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USER'S MANUALPREFACEThis manual provides the information necessary to properly and securely use theC-570-SA Stepping/Servo Motor Controller.
It is intended for engineers who design a controller that uses a stepping or
servo motor.
Before using the C-570-SA, thoroughly read this manual to make sure you
understand the specifications and the basic operation of your machine.
Please keep this manual handy.

General Safety Considerations
It is important to handle your machine in a proper way.
Misuse of the machine should cause unexpected hazards that may result inpersonal or property damage.
Most of these hazards can be avoided if you know possible dangerous situations
beforehand.
The following safety symbols and signal words are used throughout the manual toalert you to possible hazardous situations.

 WARNING

Indicates a hazard, which, if the machine is misused, can result
in serious injury, including death.

 CAUTION

Indicates a hazard, which, if the machine is misused, will resultin minor injury,or equipment and property damage.

Before Using C-570-SA■ This product is neither designed nor manufactured for equipment that requires
sophisticated reliability, including nuclear- and aerospace-related equipment,
vehicles,ships, medical devices that directly involve human body,and equipmentthat may possibly have considerable influence upon property.
■ Provide a fail-safe control so that the entire system is placed in a safe
operating mode in the event of a failure(e.g. input power failure, broken signal lines, controller failure).
■ This product is provided with LIMIT (overtravel) signals to prevent mechanicaldamages.
This is an Active Low (input contact B) signal.
This requires a system configuration that does not use the LIMIT signal toconnect this signal in the both directions to a Normally High (connected toGND) state in order to generate output pulses.
■ Always use the product in a manner consistent with the instructions and within
the specifications described herein.
■ Check the power input for wiring before turning power on.

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USER'S MANUALPREFACE
General Safety Considerations
Before Using C-570-SA

CONTENTS

PAGE

１． INTRODUCTION
1-1. Features
1-2. Controller Components
1-3. Example of System Configuration
1-4. External View

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２． SPECIFICATIONS
2-1. General Specifications
2-2. Motor Control Specifications and Performance Specifications(1) Motor control specifications(2) Performance specifications
2-3. Panel and External Control Specifications(1) Mode hierarchy(2) Panel and External Control Specifications

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３． INSTALLATION AND CONNECTION
3-1. How to Add Optional two-axis Controller CB-10-SA57
3-2. How to Install(1) Installing Place(2) Installation Interval(3) How to Install
3-3. I/O Signal(1) I/O signal connector (J1, J2)(2) Power Connector(3) RS232C Connector
3-4. I/O Circuit(1) I/O Input Signal(2) I/O Output Signal(3) Pulse Output Signal
3-5. Connection Example(1) Example of Connection with Motor Driver(2) Example of Connection with Power Supply(3) Example of Connection with Sensor(4) Example of Total Connection
3-6. Wiring Method(1) Wiring of I/O signal connector (J1, J2)(2) Wiring of Power Connector
3-7. Check of Execution

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４． DISPLAYS AND PROGRAMMING
4-1. Panel Overview
4-2. Panel Description(1) Views in External Modes(2) Views in Panel Modes(3) Using panel keys
4-3. List of Write Data Entries
4-4. List of S-Curve Data Entries

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USER'S MANUALCONTENTS

PAGE

4-5. Operations Via Panel(1) Checking an External Mode is ready(2) Viewing error status(3) Switching Operation Modes (OP MODE)(4) Switching modes(5) Switching axes(6) Selecting data display digits(7) Programming in Write Mode (W.M)(8) Setting the current value for address in Teaching Mode via panel(9) Programming in S-Curve Mode (S.M)(10) Adjusting S-Curve Drive(11) Using Signal Check function

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５． SEQUENCER CONTROL
5-1. Introduction of Sequencer Control
5-2. List of Motion Command and Status Signal(1) External Mode Select Signal and Status Signal(2) Motion Command in Normal Mode and Status Signal
5-3. Motion Example(1) Motion Flow
(2) Connection(3) Allocated Signal Table(4) Example of Ladder Circuit
5-4. List of Timings for External Operations(1) How to issue START signal(2) Timing specifications(3) Delay time for START signa l

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６．RS CONTROL
6-1. Outline of RS Control
6-2. Communication Specifications
6-3. MAP-11-SWXP Specifications(1) Details of screen(2) Operating environment(3) Operating instructions

