - C 0 2 b o a r d i s r e s e t
s e n D / LS e l e c t i o n o f d a r k o r l i g h t o p e r a t e
E r r o r cC
l el ae ra r t h e e r r o r w h e n a r i s e s
S p e e d 1S -e4l e c t i o n o f m o t o r s p e e ds e n s o r

Set to “1” for the item to use in case of bit control.
* If particular speed is not set, speed 1 applies.
System area
Command
Initialization request

Content
Flag to set for setting initial data

Word control

F - 8
7 - 0
R W w 0S u b c o m m a Cn od mNmoa n d
R W w 1D a t a 2
D a t a 1
R W w 2S u b c o m m a Cn od mNmoa n d
R W w 3D a t a 2
D a t a 1

A xi s
N o
A
N o

B

* See command chart for command and sub command number to write.
＜example＞
In case Motor A current limit value is changed
Enter RWw0 = 0x0108

RWw1 = 0x0003 and value in the PC board is changed.

However, in case the same command is repeatedly written, change the sub command number
to the one that is not found in the command chart.
* Set command and data in case of Word control.

-9-

4-3

Reading Data
Bit control

7

6

Mo t o r
4
3

5

R X 0
R X 1

A
2
1
E r r o rM o t o r
a r e aS ys t e m
FE

Mo t o r
C
B

D

B
A
9
E r r o rM o t o r

R X 0
S ys t e m

R X 1

R e m o t e
R e a d ya r e a0
iSnef no s o r

8
iSnef no s o r

I n i t i a l s e t t i n g
c o m p l e t e d* Motor A and B performs the functions as assigned by Bit in the above table.
C o m m a n d
C o n t e n t
S e n s o r s t a t u s f o r e a c h a x i s
S e n s o r
1 m e a n s s e n s o r O N
M o t o r s t a t u s o f e a c h a x i s
M o t o r 1i :n f M
o o t o r r u n s
0 : M o t o r s t o p s
E r r o r s t a t u s o f e a c h a x i s
E r r o r1 : E r r o r e x i s t s
0 : n o r m a l* Bit changes to follow the changes on PC board.
“1” stands for On status on bit control.
System area
C o m m a n d
I n i t i a l

C o n t e n t

s e t t i n Fg l ac go mt po l ec to emd p l e t e

R e m oRt e a d y

F l a ga l l o w i n gt h es e t t i n g

o f

t r a n s m i t t e do p e r a t i o n

Word control

F - 8
R W r 0S u b
R W r 1D a t a
R W r 2S u b
R W r 3D a t a

7 - 0

c o m m Ca on m
d mNaon d2

D a t a1

c o m m Ca on m
d mNaon d2

D a t aA x i s
N o

1

N o

A
B

* Word control allows the retrieval of command number and data to read.

<example>
To retrieve the version number of motor CPU of Motor B:
Enter RWw2 = 0x1106
RWr2 = 0x1106

RWw3 = 0x0000

RWr3 = 0x0011

Then, CPU returns value

is retrieved

However, in case the same command is repeatedly written, change the sub command to thenumber that does not exist in command chart.

- 10 -dBit and Word assignment for each station are visually obtained by ○ marked icon.

Device assignment box display comes up. Choose the top I/O Number and assigned device number and content
shows up. Confirm them while ladder program is made.

- 11 -

4-4 Parameter setting
In case, GX Works 2 is used:
Profile register the CSP file of ITOH DENKI P/N IB-C02.
Registration can be done through “Tool” ⇒ ”Profile registration”
Choose CC-Link structure setting from the network parameters.

・Choose the unit to be set.

Right click and choose online, then choose “parameter process of the slave

station”
・Parameter process in the slave station show up. Set parameter writing.
・Choose command to set and enter writing value.

・Click the left end check box(es) of the parameter to send.

- 12 -

・Press “Execution” button and the value is written in the PC board.

Cautions:*

Before execution, check mark must be left in the check box to retrieve parameter.

*

Some items may not be divided for Motor A and B.

In case there’s no division, write and read at Motor

A side.
* While in Motor A writing setting, choosing and writing parameters on Motor B won’t be reflected toMotor B indeed. Write only to the selected motor.
*

Parameter reading and writing cannot be done while error exists. Remove the cause of error toreset, then restart.

*

To write parameters, make sure the connected CPU is in STOP mode.

