AL-Ⅱ Series Slave Controller

2C-776Av1
Instructions Manual(For designers' use)

Please ensure to read and understand thisInstructions Manual before using the Product.
Please keep this Instructions Manual at handso that it is always available for reference.

MN0194-1

2C-776Av1

Instructions Manual

Introduction
This instructions manual explains the handling of "AL- Ⅱ Series Slave Controller 2C-776Av1 " ,emphasizing the specifications to enable proper and safe use.
The manual is thus intended for designers of control systems using stepping motors or servo motors.
Before using the product, read this manual carefully for better understanding.
Keep the manual handy so that you can read it whenever you want.
The 2C-776Av1 allows axes to be controlled independently and therefore referred to each axis as follows:
1st axis
X-axis

2nd axis
Y-axis

3rd axis
Z-axis

4th axis
A-axisThis manual basically explains only the X-axis.

Description of safety
This product must be handled correctly.
Handling the product incorrectly may cause unexpected accidents resulting in personal injuries ordamage to your properties.
Many of those accidents can be avoided if you have advance information on dangerous situations.
This manual provides precautions where dangerous situations are predicted. The manual provides thefollowing alert marking and messages for this purpose:
 WARNING

This indicates a hazardous situation that could result in death or serious
personal injury if you do not perform the procedure correctly.

 CAUTION

This indicates a potentially hazardous situation that could result in personal
injury or physical damage if you do not perform the procedure correctly.

Before use■ This product is not designed for use in the equipment related to nuclear power, aerospace equipment,
vehicles, marine vessels, medical equipment directly in touch with human body, equipment
anticipated to give a serious impact to properties, and other equipment required to provide highreliability.
■ Take failsafe measures so that the whole system operates safely even if the input power causes anerror, a signal line is disconnected, or the main unit fails.
■ This product is equipped with a LIMIT ( overtravel) signal and an FSSTOP signal to prevent
mechanical damage.
The default values of these signals are set to ACTIVE OFF ( B contact ). Accordingly, even in asystem configuration in which the FSSTOP and LIMIT signals are not used, pulses are not output
unless NORMAL ON ( GND connection) is enabled.
■ Be sure to use this product within the scope of the specifications described in this instruction manualin accordance with the specification method described therein.
■ Set up the product before operating it.
Please refer to Section 3, "Setting."■ Please refer to separate manual "AL-Ⅱ series device driver manual for Windows" also when you
handle this product.

-2-2C-776Av1

Instructions Manual
Introduction
Description of safety
Before use
Contents

PAGE

１． Overview
1-1. Features
1-2. Product configuration
1-3. Example of system configuration
1-4. Function block diagram
1-5. Externals of product

4
5
6
7
9

２． Specifications
2-1. General specifications
2-2. Communication specifications
2-3. Basic specifications
2-4. Applied specifications
2-5. Input and output signal table(1) Serial communication connector( J1, J2)(2) Power supply connector( J3)(3) Extend I/O communication connector( J4)(4) General-purpose I/O connector( J5)(5) Sensor connector ( J10: X-axis, J11: Y-axis, J12: Z-axis, J13: A-axis)(6) Driver connector( J6: X-axis, J7: Y-axis, J8: Z-axis, J9: A-axis )(7) SIGNAL I/O connector( J14)
2-6. Input and output specifications(1) Output specifications(2) Input specifications
2-7. Outside dimensions

11
11
12
14
15
15
15
15
16
16
17
18
19
19
21
22

３． Setting
3-1. Installation of device driver for Windows
3-2. Address setting of the AL-Ⅱ series(S1)3-3. Baud rate setting of the AL-Ⅱ series (S2)

23
23
23

４． Installation and connection
4-1. Installation(1) Installation distance(2) Installation method
4-2. Connection of AL-Ⅱ communication system(1) Core connection of AL-Ⅱ communications cable(2) Connection of terminator(3) Wiring distance of AL-Ⅱ communication(4) Power supply and slave power supply for communication
4-3. Connection example(1) Examples of connection to power supply(2) Examples of connection to driver(3) Examples of connection to sensor ( at photosensor )(4) Examples of connection to general-purpose I/O(5) Examples of connection to SIGNAL I/O(6) Examples of connection to Extend I/O unit

24
24
24
25
25
25
25
25
26
26
27
29
32
32
32

５． Maintenance5-1. Maintenance and inspection(1) Cleaning method(2) Inspection method(3) Replacement method5-2. Saving and disposal(1) Saving method(2) Disposal method

33
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33

The main parts which revised by this manual-3-2C-776Av1

Instructions Manual
１． Overview
1-1. Features● The AL-Ⅱ series is a high speed serial communication system of original controlling the flexible stepping motor,
servo motor which can cope easily as well and I/O in the decentralization of the device and supporting axial addition.
・ The AL-Ⅱ series is an insulation type high-speed serial communications of 20 Mbps/50 m or 10 Mbps/100 m.
As a result, the saving wiring for the personal computer system can be attempted by the performance ( ratio of
our company) that equals a board controller so far.
・ The shift of board controller C-VX870 series ( Device-function) for PCI made of our company and the USB series(Device-function and Unit-function) is easy depending on the device driver function for Windows.
● 2C-776Av1 is a version up product with the 2C-776 upward compatibility.
The status of four axis batch reading and the command of four axis batch execution by the Unit-function became
possible. This Unit-function can perform a unit and AL-Ⅱ interface by one function execution from an application.
By this,・ The time crunch can be done compared with accessed Device-function of each axis and I/O-function ofeach I/O port.
・ The Unit-function ( writing) suppresses the difference at time until it instructs time each axis and each I/O output
signal.
・ The Unit-function can reduce the load of the application.
・ It supports the Device-function, and can use the Device-function.
・ The Unit-function can be used together with the Device-function and the I/O-function.
*1 The driver connection cable of 2C-776Av1 can correspond is only new ratings. Additionally, it is compatible with 2C-776.
Please refer to "Connection/ others " manual for the AL-Ⅱ series in detail.

Access example in Device-function and I/O-function

Access example in Unit-function

Time lag
Reading

X-axis STATUS1

X-axis STATUS1

Reading

Y-axis STATUS1

Y-axis STATUS1

Reading

Z-axis STATUS1

Z-axis STATUS1

Reading

A-axis STATUS1

A-axis STATUS1Time lagBatch Reading

Y-axis Control I/O

Y-axis Control I/O

Reading

Z-axis Control I/O

Z-axis Control I/O

Reading

A-axis Control I/O

A-axis Control I/O

Reading

General-purpose I/O

General-purpose I/O

Reading

Extend I/O 0nExtend I/O 0

Reading

Extend I/O 1oExtend I/O 1

iBatch Writing

X-axis DATA1a

X-axis DATA1(Each axis )X-axis DATA2c

X-axis DATA2

X-axis COMMANDi

X-axis Control I/OilpY-axis DATA2

Y-axis COMMANDp

Y-axis COMMAND

Batch Writing

Z-axis DATA1A(Each axis )Z-axis DATA2c

Y-axis DATA1(Each axis )Y-axis DATA2l

Batch WritingiaX-axis COMMAND
Y-axis DATA1ptTime lagponX-axis Control I/O

Readingt(A Unit)

Reading

Z-axis COMMAND

A

Z-axis DATA1
Batch Writing(A Unit)Z-axis DATA2
Z-axis COMMAND

Batch Writing

A-axis DATA1

A-axis DATA1(Each axis )A-axis DATA2

A-axis DATA2

A-axis COMMAND

A-axis COMMAND

Writing

X-axis Control I/O

X-axis Control I/O

Writing

Y-axis Control I/O

Y-axis Control I/O

Writing

Z-axis Control I/O

Z-axis Control I/O

Writing

A-axis Control I/O

A-axis Control I/OTime lagWriting

General-purpose I/O

General-purpose I/O

Writing

Extend I/O 0

Extend I/O 0

Writing

Extend I/O 1

Extend I/O 1-4-

2C-776Av1

Instructions Manual
R1● 2C-776Av1 is equipped with our chip controller MCC to enable motor control using simple commands.
・ It enables four independent drive or two axes linear interpolation drive( fixed interpolation-axes ) or two axes
circular interpolation drive( fixed interpolation-axes) by an easy commands.
Moreover, it enable to optional axes liner interpolation drive. ( Applied function )・ After the command being executed is finished, the commands stored in the reservation register are executed
sequentially. Then this function can be allowed continuous drive. ( Applied function)
・ The 32-bit width address counter and the maximum output frequency of 6.5 MHz of the MCC enables high-precision,
high-speed positioning.
・ Also equipped with a multi-functional 32-bit pulse counter, and 16-bit pulse differential counter, the 2C-776Av1 hasa variety of application such as counting feedback pulses from the servo driver, detecting step-out of the stepping
motor with an encoder.
The applications also include interrupt output and external signal output using the comparator function of eachcounter.
● 2C-776Av1 has the following I/O signal besides the servo interface.
・ It is equipped with the general-purpose I/O signal by two points for each.
・ In addition, connect an Extend I/O unit ( 16/16 points or 32/32 points) by the serial communication without minding
address setting and add a general-purpose I/O and can control it.
・ An arbitrary status signal of X-axis or Y-axis can be output external equipment.
This can be used as a synchronized signal to the external equipment.
● 2C-776Av1 is a small and easy controller.
･The DIN rail installation and the base installations can be done.