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７． MISCELLANEOUS SPECIFICATIONS
7-1. ORG DRIVE (machine home detection)(1) Description of ORG DRIVE(2) Types of machine home detection(3) Explanation of symbols used for machine home detection process(4) Process charts by machine home detection type(5) ORG DRIVE DIRECTION(6) HIGH SPEED ORG DRIVE (high-speed machine home detection)(7) PRESET DRIVE(8) PRESET DIRECTION(9) MARGIN TIME
(10) Sensor locations(11) Conditions for detecting machine home
7-2. SENSOR DRIVE(1) SENSOR DRIVE (TYPE 0)(2) SENSOR DRIVE (TYPE 1)(3) SENSOR DRIVE (TYPE 4)
7-3. REST DRIVE(1) PRESET DRIVE for INDEX and RTN DRIVE(2) REST DRIVE for SENSOR DRIVE (TYPE 0)(3) REST DRIVE for SENSOR DRIVE (TYPE 1)(4) REST DRIVE for ORG DRIVE

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USER'S MANUALCONTENTS

PAGE

7-4. Metric (angular) Conversion(1) Metric (mm) conversion(2) Angular conversion(3) Examples of maximum settings
7-5. Shortest-Distance Indexing
7-6. Teaching Specifications(1) Teaching methods(2) Teaching speed(3) Compensation of Coordinates
7-7. Miscellaneous Specifications on Timing
7-8. External Dimensions(1) Standard Dimensions of C-570-SA(2) When CB-10-SA57 is added
7-9. RATE Table(1) RATE DATA Table(2) RATE Curve(3) Speed Difference in RATE TYPE

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８． MAINTENANCE
8-1. Maintenance and Inspection(1) Cleaning Method(2) Inspection Method(3) Replacing Method8-2. Storage and Disposal(1) Storing Method(2) Disposing Method
8-3. Measures against Errors and Releasing Method(1) Measures to be taken when an error occurred(2) Notice to High Order Sequencer
8-4. Troubleshooting

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９． DIFFERENCE FROM C-570-S
７９

For the following applied specifications and applications, a technical information is readily
available.
For the technical information, please contact our Sales Department.
■When selecting the External Mode for starting a motion,
・When trying a trial run for positioning at a safe speed from the sequencer, [Trace Mode]
・When setting a target address from the sequencer by teaching, [Teaching Mode]
・When writing data from the sequencer to C-570-SA, [Data Programming Mode]
・When reading data of C-570-SA from the sequencer, [ Data Reading Mode]■When making communication through RS232C without using option, [RS Control]■When checking the detail of each motion timing,■Example
・Connection example for interfacing at TTL level with driver・Connection example for reducing the number of I/Os of the sequencer
・Connection example for making data transfer from I/O of the sequencer possible
・Example of program for motion after selecting the External Mode from the sequencer
・Example of program for setting (writing) data from the sequencer
etc.

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USER'S MANUAL

１． INTRODUCTION
1-1.Features
Model C-570-SA is a stepping/servo motor controller packaged in a PC/104-compatible compact form.
It allows connections of up to four axes by combining the two-axis I/O controller standard with
the C-570-SA with an optional two-axis I/O controller CB-10-SA57.
You can easily position up to 50 points for each axis by setting relevant data via the front panelof the controller, selecting I/O signal-based motion commands and then starting a motor.
You can also load or save data over an RS232C interface from a personal computer and operate thecontroller with INDEX50 while transferring distance or HSPD (High Speed) values via sequencer I/O.
The C-570-SA controls two axes independently. In this manual, the first axis is referred to as"X axis" and the second "Y axis" and we, in principle, describe the X axis only. Where the CB-10SA57 is added to the C-570-SA, the same procedures as those for the X axis are applied.

1-2.Controller Components
Component nameController
I/O connectors

Model number
C-570-SA
FCN-361J040-AU

3-pin connectors

MSTBA2.5/3-ST-5.08

screws

M2.6×10

Manufacturer
Melec
FujitsuQ'ty Remarks
1
Main unit2
For connecting I/O signal connectors(provided with the C-570-SA)
For connecting +24V main power
PHOENIX CONTACT 1(provided with the C-570-SA)
For I/O connectors－
4(provided with the C-570-SA)
REFERENCE
Options are available for the C-570-SA.
For more information on these options,please contact
our dealer.

1-3.Example of System Configuration(Expandable up to four axes)
C-570-SA (two axes)
Pulse

I/O signals(X and Y axes)

X axis
Pulse
Sequencer

Y axisX axis Y axis

RS232C
cable
RS232CorRS422
for sequencer
INDEX No.

4

Stepping motor driver(or servo motor driver)
ADB-2610,DB-5420,
AD-5410 etc.

Stepping motor(or servo motor)

Limit Sensor, ORG Sensor, Encoder Z-Phase signals, etc.

8Ｗ

Touch panel
For system alignmentorentering C-570-SA data

( When expanded)
CB-10-SA57 (two axes)
Pulse
Z axisI/O signals(Z and A axes)

Pulse

A axisZ axis A axis
Stepping motor driver(or servo motor driver)
ADB-2610,DB-5420,
AD-5410 etc.