- 13 -

・In case the same settings are applied to other station(s)① Date storage* Press “Export”to store data after all the settings are completed.

② Data retrieval* Choose the station to write data, and press “Import” to choose the stored data to retrieve.

* Sored data show up in writing value column. Set them Motor A and B individually.

- 14 -

4-5

Parameter setting by ladder programming* Command settings can also be done through ladder programming.
* In case parameters are written in ladder, follow the timing as illustrated below:

RYs9
RXs9

Operate RYs9
Initial data setting

RXsB*Available commands during master PLC RUN condition are shown below.
0x0A: Master port output
0x0F: Status reading
0x11: Status clear
0x14: Forcible control motor LED
The above commands can be written and read (only for 0x0F) without BIT operation at RYs9.

<Example>
Set command number, sub command number and setting value and register using MOV command, andthey will be written in the PC board.
See Chapter 4-1 for command and sub command.

*

Switch the power off once all the parameter settings are completed, then switch thepower on to validate the settings.

- 15 -

5

Operations
Check the followings before operation

・Is the MDR properly mounted following the users manual? Is the MDR shaft held
stationary with the standard mounting bracket supplied.
・Are all the connectors properly wired and connected?
・Is the controller installed properly and used in appropriate environment?
・Is the capacity of the power supply sufficient?
* Use stabilized power supply (24VDC, ≧12A) so as not to be affected by varied load.
Power supply should not react with 20A peak current for 1msec or less for protection.
① Complete the wiring before supply 24V DC power to control and motor drive.
Power LED and LED for L RUN SD, RD illuminate once the controller is powered.
② Start up PLC in Master station. MOT A/B LED illuminates.
* Motor start signal needs to be entered through ladder program.
③ To start up motor, CW RUN or CCW RUN in each station needs to be switch on through ladderprogram.
④ In case the parameters are entered by ladder program, set the data value as described in each
items.
⑤ For setting speed

See Chapter 5-1.

⑥ To change the motor turning direction

See Chapter 5-2⑦ To change acceleration/deceleration time

See Chapter 5-3.

⑧ To change the motor model

See Chapter 5-4.

⑨ To change the current limit value

See Chapter 5-5⑩ To change thermal protection settings

See Chapter 5-6⑪ To change the type of brake

See Chapter 5-7⑫ To change the error reset mode

See Chapter 5-8⑬ To change motor drive mode

See Chapter 5-9⑭ To change sensor noise elimination time

See Chapter 5-10

⑮ To change the servo lock brake force

See Chapter 5-11 or 5-12

⑯ To change the motor port

See Chapter 5-13

- 16 -

5-1

Speed setting

4 different MDR speeds can be set in Speed 1 to 4 as in parameter 0X20.
Choose the speed (rpm) by selecting the speeds used in writing data bit 4 to 7.
Setting value needs to be motor speed (rpm)Speed setting
Speed
rpm

620
723
827
930
1,034
1,137
1,241
1,344
1,448
1,551
1,655
1,758
1,862
1,965
2,069
2,172
2,276
2,379
2,483
2,586
2,690

Command 0x20

(When PM486FE is in use)

MDR Speed (m/min)
17
60
90
2.1
7.5
12.6
2.5
8.7
14.7
2.8
10.0
16.8
3.2
11.2
18.9
3.5
12.5
21.0
3.9
13.7
23.1
4.2
15.0
25.3
4.6
16.2
27.4
4.9
17.5
29.5
5.3
18.7
31.6
5.6
20.0
33.7
6.0
21.2
35.8
6.3
22.5
37.9
6.7
23.7
40.0
7.0
25.0
42.1
7.4
26.2
44.2
7.7
27.5
46.3
8.1
28.7
48.4
8.4
30.0
50.5
8.8
31.2
52.6
9.1
32.5
54.8

MDR Speed (m/min)
17
60
90
9.8
35.0
59.0
10.2
36.2
61.1
10.5
37.5
63.2
10.9
38.7
65.3
11.2
40.0
67.4
11.6
41.2
69.5
12.0
42.5
71.6
12.3
43.7
73.7
12.7
45.0
75.8
13.0
46.2
77.9
13.4
47.5
80.0
13.7
48.7
82.1
14.1
50.0
84.2
14.4
51.2
86.4
14.8
52.5
88.5
15.1
53.7
90.6
15.5
55.0
92.7
15.8
56.2
94.8
16.2
57.5
96.9
16.5
58.7
99.0
16.9
60.0 101.1