1-2. Product configuration
Product nameRating

Maker

Quantity

Remarks

Controller

2C-776Av1

Melec Inc.

1

Connector

51103-0300

Molex

1

For power supply connector(Accessory )Connector

51103-0600

Molex

4

For sensor connector(Accessory)

Connector

51103-0700

Molex

1

For general-purpose I/O connector(Accessory)

Contact

50351-8100

Molex

36

Cable clamp

NPL-510

Kitagawa

1(Main Unit )(Accessory )For SIGNAL I/O Cable fixation(Accessory)

Screw

M2.6 × 4−

2

For sensor shield cable fixation(Accessory )Screw

M3 × 4−5

For driver shield cable fixation(Accessory )For SIGNAL I/O shield cable fixation-5-

2C-776Av1

Instructions Manual
1-3. Example of system configurationPC
OFF LINE( Initial data edit/Kind operation)USB* 15 slave's unit can be connected by one master board.

AL-Ⅱ series slave unit
2C-776Av1

AL-Ⅱ PCI master board
PC

AL2-01v1/PCI etc.

Stepping or servo
Driver

PL1
PL2
PL3
PL4

S1

J2

AL-Ⅱ communication cable

SENSOR

20 Mbps/50 m or 10 Mbps/100 m

CWLM,CCWLM,ORG,NORG,EA/EB signal/ Each axis

J1

J3 DC+24V

MADE IN JAPANJ12 J13J10 J11

Slot inAL2‑01/PCI1

X-axis

MADE IN JAPAN

60300001
20

30

40

J5

10

Terminator CB-54/R
J2

Extend I/O

MADE IN JAPAN

J9
J7

J4

1

Motor

※ Insert core

● MPL-34-01vx.xx/AL2W32 *1(ZCAT2032-0930)

Y-axisJ6 IN

J3 OUT
MADE IN JAPANJ5 OUT

Extend I/O cable

J1・ Windows 2000

J4 IN

J2

DC+24V

J8J6J1

CB-52/3232MIL etc.

J14

Device driver・ Windows XP( 32 bit)・ Windows Vista( 32 bit)

Trigger output

CE-66-01/IO-A03 etc.

Z-axis(32/32 points) 5 Mbps/1 m or less・ Windows 7(32 bit)
Camera etc.

A-axis● MPL-35-01vx.xx/AL2W64 *1
・ Windows XP( 64 bit)・ Windows Vista( 64 bit)・ Windows 7(64 bit)

*1 Version No. … Please confirm the latest version of vx.xx at the manual of the device driver.
・ AL-Ⅱ series prepared connectable cables easily.
Please refer to the "connection / others" instruction manual for details of connection of the AL- Ⅱ series.

Example of other AL-Ⅱ series
Controller forPower supply relay board
CB-55-01/PS-T35

servo or stepping motor
2C-771v1

Controller with built-in driver
2CD-7710v1/ADB5F30

2CD-7713v1/GDB5F40

General-purpose I/O

General-purpose I/O(Extend type)(Slave type)CB-53/1616-MIL

2CB-01v1/3232-MIL

2CB-02v1/1616-MIL

MADE IN JAPANJ3 DC+24V

J3 DC+24V

J8

DC+24V/Y

MADE IN JAPANJ5

J5 DC+24V

4

J8

J17

+24V

3.5A

IN

J3 DC+24V

1

GND

MADE IN JAPAN

IN

IN
IN

MADE IN JAPAN

J6

J4

J4
J8
J6

J3 SENSOR/X
J10

RDY

MADE IN JAPANS9
J9
MOTOR/YS7
S10 S8

S6

J9

J9
J16

J4 IN

KP1516‑0A+24V

MADE IN JAPAN

J15

J3

04

503

J4

TO C OSOUT

J3 OUT

J1GND

J4 SENSOR/Y

S5

J4

J7

J5

1

J7
J5

J2
J1

J1

J5

J1

S5
J7
MOTOR/X

S3
S6 S4

J14

04

5 03

J1

OUT

J2

OUT
OUT
J2

J6

J11
RDY

T O C OS

J7

S4

J1

S3

DC+24V/X

J2

J6
J8

J2

DC+24VJ2J68MADE IN JAPAN・ 4-distribution
output of DC 24 V
・ 1 A/terminal

・ 4-axes
・ For stepping or
simple servo

・ 2-axes for 5-phase・ 2-axes for 5-phase

・ Extend type・ Slave type・ Slave typestepping motor

stepping motor

・ In:16-points

・ In:32-points

・ In:16-points

・ Out:16-points

・ Out:32-points

・ Out:16-points

・ 0.75 A/phase・ 1.4 A/phase(3.5 A in total)-6-

2C-776Av1

Instructions Manual
1-4. Function block diagram
2C-776Av1

 Serial interface
control blockJ6

 X-axis

Pulse, Sensor

Drive control block

X-axis driver

Encoder

J10

STOP

X-axis sensor

Pulse, Sensor

Drive control block

EncoderY-axis driver



J11

STOP

Y-axis sensor

 Y-axis Counter block

Pulse, Sensor

Drive control block

EncoderJ8Z-axis driver
J12
Z-axis sensor

t

STOP

e

 Z-axis

r

f

a

c

e

o l

J7

 Y-axisr
C o n t Z-axis Counter block

n

n e
L i
o n
i
a t

A L - ⅡI

A L - Ⅱ

I

n t

J2

s o l

e r

f

A L - Ⅱ

J1

I

a c e

 X-axis Counter blockJ9 A-axis
Drive control block

Encoder

J13
A-axis sensor

e

STOP

A-axis driverr

Pulse, Sensor

U s A-axis Counter block Serial interface
control block

J5
FSSTOP
IN0, IN1o l(Contains Extend I/O )r・Out:2-points
・ In :32-Points ( max.)

General-purpose
OUT0, OUT1

inputsGeneral-purpose

・ Out:32-points ( max.)

outputs(Control I/O area)
・In : S.RDY / Each axis

Driver connector

・Out: S.ON, A.CLR / Each axis

/Each axis

J14

 SIGNAL I/O block・ Output: 2 points

SIGNA I/O outputs(Camera trigger etc.)(Inside power supply)

DC/DC
J3
Power

SOUT0, SOUT1(Applied function)

E x t

e n d

I
E x t

e n d

E x t

n t

e n d

e r

J4

・In :2-Points

C o n t

f

I

/

O

a c e

 General-purpose I/O+24 V(Power supply for outside interface)supply-7-

2C-776Av1

Instructions Manual Serial interface control block
This department is control block for AL-Ⅱ serial communication.
The AL-Ⅱ serial communications interface department is insulated with +24 V power supply and the internal logics.
 Serial interface control block
This department is control block for serial communication of Extend unit.
This block performs an Extend I/O unit and serial communication and can extend the I/O of 32 points /32 points
input output ( at the maximum) .
The serial communication interface part is insulated from power supply +24 V.
 Drive control block
The drive control block outputs serial pulses to the motor driver from pulse generator MCC.
( MCC is made by MELEC Inc.)・ This department detects origin sensor and a limit sensor signal and motor is controlled.
・ Enables four axes independent drive, or two axes( X-axis and Y-axis, Z-axis and A-axis) linear interpolation drive,and circular interpolation drive.
・ Enables stop four axes at immediate stop by FSSTOP signal from the outside.
To distinguish four axes, it is named X-axis, Y-axis, Z-axis, and A-axis.
 Counter block
The counter block has three types of counters: ADDRESS COUNTER, PULSE COUNTER, and DFL COUNTER.
(Can use as hard timer.)
ADDRESS COUNTER, PULSE COUNTER has 32-bit counter, and DFL COUNTER has 16-bit counter.
The 2C-776Av1 has a variety of application such as counting feedback pulses from the servo driver, detecting stepout of the stepping motor with an encoder.
The applications also include interrupt output and external signal output using the comparator function of eachcounter.
 General-purpose I/O block
This block is controlling the following input/output.
These input/output ports can control easily by I/O-function.
・ General-purpose I/O area
… The reading of the general-purpose Input IN0 signal and IN1 signal, the operation of the general-purpose
output OUT0 signal and OUT1 signal are possible.
Moreover, enables operation as Latch signal and Clear signal of X-axis SS0 signal by the IN0 signal input.
And, enables operation as Latch signal and Clear signal of Y-axis SS1 signal by the IN1 signal input.
・ Extend I/O area
… When the area secure an extension input/output area for 32 points /32 points input/output and access itfrom an application in this input/output area, the area can control input/output by an Extend I/O unit
and cyclic communication.
・ Control I/O area
… The interface of SERVO ON, ALARM CLEAR, and SERVO READY signal is possible as the servo driver's
control I/O.
This Control I/O signal is reflected in each servo interface signal of the driver connector.
 SIGNAL I/O block ( Applied function )This is a block where the external equipment such as cameras etc. and the interface can be done by open
collector output or line driver ( differential) output signal.
An arbitrary status signal of X-axis or Y-axis ( default value = CNTINT) can be output external equipment.
A real-time system with which OS of the personal computer doesn't relate is possible according to this interface.
 User Interface block
This department is interface block for the motor drivers, sensor signals, and general-purpose input and output
equipment.