Windows2000,XP,NT-based PC
MAP-11-SWXP (CD-R)
For creating, editing, loadingor saving data

Stepping motor(or servo motor)

Limit Sensor, ORG Sensor, Encoder Z-Phase signals, etc.

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USER'S MANUAL

1-4.External View







C-570-SA







ＮＯ．
ＤＡＴＡ
ＤＡＴＡ

 RS  W.M  X
 SEQ  S.M  Y      ERR  ADJ  Z
AJ 2 Y AX IS

ＯＰ １



UPPER

 

MODE



SEL



▼

ＯＰ ２

▲



WRITE



Ａ ＢＳ

ABS

    
H/B ST/SP 
























J1 X AXIS










 Contains LEDs that display data or different statuses and 7-segment LEDs.
 Contains switches used to enter data and operate a motor in the Teaching Mode.
 I/O signal connector J1 (X axis)
When another CB-10-SA57 is added, the connector below J1 will be used as J1 (Z-axis connector)
for CB-10-SA57.
 I/O signal connector J2 (Y axis)
When another CB-10-SA57 is added, the connector below J2 will be used as J2 (A-axis connector)
for CB-10-SA57.
 +24V power connector
 Angle for attaching the main unit
 Tap for mounting a DIN rail
 RS232C connector-7-

USER'S MANUAL

２． SPECIFICATIONS
2-1.General Specifications
No.

Item

Specifications

Remarks1

supply voltage

DC+24V

Shall be within ±10% of the su
pply voltage.

2

current consumption

300 mA max. (500 mA max. when CB-10-SA57 added)

3

Operating temp
erature and hu
midity0℃ ～+40℃ ･ 80％RH (non-condensing)4

Storage temper
ature and humi
dity

-10℃ ～+55℃ ･ 80％RH (non-condensing)5

Installation
environment

・Shall be installed in an airy chassis.
Avoid areas that are subject to direct sunlight.
・Installation areas shall be free from corrosiveand inflammable gas, oil mist, dust, salt, ion pow
ders,water or chemical splash.
・Installation areas shall be free from excessive
vibr ation or continuous shock.
・Do not locate the controller near significant sources of electromagnetic noise, such as power-driven
equipment.
・Installation areas shall be free from radioactive
material or magnetic field. Avoid locating thecontroller in a vacuum.

6

I/O interfaces+24V power interface
・Input: Photocoupler inputs

For each axis:
・CWLM,CCWLM,NORG,ORG
RESET,DEND,SS0,M0～M8
START,STOP・Output: Open collector transistor outputs(with photocoupler isolation)

・DRST,ST0～ST7,RDY,ERR

Pulse output interface
・ Via differential line driver・ Via TTL interface *1(with photocoupler isolation)

For each axis:
・CWP,CWP,CCWP,CCWP
・Directly connectable to thedriver for line receiver inputs.

Z-phase input interface
・Input: Photocoupler inputs

For each axis:
・ ±ZORG(directly connectable toline driver)

Serial interface
・Base standard: RS232C (EIA-574 compliant)・Communication mode: Half-duplex (full-duplex on
the lines)
・Synchronization mode: Asynchronous・Baud rates: 9.6k/19.2k/38.4k/57.6 kbps
・Data bits: 7 bits
・Parity check: Odd
・Stop bit: 1 bit
・Terminate code: CR+LF

・Directly connectable to DOS/Vor IBM-compatible PC (D-SUB
9P)via an RS232C cross cable.

7Power supply
for drive

Output to +COM pin *1
・+5V DC±10%・10 mA max for each axis

・Factory preset baud rate
: 57.6 kbps

For each axis:
・Output featured with drooping
characteristic.
・For DRST*1 For the procedure for connecting the TTL interface with a +COM, see the technical information.

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USER'S MANUAL

R1
No.

Item

Specifications

8

External
dimensions

W104mm×D93.4mm×H46.3mm (Standard configuration)
W104mm×D93.4mm×H79.5mm (When CB-10-SA57 added)

9Connectors(on themain unit)

・Power connector

10WeightApprox. 0.6 kg for 2 axes,
0.8 kg when additional 2 axes added

11

Accessories

・Power connector

12

Options

Remarks:MSTBA2.5/3-G-5.08(PHOENIX CONTACT)・I/O signal connector:FCN-361P040-AU(Fujitsu)
・RS232C connector:D-SUB 9P:MSTB2.5/3-ST-5.08 (x 1)・I/O signal connector :FCN-361J040-AU(x 2)

・screws(x 4):M2.6x10

Options are available for the C-570-SA.