Speed
rpm

2,897
3,000
3,104
3,207
3,310
3,414
3,517
3,621
3,724
3,828
3,931
4,035
4,138
4,242
4,345
4,449
4,552
4,656
4,759
4,863
4,967

Default is set as per the table below:
MDR
Speed (m/min)

17
60
90

Speed 1 Speed 2 Speed 3 Speed 4

16.9
60.0
101.1

8.4
30.0
50.5

4.2
15.0
25.3

2.1
7.5
12.6

Speed should be set in a manner younger the number, faster the speed: speed 1＞speed 2＞speed 3＞
speed 4. Wrong setting may cause malfunction.

5-2

Motor direction

Motor direction can be changed by writing data bit 0 or 1 as the table below:

DirectionSTOP
CW RUNCCW RUNCW RUN
*

bit 1
0
0
1
1

bit 0
0
1
0
1

MDR direction is defined by viewing from the cable side. CW = right ward CCW = left ward.

- 17 -

5-3

Acceleration and deceleration

Command No 0x01(CW), 0x02(CCW) is assigned for acceleration and 0x03(CW), 0x04(CCW) is fordeceleration.
Set the acceleration/deceleration time (second) used for the speed 1 referring to the table below:

Time (s)
0.2
0.3
0.3
0.5
0.6
0.7
0.8
0.9
1
1.1
1.2
1.3

Data
Time (s)0 - 291.4
30 - 39
1.5
40 - 49
1.6
50 - 59
1.7
60 - 69
1.8
70 - 791.9
80 - 892.0
90 - 992.1
100 - 1092.2
110 - 1192.3
120 - 1292.4
130 - 139
2.5

Data
140 - 149
150 - 159
160 - 169
170 - 179
180 - 189
190 - 199
200 - 209
210 - 219
220 - 229
230 - 239
240 - 249
250 - 255

Time or acceleration/deceleration can be selected.
Time setting: Set time is applied to the speed 1. Same time is applied for speed 2, 3 and 4.
Acceleration/deceleration: Set acceleration/deceleration is applied to speed 1.

Acceleration/deceleration forspeed 2, 3 and 4 is automatically assigned by calculating the value to have same curve depending on speed(rpm) and set time.
OFF setting: OFF setting makes that start and stop in 0.1 second.
* Speed setting should be done in a manner the speed 1 fastest: Speed 1＞Speed 2＞Speed 3＞Speed 4
Wrong speed setting may cause malfunction.
* Acceleration/deceleration is not reflected unless speed is set.

5-4

Model selection

Set the right MDR model to use with.
FE: PM486FE,PM500FE,PM570FE,PM605FE
FS: PM486FS,PM500FS
FP: PM486FP,PM500FP
Unconnected: If any of the two motors is not used, Unconnected mode should be set.
the troubles like continued LED flashing or Error signal discharge.

Command No 0x23
Data
Content
0x00
FE
0x01
FS
0x02
FP
0x03
Unconnect
Default is set with FE series MDR.

- 18 -

Doing this will avoid

5-5Current limit (Over current detection value setting

Current limit value can be adjusted between 0.25A and 4.0A.
Command No 0x08

Data
0x01
0x02
0x03
0x04
0x05
0x06

Current
0.25A
0.5A
0.75A
1.0A
1.25A
1.5A

Data
0x07
0x08
0x09
0x0A
0x0B
0x0C

Current
1.75A
2.0A
2.25A
2.5A
2.75A
3.0A

Data
0x0D
0x0E
0x0F
0x10

Current
3.25A
3.5A
3.75A
4.0A

* Default is set to 4.0A

5-6

Thermal error detection/reset

Temperature to detect PC board abnormality and temperature to allow recovery can be set.

7

6 5 4
Recovery3

2 1 0
Detection

Command No 0x09

Data
0
1
2
3
4
5
6
7
8
9
A

Recovery Detection
40℃
45℃
45℃
50℃
50℃
55℃
55℃
60℃
60℃
65℃
65℃
70℃
70℃
75℃
75℃
80℃
80℃
85℃
85℃
90℃
90℃
95℃

* Default is set to 95℃for detecting abnormality and 90℃to allow recovery.