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2C-776Av1

Instructions Manual
1-5. Externals of product

R1




J8
J6

J14



J9
J7

J1

J2

J4

MADE IN JAPAN

J12 J13J10 J11



 





J5

J3 DC+24V










ADDRESS

RATE

(J1)



(J4)

(J2)

(J5)

(J3)
1

1

(J14)



(J10)

(J12)

(J11)

(J13)



 J1, J2

These are shield connector of the RJ-45 type that connects the AL-Ⅱ communication.
J1 and J2 are connected with each unit and the communications cable can be connected in
the multidrop.

 J3This is a connector to connect +24 V power supply.

 J4This is a connector to connect an Extend I/O unit ( Option ).

 J5This is a connector that connects immediate stop ( FSSTOP signals) and general-purpose I/O( IN0, IN1, OUT0, and OUT1 signals) .

 J6, J7, J8, J9These are general purpose connector of MIL26 pin for the interface to the driver.
J6 is the one for the X-axis, J7 is one for the Y-axis, J8 is one for the Z-axis,
and J9 is the one for the A-axis.

 J10, J11, J12, J13

These are connector to connect the sensor signals such as the LIMIT signal or the ORG signal.
J10 is the one for the X-axis, J11 is one for the Y-axis, J12 is one for the Z-axis,
and J13 is the one for the A-axis.

 J14This is a connector to SIGNAL I/O.
It is a connector where the external equipment and the interface can be done by open collector
output or line driver output signal.
An arbitrary status signal of X axis or Y axis ( default value = CNTINT) can be output.

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2C-776Av1

Instructions Manual S1

This is a setting switch of the slave address of the AL- Ⅱ communication.

 S2This is a setting switch of the baud rate of the AL- Ⅱ communication.

 LED ( RDY)RDY LED ( Green color) turns on at the time of RDY state of each axis.

 Terminal

The terminal connect to the shield when the driver cable of shield.
Use the screw of attached M3 × 4.

 Terminal

The terminal connect to the shield when the sensor cable of shield.
Use the screw of attached M2 .6 × 4.

 Terminal

The terminal connect to the shield when the SIGNAL I/O cable of shield.
Use the screw of attached M3 × 4.

 Base installation
part

These are part that fixes the main unit to the installation base. ( two places)
Use the M3 screw.
Moreover, it is possible to install it in the DIN rail with a exclusive use DIN attachment lug.
Please refer to the connection/other manual for details.

 Cable clamping
installation holeFix the cable clamping ( accessory) into this hole when you connect the cable for SIGNAL I/O
connector (J14 ).

 Connector foradjustment

This is a connector for adjustment of the main unit.
Do not connect anything.

- 10 -

2C-776Av1

Instructions Manual
２． Specifications
2-1. General specifications
No. ItemSpecifications

1

Supply voltage

DC +24 V (less than ± 10 % of the power supply voltage)

2

Power consumption 800 mA or less *1*1 The value when the main unit supplies the power supply for the sensor is indicated.
The main unit current consumption is 220 mA.
Example: at the sensor of the current consumption 25 mA,
and the servo driver connection.
・ 4 pieces × 25 mA × 4 axes ＝ 400 mA・ Three signal ( by S.ON, A.CLR, and DRST are on)× 8 mA × 4 axes ＝ 96 mA・ The total current ＝ 220 mA ＋ 400 mA ＋ 96 mA ＝ 716 mA
The totaled current consumption must not exceed 800 mA.
・ 0 ℃ 〜 ＋ 40 ℃
・ 80 ％ RH or less ( without dew condensation )3

Operating ambient
temperature andhumidity

4

Storage temperature ・ 0 ℃ 〜 ＋ 55 ℃
and humidity
・ 80 ％ RH or less (without dew condensation)

5

Installation
environment

・ Inside a well-ventilated cabinet installed indoor, free from direct sunlight.
・ Not exposed to corrosive and flammable gasses, and not affected by oil mist,
dust,salt, iron powder, water, and chemicals.
・ Not subject to constant vibration or excessive shock.
・ Not affected by electromagnetic noise caused by power equipment.
・ Free of radioactive materials and magnetic fields, and not in vacuum.

6

Dimensions

W 43.5 × H 96 × D 124 ( mm )7

WeightApprox. 0.3 kg

2-2. Communication specifications
No. ItemSpecifications

1

AL-Ⅱ interface

・ Conformity standard
・ Transmission protocol
・ Slave connection number
・Wiring distance/baud rate

:RS485 (insulation type):Protocol for AL- Ⅱ communication:1 〜 15 slave (slave address setting range: H' 1 〜 H' F ):100 m( 10 Mbps) / 50 m(20 Mbps)

2

Extend interface

・ Conformity standard:RS485 (non-insulation: but there is insulation with +24 V. )・ Connection number:Up to one unit
・ Wiring distance/baud rate :1 m/5 Mbps

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2C-776Av1

Instructions Manual
2-3. Basic specifications
No. Item
1 Number ofcontrol axes

Specifications
Four axes2

Output type・ Independent direction output/ Specified direction output/
Phase-differential signal output
・ Line driver output

Output frequency

・ Independent drive ： 0.1 Hz to 6.5 MHz
・ Interpolation drive ： 0.1 Hz to 5 MHz

Acceleration/deceleration
time constant5000 ms/kHz to 0.0025 ms/kHz ( Trapezoid/S-curve)

Acceleration/deceleration
shape・ Trapezoid
・ S-curve (This feature enables to set asymmetrical shape. )Triangular drive preventionfunction

During S-shaped acceleration/deceleration drive, INDEX drive may end
before the maximum speed is reached.
In this event, triangular drive can be automatically avoided.

Number of output pulses

・ JOG drive: -65,535 to +65,535 pulse
・ SCAN drive : Up to infinite pulses
・ INDEX drive : -2,147,483,647 to + 2,147,483,647 pulses

Input type

・ Incremental( Independent direction input/ Phase-differential signal input)
・ Line receiver input

Input range〜 5 MHz

External signal output

External signals such as hand pulser signals that are input to the EA andEB signals can be output as CWP and CCWP signals.

3

4

Pulse output
function

Encoderfunction

Drive function JOG drive

Pulses are constantly output until the specified pulses.

SCAN drive

Pulses are continuously output until a stop command is detected.

INDEX drive

Pulses are output until the specified relative or absolute address isreached.

ORIGIN drive

The specified drive processes are performed.
This drive is finished when the ORG signal specified edge is detected.

2-axis linear interpolation
drive

・ Linear interpolation is performed toward the specified coordinates fromthe current coordinates.
・ Driving type is selected from INDEX drive or SCAN drive.
・ Positional errors for the specified straight line are ± 0.5 LSB.
・ The absolute and relative addresses that can be specified for
coordinates range from -2,147,483,647 to +2,147,483,647 ( 32 bits).

2-axis circularinterpolation drive

・ Circular interpolation is performed toward the specified coordinatesfrom the current coordinates on the circular curve specified by thecenter-point or passing-point coordinates.
・ Driving type is selected from INDEX drive or SCAN drive.
・ Max speed is 5 MHz.
・ Positional errors for the specified circuit curve are ± 1 LSB.
・ The relative addresses range from -8,388,607 to +8,388,607( 24 bits ).
・ Short axis pulses range from -2,147,483,648 to +2,147,483,647(32 bits) .

Linear speed constantcontrol

Control is performed to keep the synthesized speed of the two axes
working for interpolation drive constant.

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2C-776Av1

Instructions Manual

No. ItemSpecifications
5 Stop function Slow stop function

6

7Counterfunction

Otherfunctions・ SLOW STOP command・ Detection of a match of the comparator of each counter.
・ Deceleration stop by DALM signal.