-9-・3-pin connector with 5.08mm
pitch
・Soldering type connector with
2.54mm pitch
・For I/O connectors

For more information on these
options, please contact ourdealer.

USER'S MANUAL

2-2.Motor Control Specifications and Performance Specifications

R1(1) Motor control specifications
No. Motion Controls
1 INDEX DRIVE(INCREMENTAL)

Description
Hz
HSPD
RA T E Specified number

0

-2000

2 INDEX DRIVE(ABSOLUTE)t

ABSOLUTE INDEX DRIVE moves the motor
to the specified address irrespectiveof the current position. This is abasic DRIVE for positioning.

RATE

Target address(moving motor +5000)

LSPD

0

-2000

t

+5000

S-CURVE INDEX DRIVE smoothly accelera
tes or decelerates the motor in an
S-curve.

Hz
HSPD
R A TE

LSPD

4 END PULSE
DRIVE

+3000

Hz
HSPD
RATE

3 S-CURVE INDEX
DRIVE

RATE

of pulses(moving motor 5000 CW)

LSPD

INCREMENTAL INDEX DRIVE moves the
motor the specified distance (specifi
ed number of pulses) from the current
position. This is a basic DRIVE for
positioning.

RATE

t

Hz
HSPD RATE
LSPDSpecified
number of pulses
or target address

Specified numberof pulses(target address)

RATE
Setting range of END(0 to 65535 pulses)t

5 M.SCAN DRIVE(MANUAL SCAN
DRIVE)Hz

250ms

M.SCAN DRIVE (MANUAL SCAN DRIVE) acti
vates single-pulse and continuous drive functions. A START signal input ac
tivates the single-pulse drive, after
which an input the duration of which
is more than 250 msec activates thecontinuous drive function that accele
rates the motor up to HSPD.The numberof pulses output for deceleration
depends on the setting values for
HSPD and LSPD rates.

HSPD

t
START

6 M.CSACN DRIVE(MANUAL CONSTANT SCAN
DRIVE)HzON

7 SPECIAL SCAN
DRIVE

OFF

M. SCAN DRIVE (MANUAL CONSTANT SCAN
DRIVE) activates single-pulse andcontinuous drive functions. A START
signal input or press of  key act
ivates the single-pulse drive, after
which an input the duration of which
is more than 250 msec activates aconstant-speed continuous drive function. The number of pulses output for
stopping the motor is within 9pulses.

250ms
CSPD

t

START

Hz

ON

OFF

250ms
HSPD

t
H /B

- 10 -

This function alleviates damping at
the end of S-CURVE INDEX DRIVE.
Upon completion of deceleration down
to a low speed, it continuously moves
the motor in accordance with the spec
ified frequency and specified numberof pulses.

SPECIAL SCAN DRIVE activates the continuous drive function while the 
key on the panel is held down.
Press of H/B key accelerates the
motor to HSPD.

USER'S MANUAL

No. Motion Controls

Description

8 SENSOR DRIVE

TYPE0

Hz

TYPE1

Hz

SS0 signal

Specified numberof pulses

SS0 signal

Specified numberof pulses

t

t

TYPE4

Hz

SS0 signal

Specified
number ofpulsest

9 ORG DRIVEHz
Low-Speed
DRIVE
CSPD

High-Speed DRIVE
HSPD

CW

CCW

10 HIGH SPEED
ORG DRIVE

Machine home(sensor position)

DRIVE

High-Speed DRIVEHz

Low-Speed

HSPD

CSPD

CCW

CW
Address adjacent to machine hom
Machine home
Number of offset pulses

11 RTN DRIVE
andR.P SET

Hz

HSPD

CCW

CW

electrical zero
position(absolute address 0)

Current position▲
R.P.SET(electrical zero) position(Set to the electrical zero when the machinehome is detected.)
12 REST DRIVEHzSTOP signal(decelerating stop)
HSPD