5-7Brake mode selection

Brake mode can be selected while the MDR stops.
・Dynamic brake (short circuit brake): Electric brake is applied with no holding effect.
・Coast: MDR stops only by inertia with no external brake.
・Servo brake: Stops the MDR in the set memorized stop position with holding effect.
・Mechanical brake: Combination of dynamic brake and electro-magnetic brake with strongest holding
effect.
Command No 0x0C

Data
Content
0x00 Dynamic brake
0x01 Coast
0x02 Servo lock brake
Dynamic and0x04
echanical brake
Default is set with dynamic brake.

- 19 -

Error – Manual/Automatic recovery

5-8

In case of MDR unplugged or stall, thermal error, the recovery can be elected from automatic or manualmode.

In case of other errors, recovery can only be done manually.

Mode selection can not be done individually.
Command No 0x0D

Data
0x00
0x07

Content
Automatic
ManualDefault is set with automatic recovery mode.

5-9

Motor drive mode selection

Motor drive mode can be selected.
Command No 0x0B
Data

Content

0x00

Square wave

0x10

Com. PWM

Square wave, orComplementary PWM
Default is set with square wave for driving motor.

5-10

Sensor noise elimination time

Time to eliminate sensor noise (noise cancelling time) can be set between 0 and 255msec.
Command No

0x21

Default value is set to 10.

5-11

Brake force boost for servo lock brake

Brake force for servo lock brake is boosted with hall effect sensor 1 count increment. Boost increment value
can be changed. Entering large number makes small number of pulses as maximum.
higher than 1A.
Command No 0x07

Data entry 0x00～0xC8(0～200)

Default value is set to 0x00

- 20 -

Current can not be5-12.

Servo lock brake upper current limit

Current drawn for the servo lock brake can be set up to 1A maximum.

Command No 0x0E

Data
0x01
0x02
0x03
0x04

Current
0.1A
0.2A
0.3A
0.4A

Data
0x05
0x06
0x07
0x08

Current
0.5A
0.6A
0.7A
0.8A

Data
0x09
0x0A

Current
0.9A
1A

Default is set to 1A.

5-13

Motor port output

Selection is motor or remote output. Bit 2 to 0 is validated only when remote output is selected.

7
6 5 4 3 2 1 0
SW set Not used W V U
Command No 0x0A

bit
Name
Content
7
SW set 0：Motor／1：Remote
2～0 U V W 0：OFF／1：ON
Default is set with motor.
Setting is done by ladder programming.

5-14

Motor stall time

Motor stall time is fixed to 1 second.

5-15

LED forcible control

LEDs on STS_A/STS_B can forcibly controlled from Master device.
Priority order is: 0,1 > 4,5 > PC board error display > 3 > 2

Content
5 Red LED blinks at 1Hz
4 Green LED blinks at 1Hz
3 Alternative LED blinks at 1Hz
2 Alternative LED blinks at 7Hz
1 Green LED illumintaes
0 Red LED illuminates

Data 1
0xA0
0x90
0x88
0x84
0x82
0x81

* Enter “0x80” in case LEDs need to be extinguished.
LEDs.

- 21 -

Data 1 values are either to illuminate or to flash

6.

Error

6-1

Error output

If error arises with PC board, “1” appears in the reading data bit 2（in case of Motor A）
Error detection stops the motor. Accordingly, control needs also be programmed to stop the motor with theerror signal, otherwise, motor may start all of sudden when recovered.

6-2

Error classifications

To identify the type of error if happens, set the parameter 0x0F (status output) with Word input of writing data,
and type of the current ongoing error is transmitted to the reading data from the PC board:
Reading data（Data1）

7
FUS

6
DPWR

5
MDC

4
LOCK

3
TFLT

2
TFLT2

1
RECUR

0
HV

Content
FUS
DPWR
MDC
LOCK
TFLT
TFLT2
RECUR
HV

Fuse blow
Motor Drive power error
Motor unplugged
Motor stalled
PCB thermal error
Motor thermal error
Back EMF error
Low voltage error

Relation between error and LED display is summarized in 6-3 LED display.

Actions to reset the error differ according to the error recovery setting mode.