Immediate stop function

・ FAST STOP command・ FSSTOP signal ( four axes stop)・ Detection of a match of the comparator of each counter.
・ Immediate stop by DALM signal.

LIMIT signal● + direction stop・ Immediate stop by CWLM signal and slow stop can be selected.
・ Slow stop or immediate stop can be performed for each axis upondetection of a match of the comparator ( COMP2) of each counter.
● - direction stop・ Immediate stop by CCWLM signal and slow stop can be selected.
・ Slow stop or immediate stop can be performed for each axis upondetection of a match of the comparator ( COMP3) of each counter.

ADDRESS COUNTER

32-bit counter that manages absolute addresses by counting drive output
pulses.

PULSE COUNTER

32-bit counter that counts the drive pulse output or an encoder feedback
pulses.

DFL COUNTER・ 16-bit counter that detects differences in the number of pulses bycounting external pulse signals and encoder feedback pulses.
・ It can also be used as a 16-bit timer.

Comparator function

Detection of a match of the three comparators of each counter.
・ Upon detection of a match by the comparator, pulse output can be
decelerated and then stopped, or stopped immediately.
・ Upon detection of a match by the comparator, status can be read.
・ The detection signal can be external status signal output.

AUTO CLEAR function

The counter can automatically be cleared upon detection of a match of
COMP1 of each counter.

AUTO ADD function

If the counter value reaches the COMP1, a value that is set by the data
add to COMPARE REGISITER1 of each counter.

For servo driver signal

The following signals are prepared as a signal for the servo.
・ In-position signal input/ Phase signal input(DEND/PO )・ Servo ready signal input(S.RDY)・ Driver alarm signal input(DALM )
・ Servo reset signal output(DRST)
・ Servo on signal output(S.ON )
・ Alarm clear signal output(A.CLR)

General-purpose I/O

Two points of input/output are prepared as general purpose I/O.

Data reading function

Current status information can be read in real time.
Current status information includes status data, count data of a counteretc.

- 13 -

2C-776Av1

Instructions Manual
2-4. Applied functions
No. Item
1 Drivefunction2Countfunction

Specifications
UP/DOWN/CONST drive CHANGE ・ Drive change for acceleration, deceleration, or constant speedfunctioncan be performed upon detection of signal at an arbitrary
change operation point.
SPEED CHANGE function

・ The drive pulse speed is changed upon detection of signal atan arbitrary change operation point.

RATE CHANGE function

・ The rate is changed upon detection of signal at an arbitrary
change to the specified rate.

INDEX CHANGE function

・ Upon detection of signal at an arbitrary change operation point,
the stop position at which drive is to be finished is changed.
・ Upon detection of the INC INDEX CHANGE command, thesystem performs INC INDEX drive by setting the specified dataat the stop position of the relative address for which the start
position is the origin.
・ Upon detection of the ABS INDEX CHANGE command, thesystem performs ABS INDEX drive by setting the specified
data at the stop position of the absolute address managed withthe address counter.

Optional axes liner interpolation
drive

Linear interpolation is performed toward the specified coordinatesfrom the current coordinates. Then long axis outputs pulses.

INDEX drive control the start point
at auto deceleration

This function is allowed to set OFFSET of the start point at auto
deceleration. This function can be used when INDEX drive, linerinterpolation and INDEX drive.

Ring counter function

The address counter, pulse counter each are a ring counter inwhich any maximum count can be set.

Count data latch/clearance function This function latches count data of a counter at a specific latch
timing and holds it till the next latch timing.
Each counter can latch counter value at arbitrary timing.
It is possible to clear a counter value at the latch timing.
IN0 signal: for X-axis
IN1 signal: for Y-axis

3

Other
functions

Data reading

Current status information includes setting data of X-axis or
Y-axis, latch data of a counter etc.

Command reservation function

Each axis has a reservation register that can store data
commands for ten instructions.
・ General-purpose commands of drive commands can bereserved in the reservation register.
・ After the command being executed is finished, the commands
stored in the reservation register are executed sequentially.
Then this function can be allowed continuous drive.

Input signal logical switch function

The logic of the following input signals can be changed:
・ CWLM signal
・ CCWLM signal
・ DALM signal
・ FSSTOP signal

External signal output

・ The COMPARE REGISITER corresponding signal of thecounter can be output from the J14 connector.
The SOUT0 signal is a comparator of X-axis counter.
The SOUT1 signal is a comparator of Y-axis counter.
・ If the signal that influences the delay of AL-Ⅱ communication
and OS inputs this signal output to the external instrument of
the trigger signal etc. of the camera, a real-time synchronous
control becomes possible.
・ The output time width of COMPARE REGISITER of eachcounter can set 1 ms or less according to the response of an
external circuit.

※ Please refer to the chapter of the AL- Ⅱ series device driver manual application function for details of
applied specification.
- 14 -

2C-776Av1

Instructions Manual
2-5. Input and output signal table(1) Serial communication connector( J1, J2)● Connector:RJ-45( shield type)● Recommendation cable :KB-STP-□□ L□□ : length (〜 30 m or less)(Made by Sanwa Supply: It is not an accessory.)

J1

J287654321

87654321

Reference
For more information about a cable preparing in the
AL-Ⅱ series and a recommended cable, refer to the
instruction manual of "connection / others" .

No.

Direction Signal name

Description

1

−

N.C

Connection is prohibited.

2

−

N.C

Connection is prohibited.

3

I/O

+AL Ⅱ

+ side input/output signal of the serial data ( line driver positive logic)

4

I

+V

Power supply for AL-Ⅱ communication ( +6 V)

5

I

-V

GND for AL-Ⅱ communication ( 0 V)

6

I/O

-AL Ⅱ

- side input/output signal of the serial data ( line driver negative logic)

7

−

N.C

Connection is prohibited.

8

−

N.C

Connection is prohibited.

・ J1 and J2 are the same terminal arrays. It is possible to connect with either.
・ When the multidrop is connected, the divergence connection is done to other slave equipment throughJ1 or the J2 connector.

(2) Power supply connector( J3)(Contact insertion side)

1

3

2

1

J3 DC+24V

1● Connector● Conformity connector● Conformity contact● Conformity crimp tool
● Acceptable wire
● Conformity cableNo.

Direction Signal name

: 53426-0310 ( Molex): 51103-0300 ( Molex: accessories): 50351-8100 ( Molex: accessories): 57295-5000 ( Molex): AWG28 〜 AWG22(Coating φ 1.15 〜φ 1.8)
: CE-76/003C10-51103(1 m: It is not an accessories.)

Description

1

I

+24 V

DC +24 V power supply

2

−

GND

GND of +24 V power supply

3

−

F.G

Frame GND is connected with case.

(3) Extend I/O communication connector( J4)● Connector: 1565994-4( e-CON: Tyco Electronics)● Conformity cable : CE-66-01/IO-A03( 0.3 m, It is not an accessories.): CE-66-02/IO-A10( 1 m, It is not an accessories.)

1

J4
No.

Direction Signal name

Description

1

I/O+ RS485(EXT)+ side signal of the Extend I/O serial data ( line driver positive logic)

2

I/O- RS485(EXT)- side signal of the Extend I/O serial data ( line driver negative logic )

3

−

S.G

Signal GND for Extend I/O

4

−

F.G

Frame GND is connected with case.

・ Number of Extend I/O that can be connected from J4 is one unit.

- 15 -

2C-776Av1

Instructions Manual
R1(4) General-purpose I/O connector ( J5)
1
7

5

4

3

2

1

1

(Contact insertion side )

J5

No.

6

Direction Signal name● Connector● Conformity connector● Conformity contact:● Conformity crimp tool
● Acceptable wire

: 53426-0710 ( Molex): 51103-0700 ( Molex: accessories ): 50351-8100 ( Molex: accessories ): 57295-5000 (Molex ): AWG28 〜 AWG22(Coating φ 1.15 〜φ 1.8)

Description

1

−

R.GND

Return GND of each signal ( for +24 V interface )2

I

FSSTOP

Immediate stop signal of all axes ( B contact)

3

I

IN0

General-purpose input 0

4

I

IN1

General-purpose input 1

5

O

OUT0

General-purpose output 0

6

O

OUT1

General-purpose output 1

7

−

N.C

Connection is prohibited.

・ The default values of the FSSTOP signal is ACTIVE OFF input ( B contact) .
The pulse is not output if it doesn't connect into the status of NORMAL ON ( GND connection )when signal unused.