Hz

Pulsesremainingt

Pulsesremaining- 11 -t

SENSOR DRIVE stops or decelerates the
motor with SENSOR STOP (SS0) signal
input.
・TYPE0 stops the motor when SS0
signal is issued upon completion of
an INCREMENTAL INDEX DRIVE.
The number of pulses (N) output
when SS0 is detected is within
N=LSPD(Hz)×3.0×10 -6+1.
・TYPE1 decelerates the motor whenSS0 issued and then moves it a spec
ified distance before stopping it.
・TYPE4 moves the motor a specified
distance from the moment SS0 is
issued before stopping it.
ORG DRIVE detects the machine home.
It automatically detects the machinehome when ORG motion control is initi
ated. Select a detection method that
conforms to your intended accuracy,
detection time, and specifications
from nine options.
Detecting the machine home with two
sensors, NORG and ORG, requires adistance corresponding to
N = 0.005×CSPD
in terms of the number of pulses (N).
HIGH SPEED ORG DRIVE reduces the timerequired to detect home when an ORG
DRIVE is repeated.
It moves the motor at a high speed
set in HSPD as far as the address adj
acent to the machine home specified
by the number of offset pulses andthen detects the machine home in thesame process as for the normal ORG
DRIVE.
A DRIVE function that moves the motor
back to the electrical zero (absoluteaddress 0)irrespective of the current
position.
When the machine home is detected(ORG DRIVE), it is automatically set
as electrical zero with R.P. SET.
If the machine home differs from theelectrical zero, use R.P. SET to respecify the electrical zero position.
REST DRIVE executes the pulses left
over when the motor is decelerated toa stop during all DRIVE functions for
positioning except SCAN DRIVE andSENSOR DRIVE (TYPE 4) in execution.

USER'S MANUAL

No. Motion Controls
13 ShortestDistanceIndexing

Description
In controlling motor motions within
one revolution, when one of INDEX00
through INDEX50 or RTN DRIVE is activ
ated, the controller automaticallydetermines the direction allowing the
motor to quickly move from the curren
t position to a target position andthen moves the motor the shortest
distance.

R.P.SET

Shortest-Distance
INDEX00

Indexing(target value)

0°45°
INDEX24(current
value)

270°

90°

180°

14 STOP(Decelerating
Stop)

Hz

STOP input
ACCEL/DECEL DRIVEt

15 STOP(Immediate
Stop)

Hz

STOP input
ACCEL/DECEL DRIVEt

16 LIMIT STOP(CWLM, CCWLM)CCWCWWork area

Limit
area

Limit
area

- 12 -STOP (Decelerating Stop) decelerates
the motor to a stop when ACCEL/DECELDRIVE is active. The number of pulses
output upon acceptance of STOP depends on HSPD and LSPD rates.
When the motor is run at a fixed speed, it stops within one pulse.
Stops the motor immediately when
ACCEL/DECEL DRIVE is active or the
motor is run at a fixed speed.
It outputs a DRST signal when a servo
motor is specified.
The number of pulses output upon acce
ptance of STOP is within one pulse.
CWLM signal causes the motor to
immediately stop rotating CW.
CCWLM signal causes the motor to
immediately stop rotating CCW.
The number of pulses output upon
acceptance of LIMIT is within one
pulse.

USER'S MANUAL(2)Performance specifications
No.

Item

1

Drive function INDEX DRIVE
Moves the motor a specified distance or indexes it to(Trapezoidal/S-Curve Drive) the target address.
The S-Curve Drive is a Drive that has an S-curve acceler
ation/deceleration profile.

2

3

Number ofpulses output

Description

SCAN DRIVE(including M. SCAN DRIVE)

Continuously moves the motor as long as the START signal
is issued (or the relevant key on the panel is held
down).

ORG(ORIGIN) DRIVE

Automatically detects the machine home (nine detection
methods are available).

RTN(RETURN) DRIVE

Moves the motor back to the electrical zero.
(R.P. SET position)

SENSOR DRIVE

Decelerates or stops the motor with SENSOR signal.
(threedetection methods are available)

REST DRIVE

Indexes the motor the pulses left over when Decelerating
Stop is activated with STOP signal.

END PULSE DRIVE

Suppresses motor damping when the pulse output stops
with S-Curve Drive activated.

Shortest-Distance Indexing

Automatically selects the direction of revolution
allowing the axis to reach the point for positioning
through the shortest path in controlling the rotation
system.
0 ～ ∞ (infinite) PULSES/DRIVE

M.SCAN DRIVE､M.CSCAN DRIVESPECIAL SCAN DRIVE
INCREMENTAL INDEX DRIVE

0 ～ 8,388,607 PULSES/DRIVE

ABSOLUTE INDEX DRIVE

0 ～16,777,214 PULSES/DRIVE(setting range±8,388,607)

ORG DRIVE

0 ～ ∞ (infinite) PULSES/DRIVE

RTN DRIVE

0 ～ 8,388,607 PULSES/DRIVE

REST DRIVE

0 ～16,777,214 PULSES/DRIVE(setting range±8,388,607)

SENSOR DRIVE(TYPE0)

1 ～16,777,214 PULSES/DRIVE(setting range±8,388,607)

SENSOR DRIVE(TYPE1)

1 ～ 8,388,607 PULSES/DRIVESENSOR DRIVE(TYPE4)

0 ～ ∞ (infinite) PULSES/DRIVE(SCAN DRIVE)
1 ～ 8,388,607 PULSES/DRIVE(INDEX DRIVE)