Manual recovery

Set “1” to bit 3 (Motor A) writing data (Yxxx) or to bit B(Motor B), and the error isreset. However, unless the conditions to recover from error is satisfied, error
continues. After “1” is set, set the value back to “0” after the reset.

Automatic recovery

Applicable for unplugged, thermal and stall error.

Automatically recovers if all theconditions to recover is satisfied.
- Unplugged error: Plugging MDR to the IB C02 resets the error.
- Thermal error: Cooling down the temperature to the recovery level resets theerror.
- Stall error: Entry of 8 motor pulses or more resets the error.

- 22 -

6-3

LED display
LEDs

LED behavior
Green

Red

Blinks-Content
Good reception of refrech & polling or polling after
entering network.
1. Before entering network

L RUN
Extinguished

2. Channle carrier detection NG-

3. Time over
4. Hardware reset
1. CRC error
2. Station switch setting error after reset-

Illuminates(0 or 65 or over including occupied station)
3. Baud rate switch setting error after reset(Buad rate switch setting 5 or over)

L ERR

SD

RD

Sen A/B LED

MOT A/B LED-

Extinguished-

Blinks

2. Hardware being reset
Switch setting changed from the setting after reset.
（flashes for 0.4s）

Illuminates-

During and after transmission ＋0.41ms×2(n-1) time

Extinguished-

Hardware being reset

Blinks-Carrier being detected in the channel

Extinguished-

Blinks-Sensor input identified

Extinguished-No sensor input

Illuminates-

Motor selected

Extinguished-

Remote selected

1. Channel’s carrier detection error
2. Hardware being reset

Extinguished

STS A/B LED

1. Normal communicaiton

Motor stop (without error)
1. Direction (CW/CCW)

Illuminates

Extinguished

Extinguished

Blinks (6Hz)

Fuse blow error

Extinguished

Blinks (1Hz)

Motor unplugged error

Illuminates

Blinks (1Hz)

Stall error

Extinguished

Illuminates

Motor pcb thermal error

Illuminates

Blinks (1.7s cycle

2. Motor port output *Back EMF error

twice at 6Hz)

* When motor port is used, green LED illuminates if any of U, V, W is discharged.

- 23 -

n=1～87.

Servo Lock Brake

Torque and current when servo lock brake is validated
Max holding torqueMax. current

2.0N・m1(A)* Holding torque is with PM486□□-60
What is the Servo lock brake?…
・It stops MDR in motion and holds the stop position.
・MDR roller returns to the memorized stop position even if it is externally rotated.
・Suitable for applications in incline/decline line where external force (gravity) may present.

SensorB
SenA
SenB- 24 -

901

901
78

B RATE
421

78

L RUN
L ERR
SD
RD

M Power

STATION NO.
x10 x1

23

24V

PWR

DA
DB
DG
OPEN
SLD

23

0V

CC-Link

MOTOR B

SensorAC Power

24V
0V

0V
OPEN
SEN
24V

456

24V
SEN
OPEN
0V

MOTOR A

Dimensions

456

8.

9.

Specifications

9-1

PC board specifications

Motor power

Control power

Nominal voltage

24V DC

Static current

0.05A

Peak current

20A ≦1msec

Starting current

4.0A per motor

Nominal voltage
Current

Brake selection
Motorconnector

24V DC
0.05A

Power (Motor power)
STS_A/B (Motor status)
LED indication MOT_A/B (Motor or output)
L RUN/L ERR/SD/RD (Communication)
SEN A/B (Sensor status)

Wiring side

WAGO231-302/026-000 ※2
WAGO734-162

Wiring side

WAGO734-102 ※2

Sensorconnector

PCB side

37204-1BE0-004 PL

Wiring side37104-3122-000 FL ※1,※2

PCB side

35610-5253-B00 PE

Wiring side

35505-6000-B0M GF ※2

Ambient temp.
Humidity
Atmosphere
Vibration

95℃ at motor driver
Thermal protections
105℃ at motor※1

WAGO231-532/001-000

PCB sideCom.
Connector

Integral 7A fuse (+ side)
Integral diode against wrong polarity

PCB side

Controlconnector

Environment

Protections

Electric (dynamic) brake, orServo lock brake0 to 40℃≦ 90%RH (no condensation)
No corrosive gas
≦0.5G

2

Suggested cable for the sensor connector: 0.14 to 0.3mm (AWG26～24)
Consult us if other cable is to be used.