1
2
3

6
5

5
6

4

2

● Connector● Conformity connector● Conformity contact● Conformity crimp tool
● Acceptable wire1

: 53426-0610 ( Molex): 51103-0600 ( Molex: accessories): 50351-8100 ( Molex: accessories): 57295-5000 ( Molex): AWG28 〜 AWG22( Coating φ 1.15 〜φ 1.8 )(Contact insertion side)

1

(J11)

(J13)

1

1

3

1

4

(J12)

(J10)

1

1

(5) Sensor connector( J10: X-axis, J11: Y-axis, J12: Z-axis, J13: A-axis)

For shield connection( M2.6 tap)
No.

Direction Signal name

Description

1

I

CWLM

+( CW) direction LIMIT signal ( B contact)

2

I

CCWLM

-(CCW) direction LIMIT signal( B contact)

3

I

NORG

Machine origin proximity signal

4

I

ORG

Machine origin signal

5

−

GND

Power supply ( GND) for sensor

6

O

EXTVCOM+

Power supply ( +24 V) for sensor*1*1 Do not use it as power supplies other than SENSOR. Moreover, an output electrical overload and short circuit
should be careful. An internal protection circuit ( fuse) is blown.
・ The sensor connector is the same terminal array for all axes.
・ The default values of the LIMIT signal of each axis are ACTIVE OFF input ( B contact ) .
The pulse is not output if it doesn't connect into the status of NORMAL ON ( GND connection )when signal unused.
・ +24 V power supply GND and internal can be connected, and can use as power supply GND for return GNDof sensor.
・ GND and +24 V power supply GND is mutually connected internally.
These can be used as power supply GND for return GND and sensor.
・ It can supply EXTVCOM+ as a power supply for sensor to the +24 V Max 150 mA/axis.
(There is an overcurrent protection circuit.)
・ When user drops the shield of a cable for sensor, user uses a terminal in the sensor connector side,and please connect it.

- 16 -

2C-776Av1

Instructions Manual
R1(6) Driver connector ( J6: X-axis, J7: Y-axis, J8: Z-axis, J9: A-axis)
1

1

J8
J6

2

J9
J7

2

1

2
2

1

● Connector: HIF3BA-26PA-2.54DS( 71) (Hirose Denki )● Conformity cable : Various driver connection cables are prepared.
Please refer to the "Connection/others" manualof the AL-Ⅱ series. ( It is not an accessory.)
For shield connection( M3 tap)

No.

Direction Signal name

Description

1

−

S.G

Signal GND ( Return GND of line driver/line receiver )

2

O

N.C

Connection is prohibited.
(The output circuit is allocated.)

3

O

CWP

+(CW) direction positive logic pulse

4

O

CWP

+(CW) direction negative logic pulse

5

O

CCWP

-(CCW) direction positive logic pulse

6

O

CCWP

-(CCW) direction negative logic pulse

7

O

DRST/M.F

Servo reset signal when the servo driver.
Motor current free signal when the stepping driver.
(It is possible by general-purpose output. )8

O

DRSTCOM

For current output ( +24 V) of DRST

9

I

+ZORG

+Z-phase signal of encoder

10

I

-ZORG

-Z-phase signal of encoder

11

I

DEND/PO

Position completion signal when the servo motor driver.
Phase out signal when the stepping motor driver.

12

−

R.GND

Return GND

13

I

N.C

Connection is prohibited.
(The input circuit is allocated.)

14−

N.C( R.GND)

Connection is prohibited.
(The R.GND of input circuit is allocated.)

15

I

S.RDY

Servo ready signal(It is possible by general-purpose input. )

16

−

R.GND

Return GND

17

I

DALM

Driver alarm signal(It is possible by general-purpose input. )

18

−

R.GND

Return GND

19

I

+EA

+A-phase signal of encoder

20

I

-EA

-A-phase signal of encoder

21

I

+EB

+B-phase signal of encoder

22

I

-EB

-B-phase signal of encoder

23

O

S.ON

Servo on signal(It is possible by general-purpose output.)

24

O

A.CLR

Alarm clear signal(It is possible by general-purpose output.)

25

O

EXTVCOM+

For the power supply ( +24 V) of driver interface

26

*1

−
N.C
Connection is prohibited.
*1 Do not use it as power supplies other than a driver interface. Moreover, an output electrical overload andshort circuit should be careful. An internal protection circuit ( fuse) is blown.
・ The driver connector is the same terminal array for all axes.
・ The default values of the DALM signal of each axis are ACTIVE OFF input ( B contact ).
The setting and B contact input of the halt function by the DALM signal detection can be switched to
A contact input.
・ It can supply EXTVCOM+ as a power supply for driver interface to the +24 V Max 30 mA/axis.
(There is an overcurrent protection circuit.)
・ S.ON, the A.CLR output, and the S.RDY input of Control I/O can be controlled with general-purpose I/O
and Extend I/O according to the I/O-function or the Unit-function.
- 17 -

2C-776Av1

Instructions Manual(7) SIGNAL I/O connector( J14)
● Connector● Conformity cable

No.

2

1

(J14)

: DF11-16DP-2DS( 52) (Hirose Denki ): CE-70-01/IO-16C12( 1.2 m, for open collector output): CE-70-02/IO-16C50 ( 5 m, for line driver output)(Each cable is not an accessory.)

Direction Signal name

Description

1

O+SOUT0X-axis SOUT signal output ( default value CNTINT)( Line driver positive logic)

2

O-SOUT0X-axis SOUT signal output ( default value CNTINT)( Line driver negative logic)

3

O+SOUT1Y-axis SOUT signal output ( default value CNTINT)( Line driver positive logic)

4

O-SOUT1Y-axis SOUT signal output ( default value CNTINT)( Line driver negative logic)

5

O

SOUT0

X-axis SOUT signal output ( default value CNTINT)( Open collector output)

6

−

R.GND

GND for return of signal( +5 V GND of internal )( Return GND)

7

O

SOUT1

Y-axis SOUT signal output ( default value CNTINT)( Open collector output)

8

−

R.GND

GND for return of signal( +5 V GND of internal )( Return GND)

9

O

N.C

Connection is prohibited.( Output circuit of unpublic )Do not connect anything.

10

−

R.GND

GND for return of signal( +5 V GND of internal )( Return GND)

11

Ｉ

N.C

Connection is prohibited.( Input circuit of unpublic )Do not connect anything.

12

−

R.GND

GND for return of signal( +5 V GND of internal )( Return GND)

13

Ｉ

N.C

Connection is prohibited.( Input circuit of unpublic )Do not connect anything.

14

−

R.GND

GND for return of signal( +5 V GND of internal)( Return GND)

15

−

S.G

Signal GND( +5 V GND of internal)

16

−

N.C

Connection is prohibited.

・ The status signal of X-axis and Y-axis can be output by setting the status outside output function.
The default value of the output when the power supply is turned on is CNTINT of each axis.
・ As for the output signal, the open collector output or the line driver output can be selected.

- 18 -

2C-776Av1

Instructions Manual
2-6. Input and output specifications(1) Output specifications

R1● Output specification 1
CircuitDescription
Signal name

+5 V






Max.
20 mA

→
←



Equivalent
to 26C31



Output method

 CWP, CCWP CWP, CCWP


 S.G

Same for all axes.

● Output specification 2
Circuit

1.65 K Ω DRSTCOM

Photocoupler(Equivalent to 26C31: Compliant with RS422A)

Outputcurrent± 20 mA

Outputfrequency

Maximum 6.5 MHz( Indipendent drive)

Insulation

Non-insulated←

Signal name

DRST

Interfacevoltage+24 V

Nch transistor
Open collector output
ON : 30 mA ( Vce ＝ 1 V or less )Output current
50 mA( Vce ＝ 2 V or less)
OFF: 0.1 mA or less
Output1 ms or lessresponse time ( ON → OFF、 OFF → ON)
Photocoupler isolation
Insulation

Max.15 mA

Output methodLine driver ( differential ) output

Description

+24 V



CWP, CWP, CCWP, CCWP DRST

Max. 30 mA

Same for all axes.

(Between internal circuits and external circuits.)● Output specification 3
CircuitDescription
+24 V





Photocoupler






*1

〜

←



EXTVCOM+

Signal name

( EXTVCOM+ can be supplied by 24V for the driver: Up to 35 mA)

 S.ON, A.CLR● General-purpose faction
OUT0 , OUT1

Max. 30 mA

Same for all axes.
+24V

Interfacevoltage+24 V

Output method

Nch transistor
Open collector outputPhotocoupler

Two points for the unit.







←

Max. 30 mA● Servo faction
S.ON, A.CLR

 OUT0, OUT1

ON : 30 mA ( Vce ＝ 1 V or less)
Output current
50 mA ( Vce ＝ 2 V or less)
OFF : 0.1 mA or less
Output1 ms or lessresponse time ( ON → OFF、 OFF → ON)
Photocoupler isolation
Insulation(Between internal circuits and external circuits.)*1 An output electrical overload and short circuit should be careful.
An internal protection circuit ( fuse) is blown.