Speed and ratecharacteristics

項目

M1-TYPE
M2-TYPE(RESOLUTION10) (RESOLUTION20)

L-TYPE

H-TYPE

Speed setting
range(LSPD)

10Hz～100kHz

10Hz～800kHz

10Hz～800kHz

10Hz～1.6MHz

Speed setting
range(other thanthose above)

1Hz～100kHz

1Hz～800kHz

1Hz～800kHz

1Hz～1.6MHz

Rate setting
range

1000ms/1kHz
100ms/1kHz～1.0ms/1kHz ～0.1ms/1kHz(22 steps)(15 steps)

Difference
51Hz/STEPin speeds *1 ～62Hz/STEP

500Hz/STEP～2kHz/STEP

50ms/1kHz
5.0ms/1kHz～0.05ms/1kHz ～0.005ms/1kHz(15 steps)(15 steps)
1kHz/STEP～4kHz/STEP

10kHz/STEP～68kHz/STEP*1 Difference in speeds is the speed variations between the moment the motor is run
at a given speed and the moment it is accelerated or decelerated. This difference
is relatively small when the motor is run at a low speed, whereas it gradually
increases as it is accelerated to a higher speed.
M1-TYPE (RESOLUTION 10) decreases the difference and suppresses the influence ofnoise or vibration generated from the motor compared with M2-TYPE(RESOLUTION 20).
On the contrary, for the rate setting, M1-TYPE (RESOLUTION 10) is slower than M2TYPE (RESOLUTION 20).

- 13 -

USER'S MANUAL

No.

Item

4

Duty ratio of
pulse output

Descriptiont0＝ DUTYt1

t0

All pulse outputs are isolated byphotocoupler.

t1
5

DRIVE startup
timeLess than 1.1 ms(in Trapezoidal )50％(1Hz)～55％(1.6MHz)

The period of time between the moment START signal issent from a host and the moment the controller starts
outputting pulses.

・When Write Data No. A8 (DELAY TIME) is set to 0.1ms (factory setting: 3 ms)
・Not applicable to S-CURVE INDEX DRIVE and SCAN DRIVE.
6

Programmable
positions・ 50 positions/axis,
INDEX00 to INDEX49
・ INDEX50 supports datatransfer.

7

Number of data 100,000 times
rewrites

INDEX00 through INDEX49 allow positioning with fixeddata for the preset incremental/absolute distances.
INDEX50 is capable of running the motor while converting
the preset initial data to positioning data or HSPD datatransferred from sequencer I/O.
Number of EEROM rewrites(valid for up to ten years when rewritten 27 times perday)- 14 -

USER'S MANUAL

2-3.Panel and External Control Specifications(1)Mode hierarchy
Modes that change all axes at a time
when all axes are ready for motion.
C-570
-SA

Panel Modes(controlled via

WRITE MODE

panel)

S-Curve Mode

EXTERNAL MODE
(Controlled by host)

Modes that can be set for each axis
and issue motion commands

Programming
Mode

Programs the basic data necessary for C-570-SA
operations. The data programmed is backed up
onto an EEROM.

TEACHING MODE

Allows you to program target address for each INDEX
through teaching from the panel.
Data taught is backed up onto an EEROM.

Programming
Mode

Sets the acceleration/deceleration start/stop
speeds for S-CURVE DRIVE, including SCSPD1 andSCSPD2. The data set is backed up onto an EEROM.

S-Curve
Adjust Mode

Allows you to adjust an S-CURVE DRIVE while executing it via the panel. The data programmed in the adjus
tment process is backed up onto an EEROM.

Signal CheckMode

Allows you to check all I/O wiring for I/O signals transferred.between the panel and the sequencer, sensor signals, etc

SEQ MODE( Sequencer

NORMAL MODE

control)

OP.MASK ON

Disables the panel keys via a command issued fromthe sequencer.

OP.MASK OFF

Clears the disabled panel keys via a command issued
from the sequencer.

A basic mode that selects different DRIVE functions,
including INDEX00 to INDEX50, and SCAN, to activatethem from the sequencer.

For the details of using this function, see thetechnical information.

RS MODE(RS control)

TRACE MODE

A mode that sets the motion of a Normal Mode with
TSPD independently of HSPD and allows dry run ata safe speed.

TEACHING MODE

A mode that writes target addresses (absolute) to
INDEX00 through INDEX50 from the sequencer.
The addresses programmed via teaching are backed up
onto an EEROM.

Write Data
Writing Mode

A mode that writes different pieces of data, includ
ing HSPD for INDEX DRIVE and distances, from thesequencer.The data written in this mode is backed
up onto an EEROM.