※2.

Connector for power side is optional.

9-2

CC-Link specifications

Version

CC-Link Ver 1.10

No of occupied station

1 station occupied

Communication speed

10M/5M/2.5M/625K/156K (switch selection)

Communication style

Broadcasting polling system

Synchronization

Frame synchronization system

Encoding method

NRZI

Transmission path format

Bus format （EIA RS485 comformance）

Transmission format

HDLC conformance

Error control system

CRC(X 16+X12+X6+1)

Max number of units
connected(1×a)+(2×b)+(3×c)+(4×d)≦64 stationsa) link points for device occupying 1 station, b) link points for device occupying 2 stations,c) link points for device occupying 3 stations, d) link points for device occupying 4
stations
16 × A + 54 × B + 88 × C ≦ 2304
A: RemoteI/O station・・・・・・・・・・・・・・・・・・・・・・64 units maximum
B: Remote device station・・・・・・・・・・・・・・・・・・ 42 units maximum
C: Local station, intelligent device station・・・・・ 26 units maximum

No of slave station

1 to 64

Connection cable

CC-Link compatible cable (shielded 3 core twisted pair cable)

Maximum communication distance
Speed

156Kbps

625Kbps

Max cable extension length
Terminal resistor

2.5Mbps

5.0,M

10Mbps160m

100m≧ 0.2mInterstation cable length
1200m

900m

400m

110Ω（between DA and DB)- 25 -

10.

Troubleshooting

10-1

Motor error

Check the followings first without removing the cover or modifying.

Power・Does Power LED (green) illuminate?
・Does L RUN, SD, RD LED (green) illuminate?
・Doesn't L ERR LED (red) illuminate?
・Is 24VDC properly supplied for power supply.
・Is the wiring (24V and 0V) to CN1 correct?
・Is 24VDC cable correctly wired to the connector.

Error

・Doesn't STS A/B LED （red） illuminate or blink?
⇒See Chapter -2 to reset the error.

MDR・Is mounting bracket properly fixed to hold MDR stationary？
・Doesn't MDR endhousing contact inner face of conveyor frame?
・Is the MDR motor connector properly inserted to the controller?
・Isn't the belt tension too strong or isn't number of slave rollers too much, in case MDR
slaves free rollers via transmission belts?

（Sympton 2） Speed can't be varied, or does not reach to the expected speed
MDR・How much is MDR's nominal speed？
⇒You can't get the speed faster than nominal speed.

Power・Is 24VDC properly supplied form power supply?

Ladder・Is the speed setting correct in the ladder program?

(Sympton 3) MDR can't be revsersed.
Ladder・Is the station number correct? ？
・Is the link input number correct?

(Sympton 4) Error arises too often

STS A/B
LED

・Doesn't red LED iilluminate or blink?
⇒If yes, one of those erros exists; thermal error, stall error, unplugged error, power
shortage error, or back EMF error.
See chapter 6-2 to reset the error.
・Is the capacity of power supply sufficient?
⇒See chapter 2.

L ERR
LED

・Wasn't baud rate setting (SW 1) or station setting (SW 2, SSW 3) done after the poweris switch on?
⇒Switch off the power first, then switch the power on.
・Does the set baud rate or station stay within the specifid range?

・Does the ambient temperature stay within the specified range?
Environment ・Is the controller's back plate affixed to the metallic face ensuring heat dissipation?
・Isn't the MDR stalled in case mechanical stopper is used in the conveyor line?

MDR

・Doesn't MDR contact inner face of conveyor frame?
・Is MDR motor connector properly inserted to the controller?
・Isn't MDR cable injured nor damaged?

- 26 -

10-2

Error messages regarding CC-Link and solutions

Messages
SolutionsParameter written the sequencer does not match the current Check whether CC-Link communication is established.
structure.
Update CPU data.
Match the parameter and the structure.

Executed process "Parameter writing A" but got no response Check whether the PC board in the set station is actually connected.
from the salve station.
Check whether the communication in the set station is active.

CC Link parameter is the connected sequencer CPU does
Follow Network parameter => CC Link chart setting, then check
not have Refresh device setting.
whether the mode setting is in "Remote net Ver 1 mode"
Write CC-Link parameter where refresh device is set, then reexecute.

- 27 -

Ver.1.0- 28 -