- 19 -

2C-776Av1

Instructions Manual● Output specification 4
CircuitDescription
Signal nameInterfacevoltage
 SOUT0, SOUT1(Trigger output to external
equipment etc.)

Equivalent to LS06

 S.G
(5V GND of internal)

+5 V






Max.
20mA

→
←



Equivalent to26LS31ON :10 mA( Vce ＝ 0.6 V or less)
Output current OFF :0.3 mA or less
Output1 μ s or less (The output time width can be set.)
response time ( ON → OFF、 OFF → ON)
Insulation

Non-insulation

Signal name

± SOUT0, ± SOUT1
Line driver output

+SOUT0, +SOUT1(Trigger output to external
equipment etc.)

 S.G+30 V or less

Output method Open collector output

Output method
-SOUT0, -SOUT1

SOUT0 , SOUT1(Equivalent to 26C31: Compliant with RS422A)

Output current ± 20 mA
Output1 μ s or lessresponse time

( ON → OFF、 OFF → ON)

Insulation

Non-insulation(The output time width can be set.)

It is a signal of the J14 connector.

・ The status signal of X-axis and Y-axis can be output by setting the status outside output function.
The default value of the output when the power supply is turned on is CNTINT of each axis.
・ As for the output signal, the open collector output or the line driver output can be selected.
The signal with different interface specification can be connected.

- 20 -

2C-776Av1

Instructions Manual
R1(2) Input specifications● Input specification 1
CircuitDescription
Signal name
+24 V
*2






〜


● Servo faction
S.RDY,DEND/PO, DALM *1● General-purpose faction
IN0 , IN1
● Other faction
FSSTOP *1

 ● Sensor faction
 R.GND

6.8 K ΩPhotocoupler( EXTVCOM+ can be supplied by 24V for the sensor: Up to 100 mA)

EXTVCOM+

 24 V ± 2 V or lessMax. 100 mA



+24 V






● Servo faction● General-purposePhotocoupler

 ● Other faction
 R.GND

6.8 K ΩThe sensor faction is each axis and a same specification.
(The general purpose system and additionally ( FSSTOP) is excluded.)● Sensor faction
ORG, NORG, CWLM, CCWLM *1

Interfacevoltage
Input
impedance
ON/OFFlevel
Input
response time
Insulation+24 V
6.8 K ΩON :2.5 mA or more
OFF :0.8 mA or less
1 ms or less( ON → OFF、 OFF → ON)
Photocoupler isolation(Between internal circuits and external circuits.)＊ 1 The default value of each axis LIMIT signal, FSSTOP signal, and DALM signal is the ACTIVE OFF input.

(B contact)
The pulse is not output if it doesn't connect it in the state of NORMAL ON ( GND connection)
when it is signal unused.
・ The logic of B contact input can be switched to A contact input. ( Applied function )＊ 2 An output electrical overload and short circuit should be careful.
An internal protection circuit ( fuse ) is blown.

● Input specification 2
CircuitDescription
Signal name

+5 V




Connect to line-driver

Output method 220 Ω

Equivalent to
26C32
+5V
Same for all axes.

Equivalent to

 S.G

26C31

± EA、± EB、± ZORG
Line receiver input(Connect line driver with compliant RS422A.)

Terminater

220 Ω

Input
frequency± EA,EB : 5 MHz± ZORG : 100 KHz

Insulation

Non-insulated- 21 -

2C-776Av1

Instructions Manual
2-7. Outside dimensions

R1

1

(J4)

(J5)

1

(J3)

(Dimension of installation for user)

J3 DC+24V

J9
J7

J4

Made in Japan

2C‑776Av1

12345678

J5

Model name seal

J12 J13J10 J11(Dimension of installation for user )

J14

J8
J6

J1

(J1)

J2

(J2)

RATE

MADE IN JAPANADDRESS

(J14)

2‑M3

J9
J7

J4

(J4)

J5

(J5)

1
1

(J3)

J3 DC+24V

J12 J13J10 J11When DIN attachment lug (CP-13v1/AT1) is installed.

(J2)
(J1)

J2
J1
J14

J8
J6

RATE

MADE IN JAPANADDRESS- 22 -

(J11)

(J10)

General tolerance ± 0.5 mm or less
Externals tolerance ± 1 mm or less

2C-776Av1

Instructions Manual
３． Setting
3-1. Installation of device driver for Windows
Device driver for Windows is necessary to operate this product.
・ Please refer to the installation manual attachment to a exclusive use device driver 「 MPL-34-01vx.xx/AL2W32 or
MPL-35-01vx.xx/AL2W64」 for details of the installation method.
・ Please refer to the PCI master manual of the AL-Ⅱ series when it sets and operating by using application
MAP-19-01vx.xx.
* Version No. … Please confirm the latest version of vx.xx at the manual of the device driver,and MAP-19 application.

3-2. Address setting of the AL-Ⅱ series ( S1)
The slave address of the AL-Ⅱ communication is set with dip switch S1.
The master address is H' 0 fixation. And, please set not to overlap the address of each slave unit.
ADDRESSSWITCH No.

Setting is prohibited.

ADDRESS
1
2
3
4

H' 1
H' 2
H' 3
H' C
H' D
H' E
H' F

O
N

4
OFF
OFF
OFF
OFF
ON
ON
ON
ON

3
OFF
OFF
OFF
OFF
ON
ON
ON
ON

2
OFF
OFF
ON
ON
OFF
OFF
ON
ON

1
OFF
ON
OFF
ON
OFF
ON
OFF
ON

← Factory-set

・ When turning on power, the setting of S1 becomes effective.
Set switch while turning off the power supply.
And, turn on the power supply after the setting change.

3-3. Baud rate setting of the AL-Ⅱ series ( S2)
The baud rate of the slave units of AL-Ⅱ communication is set with dip switch S2.
Set to masters the baud rate by an Environment-function.
And, set the same transmission rate as master to all slave units connected with the AL-Ⅱ series by the dip switch S2.
SWITCH No.

4

3

2

1

Setting is prohibited.

OFF

OFF

OFF

OFF

Setting is prohibited.

OFF

OFF

OFF

ON

10 Mbps

OFF

OFF

ON

OFF

20 Mbps

OFF

OFF

ON

ON

RATE

RATE
N
O

1
2
3
4

・ Turn off the 3rd and 4th bit of S2. These are the set prohibition.
・ When turning on power, the setting of S2 becomes effective.
Set switch while turning off the power supply.
And, turn on the power supply after the setting change.

- 23 -← Factory-set

2C-776Av1

Instructions Manual
４． Installation and connection
4-1. Installation(1) Installation distance

J5

J3 DC+24V

J12 J13J10 J11J4MADE IN JAPAN

J2
J1
J14

J8
J6

J14

J8
J6

J1

J2

MADE IN JAPAN

J9
J7

J9
J7

J4

J5

J3 DC+24V

J12 J13J10 J11

Secure the flow of the wind for the upper and lower right and left 10 mm or more apart and set up
2C-776Av1 as follows.
･ Distance when two or more is arranged.
･ Distance with panel of case.
･ Distance with another equipment.

10 mm or more
(To the case or another equipment)
10 mm or more

(2) Installation method● Vertical installation

J3 DC+24V

J12 J13J10 J11● Horizontal installation
Install in a metallic panel by M3 screw.
The length of the screw must use appropriate length
corresponding to the thickness of a metallic panel.
RATE

J4

J5

ADDRESSJ2

MADE IN JAPANJ9
J7Make the J3 connector upward,
and install it with the M3 screw.
The length of the screw must use
appropriate length corresponding
to the thickness of a metallic panel.

J14

J8
J6

J1

2‑M3

(Metalic panel)● DIN rail installation
Exclusive use DIN attachment
lug (CP-13v1/AT1) is installedon the main unit.
Make J3 to the upward andinstall in the DIN rail.

ADDRESSRATE

Pushing* Please refer to the "Connection/other" manual about the
specification of DIN attachment
lug.

ADDRESS
RATE- 24 -

2C-776Av1

Instructions Manual

4-2. Connection of AL-Ⅱ communication system
Operation not anticipated may cause damage of the machine and the product.

 QAUTION

To prevent the malfunction by the noise, the AL-Ⅱ communications cable recommends
recommended cable.

(1) Core connection of AL-Ⅱ communications cable
Please install the core in the master side. And, the personal computer system including the AL -Ⅱ communication
is made to operated with stability.
The core is fixed with INSULOK.

The core is prepared by our company.
Please refer to the "connection/other" manual.

Master side
(Personal computer side)

Core:ZCAT2032-0930

Installs it within 40mm.