S-Curve Data
Writing Mode

A mode that writes the acceleration/deceleration
start/stop speeds for S-CURVE DRIVE, including
SCSPD1 and SCSPD2. The data written in this modeis backed up onto an EEROM.

Write Data
Reading Mode

A mode that reads data, including HSPD for INDEX
and distances, from the sequencer.

S-Curve Data
Reading Mode

A mode that reads the acceleration/deceleration
start/stop speeds for S-CURVE DRIVE, including
SCSPD1 and SCSPD2, from the sequencer.

A mode in which data is transferred between the C-570-SA and a PC
(loading and saving).
(A MAP-11-SWXP, an application program that allows you to program
data on your PC instead of programming data via the panel, isavailable.)- 15 -

USER'S MANUAL(2)Panel and External Control Specifications
No. Item

Description

1

W.M(WriteMode)

Panel Modes

Programming

TEACHING

S.M(S-Curve
Mode)

Programming

S-Curve Adjust

A mode that allows you to program data required for the
C-570-SA via the panel. It sets basic parameters forcontrolling the motor.
A mode that stores the address of the current value whenrunning the motor with a SCAN or any other functions
via the C-570-SA panel.
A mode that allows you to program data required for SCURVE INDEX DRIVE. It sets S-curve parameters required
for S-CURVE DRIVE.
A mode that adjusts S-curve parameters when runningmotor with S-CURVE INDEX DRIVE via the panel.

・The data you can reference or enter in a Panel Mode, varies depending on theoperation mode options and index types (Trapezoidal or S-curve).
2

Operation mode ・OP0(for operator)
options3

EXTERNAL MODE
(EXT MODE)

Limits the data entry (change) from the C-570-SA panel
to distances.

・OP1(for designer)

Allows data entry (change) for all parameters via theC-570-SA panel and operations in the Teaching Mode as
well as in S-Curve Adjust Mode.

・OP2(for data monitor)

A mode that only allows the operator to reference allpieces of write data and S-curve data .
(WRITE key is not accepted)

Sequencer
Control

A basic mode that externally issues normal motion comman
ds. It allows positioning with taught positions compensa
ted for relative to a mechanical eigenvalue.
A mode that externally moves the motor, determining posi
tioning data. It allows you to determine positions toteach while running the motor at a safe speed for teachi
ng. Any DRIVE used at the speed for teaching begins
with a T (teaching) such as T. INDEX.
A mode that externally stores the address of the current
value. It allows a move to the position to teach andprogramming the current value. Any DRIVE used at the
speed for teaching begins with a T (teaching) such as
T. SCAN.
A mode that programs write data from the touch panel ona sequencer I/O level (the data programmed in this modeis backed up onto an EEROM).
A mode that programs S-curve data from the touch panel
on a sequencer I/O level (the data programmed in thismode is backed up onto an EEROM).
A mode that reads write data from the touch panel on asequencer I/O level.
A mode that reads S-curve data from the touch panel on asequencer I/O level.
A command that externally disables operations via theC-570-SA panel. Once set, it disables the C-570-SA panel
keys until it accepts OP. MASK OFF command, power isturned off, or RESET is issued.
A command that clears disabled operations via the C-570SA panel to enable them when they were externally disabl
ed with OP. MASK ON.
Allows loading data for the C-570-SA via an RS232C froma PC.
Allows saving data stored in the C-570-SA via an RS232C
to a PC.

(SEQ Modes)

NORMAL MODE

TRACE MODETEACHING MODE

Write Data
Writing Mode
S-Curve Data
Writing Mode
Write Data
Reading Mode
S-Curve Data
Reading Mode
OP.MASK ON

OP.MASK OFF

RS Control(RS Modes)

DATA LOADDATA SAVE- 16 -

USER'S MANUAL

No. Item

4

Description

EXTERNAL MODE
(EXT MODE)

・When selecting an external mode you can execute on the controller, take into consi
deration security aspects (e.g. limiting the use to certain operators according to
the system specifications).
・Switching between an RS Mode and a SEQ Mode occurs at a time for all axes connecte
d to the C-570-SA. The switching of other modes, including External Normal, Traceor Teaching, also occurs in the same manner.
・On power up or RESET input, the Normal Mode is selected from the SEQ Control Modes for all axes, notifying the operator of the initial status.
・A status signal activated by the switching of External Modes responds to all axes
programmed. When it is required to select an External Mode, it should be establis
hed to a given axis and the External Mode statues output by that axis should beheld in ladder logic. It is possible to drive the motor, keeping track of all ope
rating statu es of the C-570-SA by assuming the conditions with External Mode statues held in the ladder logic and the C-570-SA output statuses.
・For External Normal, Trace and Teaching Modes, it is possible to read the addressof the current value from the I/O while the motor is idle.