(2)Connection of terminator
Please connect terminator ( CB-54/R) with the slave unit arranged on the AL-Ⅱ communication network edge.
Please do not connect the terminator with other equipment.
There is no problem even if AL-Ⅱ communications or the terminator are connected with either of J1, J2.
AL-Ⅱ communication networkCore

Terminator
CB-54/R

AL2-01v1/PCI(Master)

2C-776Av1

2CD-7713v1/

2C-776Av1

etc.

GDB5F40 etc.

etc.

Terminator

Terminator

Terminator

Terminator

Always on( Inside)

Unconnection

Unconnection

Connection(3) Wiring distance of AL-Ⅱ communication
The total wiring distance of the AL- Ⅱ communications cable is the following range including the multidrop wiring.
・ The wiring distance of Extend I/O doesn't relate to AL- Ⅱ communication baud rate ( RATE).
・ The wiring distance of Extend I/O from each slave is within 1 m.
L1 / RATE(Multi drop)
Terminator( Build-in)

Terminator

Address

Address=0=1

Address(Slave unit)

Address

Address

=2

=14

=15

(Extend I/O)

(Extend I/O)

L2

(Master)(Extend I/O)

(Extend I/O)

● AL-Ⅱ communication baud rate and wiring distance
RATE
Wiring distance
L1 ( AL-Ⅱ communication)
L2 ( Extend I/O communication)

10 Mbps
20 Mbps
100 m or less
50 m or less
1m or less

● The number of slaves that can be connected directly with the AL-Ⅱ communication are 15 units or less.
Extend I/O that can be extended directly from the slave unit is not included in the number of slaves.

(4) Power supply and slave power supply for communication
The AL-Ⅱ communication power supply of each slave unit is supplied from the AL- Ⅱ master through thecommunications cable so that the entire AL- Ⅱ communication network should not become unstable when the
power supply on each slave unit side is intercepted.
The reconnection of communications can be done by executing Environment-function to the master when the power
supply of the main unit on the slave side is obstructed.

- 25 -

2C-776Av1

Instructions Manual
4-3. Connection example(1) Examples of connection to power supply
Operation not anticipated may cause damage of the machine and the product.

 QAUTION

Separate the wiring for the power supply line by the following signal and
50 mm or more to prevent the malfunction by the noise.
･ Principal circuit of another equipment.
･ Power line of another equipment.
･ AL-Ⅱ communications cable.

Power supply relay etc.
CB-55-01/PS-T35: As for the power supply relay output, even 1 A/terminal is possible.
J3( Power supply connector)

1:+24 VAWG28 〜 AWG22 twist(Total 3.5 A max.)
OUT

IN

8

4

＋
２４Ｖ

2:GND

−

( +24V)1

FG AWG28 〜 22

3:FG

5

Omron
Cosel
TDK
etc.

 FG

Power supply

2C-776Av1
J4

Extend I/O communication

4

J1( GND)

1:+24 VAWG22 〜 AWG18 twist

1

2:GND
3:FG

FG AWG28 〜 22

(To other power supply)

CB-52/3232-MIL etc.

・ Consider to confirm the current consumption of the wiring distance ( resistance of the wire rod ) andthe AL-Ⅱ series product, and for the voltage drop of wiring to fill the input power supply specification of the
product the thickness of the wire rod of the power supply.
・ Take the power supply used for the driver interface from the power supply such as EXTVCOM+, and DRSTCOM
prepared with 2C-776Av1.
Please refer to the example of connecting chapter 4-3( 2) driver in detail.
・ The Leake current flows through the protection diode of the output circuit when becoming power supply ( +V)of power supply > 2C-776Av1 of DRST or M.F signal output when supplying it in the power supply besides
2C-776Av1, and the input circuit of the connection destination enters the state of turning on.
+24V( +V)

When another power
supply is used

+Vo 

ｉ



DRST etc.

Leake currentDriver input circuit ( DRST, MF etc.)

2C-776Av1 output circuit- 26 -

2C-776Av1

Instructions Manual(2) Examples of connection to driver
Operation not anticipated may cause damage of the machine and the product.

 QAUTION

Separate the signal wire of each motor driver by the power line and 50 mm or more
to prevent the malfunction by the noise.
Wire each signal within 1 m.

■ Examples of connection to servo motor driver (ΣⅢ・ΣⅤ series: Yasukawa )J6 (X-axis ), J7 (Y-axis ), J8 (Z-axis), J9( A-axis)
CE-61-Y1A/A05( L=50 cm)

CWP

CN1

3

+CW




CWP

4

-CW

CCWP

5

+CCW

CCWP

6

-CCW

1.65K Ω8

+CLR

DRST/M.F

7

-CLR

+ZORG

9

+Z

-ZORG

10

-Z

+EA 19+A-EA 20-A+EA 21+B-EA 22

-B

S.G

1

S.G

N.C

2

SEN




+24 V

DRSTCOM




○

○

○

DEND/PO 11

COIN+


R.GND

12

COIN-

N.C 13
N.C 14
S.RDY

15

S_RDY+R.GND

16

S_RDY-DALM 17

ALM+



*1


+24 V

R.GND

EXTVCOM+

18

ALM-

25

+24VINS.ON 23-SON



N.C 26



A.CLR 24

ALMRST

 F.G

2C-776Av1

+24 V

Relay
To servo main circuit power supply OFF relay*1 The DALM signal is ACTIVE OFF ( B contact) input at default value.
- 27 -

ΣⅤ series ( Yasukawa)2C-776Av1

Instructions Manual■ Examples of connection to stepping motor driver ( GD series: Made by our company)
Please use the product of the DC driver all-in-one design when you use the stepping motor.
The special cable that can be easily connected with the stepping motor driver of the input made of our company
AC type is prepared when a high-speed torque is necessary.
Each axis is the same.
J6 (X-axis ), J7 (Y-axis ), J8 (Z-axis), J9( A-axis)
CE-61-D2/12A05( L=50 cm)

J1

CWP

3

+CW

CWP

4

-CW

CCWP

5

+CCW






+24 V

CCWP

6

-CCW

1.65K Ω8

+MF

DRSTCOM

DRST/M.F

7-MF

DEND/PO 11

+PO

R.GND

12

-PO

*1 DALM

17

+ALM




R.GND

18

-ALM

+ZORG

9

+CS

-ZORG

10




-CS

+EA 19-EA 20・ GD-5410
・ GD-5510E etc.

+EA 21-EA 22
S.G

1

N.C

2

Stepping motor driverN.C 13
N.C 14

+24 V

S.RDY

15

R.GND

16
25

EXTVCOM+

S.ON 23
A.CLR 24
N.C 26
2C-776Av1*1 The DALM signal is ACTIVE OFF ( B contact) input at default value.
To do stepping motor driver's ALM signal ( ACTIVE LOW) and the interface, active logic of the
DALM signal input can be switched.

- 28 -

2C-776Av1

Instructions Manual(3) Examples of connection to sensor ( at photosensor)
Operation not anticipated may cause damage of the machine and the product.

 QAUTION

Separate the signal wire of each sensor by the power line and 50 mm or more
to prevent the malfunction by the noise.
Wire each signal within 10 m.

■ Example of sensor attachment ( photosensor)【 Linear sensors (ORG, NORG, LIMIT)】【 Rotary sensor ( ORG )】Moving table

Grooved photosensor



Grooved photosensor

The flat board for detection
is fixed to the table.



Circular disc with a slit

(attached to a motor axis )■ Example of recommended sensors
Sensor that goes OFF upon receipt of light

Sensor that goes ON upon receipt of light

Maker
SUNX

RatingMaker
RatingPM-□ 24SUNX
PM-□ 24PM-□ 44PM-□ 44PM-□ 54
PM-□ 54
PM-□ 64PM-□ 64
OMRON
EE-SX910R
OMRON
EE-SX910R
・ Contact us, when you use sensors other than the above.
(Example: large 35 mA article of consumption current etc. )Remarks
Reference: Consumptioncurrent and type

15 mA or less・ NPN Type
15 mA or less・ NPN Type
15 mA or less・ NPN Type
15 mA or less・ NPN Type
15 mA or less・ NPN Type■ Example of connection to a LIMIT sensor
The pin numbering of each axis is the same.
-( CCW) direction+(CW) direction+O- Sensor that goes ON+O- Sensor that goes ON

upon receipt of lightupon receipt of light

J10(X-axis), J11(Y-axis)
J12(Z-axis) , J13(A-axis)

CWLM
CCWLM
GND
EXTVCOM+

1
2
5
6

AWG28 〜 22
AWG28 〜 22
AWG28 〜 22
AWG28 〜 22

2C-776Av1

・ The default value of the LIMIT signal is ACTIVE OFF ( B contact) input.
Even when the LIMIT signal is not used, the LIMIT signal input must be connected to GND in orderto output pulses.
- 29 -

2C-776Av1

Instructions Manual■ Example of connection to an ORIGIN sensor
The pin numbering of each axis is the same.
【 When using the ORIGIN sensor only】-( CCW) direction+(CW) direction+O- ORG sensor that goes OFF
upon receipt of light

J10(X-axis), J11(Y-axis)
J12(Z-axis) , J13(A-axis)

NORG
ORG
GND
EXTVCOM+

3
4
5
6

NC
AWG28 〜 22
AWG28 〜 22
AWG28 〜 22

2C-776Av1【 When using the ORIGIN sensor + origin proximity signal】-( CCW) direction

ORG sensor
Sensor that goes OFF
upon receipt of light

+O-

+O-

NORG sensor
Sensor that goes OFF
upon receipt of light

J10(X-axis), J11(Y-axis)
J12(Z-axis) , J13(A-axis)

NORG
ORG
GND
EXTVCOM+

3
4
5
6

AWG28 〜 22
AWG28 〜 22
AWG28 〜 22
AWG28 〜 22

2C-776Av1- 30 -+(CW) direction

2C-776Av1

Instructions Manual【 When using the Z-phase of encoder signal】- (CCW) direction

Encoder+ (CW ) direction

NORG sensor

Servo motor driver+O- Sensor that goes OFF+Z -Z

upon receipt of light

J10(X-axis) , J11(Y-axis)
J12(Z-axis) , J13( A-axis)+ZORG 9-ZORG 10AWG28 〜 22

J10(X-axis), J11(Y-axis)
J12(Z-axis), J13(A-axis)

NORG
ORG
GND
EXTVCOM+

3
4
5
6

AWG28 〜 22
AWG28 〜 22
AWG28 〜 22

2C-776Av1

・ The ORG signal is unconnection when the servo motor driver.
And, please connect Z-phase ( C φ) signal with ± ZORG signal.

【 When using the P.O signal of stepping motor driver】
Circular disk with a slit-(CCW) direction

attached to the rotating shaft

ORG sensor
Sensor that goes ON
upon receipt of light

+O-

+O-

+(CW) direction

NORG sensor
Sensor that goes OFF
upon receipt of light

Stepping motor
driverPO R.GND

J10(X-axis ), J11 (Y-axis)
J12(Z-axis) , J13(A-axis)

DEND/PO 11
R.GND 12
J10(X-axis), J11(Y-axis)
J12(Z-axis), J13(A-axis)

NORG
ORG
GND
EXTVCOM+

3
4
5
6

AWG28 〜 22
AWG28 〜 22
AWG28 〜 22
AWG28 〜 22

2C-776Av1

・ The ORG signal can be detected by phase output ( P.O) signal of stepping motor driver.
In this case, change to the setting that detects the machine origin point by the P.O signal according
to the ORIGIN SPEC SET function.

- 31 -

2C-776Av1

Instructions Manual(4) Examples of connection to general-purpose I/O
Operation not anticipated may cause damage of the machine and the product.

 QAUTION

Separate the signal wire by the power line and 50 mm or more to prevent the malfunction
by the noise.
Wire each signal within 5 m.

J3

+24V
GND
F.G

1
2
3

+

J5

R.GND
FSSTOP
IN0
IN1
OUT0
OUT1
N.C

1
2
3
4
5
6
7

+24V

-

Power supply

Emergency stop switch etc.

AWG28 〜 22

(NORMAL ON)

AWG28 〜 22
AWG28 〜 22

(input)AWG28 〜 22

( output)

Switch or sensor, etc.
R

Lamp etc.

2C-776Av1

・ The default value of the FSSTOP signal is ACTIVE OFF ( B contact) input.
Even when the FSSTOP signal is not used, the FSSTOP signal input must be connected to GND in orderto output pulses.
・ When general-purpose I/O point is insufficient, Extend I/O unit can be connected from 2C-776Av1.

(5) Examples of connection to SIGNAL I/O
Operation not anticipated may cause damage of the machine and the product.

 QAUTION

Do as follows to the wiring distance to prevent the malfunction by the noise.
・ At the open collector output… Within 1.2 m.
・ At the line driver output… Within 5 m.

This is an example to connect from the SOUT signal of X-axis ( default value CNTINT) with the input of the trigger
signal of the camera by the line driver output.
J14+SOUT0-SOUT0+SOUT1-SOUT1
SOUT0
R.GND
SOUT1
R.GND
N.C
R.GND
N.C
R.GND
N.C
R.GND
S.G
N.C

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16

CE-70-02/IO-16C50( 5m)External equipment such as cameras
+TRIG
-TRIG
GND

※ Process the terminal to the signal wire not used
not to be short-circuited.

Twist-lock

After the cable is connected with the J14 connector,
the cable is passed through the cable clamping.
And, the cable is prevented from coming off by twist lock.

The cable clamping of the attachment isinserted in a round hole in the vicinity of
the J14 connector.

2C-776Av1(6) Examples of connection to Extend I/O unit
One Extend I/O unit can be connected from the J4 connector of 2C-776Av1.
・ Please refer to the manual for details about an Extend I/O unit.

- 32 -

2C-776Av1

Instructions Manual
５． Maintenance
Incorrect handling may lead to an electric shock.

 QAUTION

Inspection and maintenance need to be conducted by an expert engineer only.
Before inspecting and maintaining this product, turn off the power.

An electric shock, injuries, and fire may be caused.

 QAUTION

Do not make repair and modification such as product disassembly and parts
replacement.

5-1. Maintenance and inspection(1) Cleaning method
To use the product in a favorable condition, conduct cyclic cleaning as follows.
・ During the cleaning of the connector terminal plating part, wipe it with a dry, soft cloth.
・ If stain is not removed by the dry wiping, soak a cloth in a solution in which neutral detergent is diluted,
wring it out, and wipe off the stain with it.
・ Do not use a high-volatile solvent such as benzene and thinner, and a wipe.
This may deteriorate gold plating by transformation and oxidation.

(2) Inspection method
To use the product in a favorable condition, conduct periodic inspection.
Usually conduct the inspection every six months or every year.
To use the product in an extremely hot and humid or dusty environment, shorten the inspection interval.
Inspection item

Inspection details

Environment state

Check whether ambient and intra-device temperatures
are appropriate.

0 〜 + 40 ℃

Thermometer

Check whether ambient and intra-device humidifies
are appropriate.

10 ％〜 80 ％ RH
(without dew condensation )Hygrometer

Check whether dust is deposited.

No dustVisual check

Installation state

Criteria

Inspection method

Check whether the product is firmly secured.

Not loose (6 kg ･cm )Torque wrench

Check whether connectors are completely inserted.

Not loose and removed

Visual check

Check whether cables are to be removed.

Not loose and removed

Visual check

Check whether connecting cables are to be broken.

Appearance is normal.

Visual check(3) Replacement method
If the product becomes faulty, repair it immediately because the entire device system may be affected.
To make the repair smoothly, a spare product should be prepared.
・ To prevent an accident such as an electric shock during replacement, stop the device and turn off the power.
・ If poor contacting is assumed, wipe contacts with a clean cotton cloth that is wet with industrial alcohol.
・ Take a record of switch settings during replacement and return them to their state before the replacement.
・ After the replacement, confirm that the new product is normal.
・ For the faulty product replaced, have it repaired by returning it to the company with areport indicating as much details on the failure as possible.

5-2. Saving and disposal(1) Saving method
Save the product in the following environment.
・ Indoor ( Place in which the product is not in the path of direct sunlight.)
・ Place at ambient temperature and humidity within the specifications.
・ Place free of corrosive and inflammable gases.
・ Place free of dust, dirt, salt, and iron powder.
・ Place free of direct vibration and shock to the product body.
・ Place free of water, oil, and chemicals droplets.
・ Place where a person cannot ride or put objects on the product.

(2) Disposal method
Handle the product as industrial waste.

- 33 -

2C-776Av1

Instructions Manual

The main parts which revised by this manualParts

P5,9,16,17,
19,21,22Content【 R1】
・ The poliswitch of a protection circuit is revised at a fuse.
(The display seal of product is set to R1)・ The shield tap for sensor connectors and an M2.6x4 attached screw revise a number
from four pieces to two pieces.

- 34 -

Technical Service
TEL.(042)664‑5382 FAX.(042)666‑5664
E‑mail s‑support@melec‑inc.com

Sales and Service
TEL.(042)664‑5384 FAX.(042)666‑2031
URL:http://www.melec‑inc.com
Melec Inc. Control equipment marketing department
516‑10,Higashiasakawa‑cho,Hachioji‑shi,Tokyo 193‑0834,Japan
This Operating Manual is subject to change without prior noticefor the purpose of product improvement.

C1210