Machine homedetection

ORG0,ORG1,ORG2,ORG3,ORG4
ORG5,ORG10,ORG11,ORG12

Select an ORG detection method that is best suited foryour system in terms of the number of sensors, detection
time, and accuracy, from nine options.

HIGH SPEED ORG

A function that reduces the time required for detecting
the home after a Reset from the second time onwards.

ORG DIRECTION

Select a direction to detect the home depending on the
motor revolution direction or the home position(left or right).

PRESET DRIVE
and PRESET PULSE

An electrical zero can be programmed separately from themechanical home to avoid mechanical hunting.
Programming preset pulses to avoid the extent to whicha mechanical hunting occurs when the ORG sensor is detec
ted ensures stable detection of machine home.

OFFSET

Program an address adjacent to the machine home from which the motor initially moves at a high speed with HIGHSPEED ORG as the ORG position.

MARGIN TIME

Allows elimination of the possibility of mechanical hunting by setting a delay in the ORG detection process.

5

Establishmentof electricalzero

R.P.(RETURN POSITION)SET

Allows you to establish an electrical zero if the onethat differs from the machine home is required.

6

STOP function

RESET signal(Contact A Input)

Initialization from I/O line (Stop)CWLM,CCWLM(Contact B Input) Emergency stop caused by detection of mechanicalovertravel.
Stop caused by SS0 signal
input

Shutdown caused SENSOR signal input

STOP: Either Decelerating
Stop or Immediate
Stop is selected

Shutdown from I/O line

・Take into consideration the specifications for stop customized to your system.
・Take appropriate safety measures (e.g. shutting down the drive system) to shutdown
the motor to avoid hazards.
・Connections of RESET signal are ORed for all axes: RESET can be controlled by anyof the axes.
7Servo Driver
Reset Output

DRST(DRIVER RESET)

A function that forcibly resets the deviation counter inthe servo driver when a servo motor is specified.
It outputs a DRST signal on power up (RESET) or when
FSSTOP, LIMIT or STOP (Immediate Stop) is issued.

- 17 -

USER'S MANUAL

No. Item

Description

8

Z-Phase Servo
supportSupported

9

Signal Check
function

Provided

10

Unit
Conversion

Pulse-to-mm conversion

Converts a distance per pulse to a range from 0.01μm to999.99μm to program a distance in millimeters for runni
ng the motor.

Pulse-to-angle conversion

Converts an angle per pulse to a range from 0.00001ﾟ to
0.99999ﾟ to program an angle in degrees for running the
motor.

2 pulse (CW/CCW) mode

Supports the driver's pulse input mode - two pulse(CW/CCW) mode.

One pulse(pulse, direction) mode

Supports the driver's pulse input mode - one pulse(pulse, direction) mode.

Real-time view

Provides view of address of current position on thepanel in real time.

11

12

Pulse output
formatSwitching ofcurrent viewSupports ORG detection using servo driver (encoder)Z-phase signal.
Directly connectable to line driver output.
Since connection between +ZORG(or -ZORG) and ORG signals
are internally ORed, leave ORG unconnected when connecti
ng +ZORG and -ZORG.
I/O wiring can be checked.
・Displays states of I/O signals on the panel.
・Output signals are operated on the panel.

Display of distance setting Displays specified distance or value of target addresson the panel.
13
14

Data backup
Provided
DRIVE function Data transfer with INDEX50
using datatransfer

Data is backed up onto an EEROM after power is removed.
INDEX50 is capable of running the motor while converting
the preset initial data to positioning data or HSPD datatransferred from sequencer I/O.
The preset data for INDEX50 is backed up on a memory,whereas the distance and HSPD values transferred fromsequencer I/O in a Normal Mode is retained until poweris turned off or a RESET input is issued.
When data change is not involved, data needs not be transferred with INDEX50.

15

Setting of I/O ・Writing/Reading of Write
data
Data
・Writing/Reading of SCurve Data
Batch HSPD
Provided
Write

Allows the setting of parameters for the C-570-SA fromsequencer I/O Allows the reading of C-570-SA internal
data from sequencer.

16

Allows the user to enter the same value for HSPD applied
to INDEX00-INDEX50 motions in one step.

17

Teaching

・Setting the controller in Allows the setting of address of current value from
Teaching Mode via I/O
sequencer (I/O) or via panel with INDEX00-INDES50 being
・Setting the controller in specified.
Teaching Mode from panel

18

Teaching
OffsetProvided

When the position taught via a CCD camera or the likediffers from the workpiece position requiring practical
positioning, this function runs the motor by applying
a relative offset obtained from the conversion ofa distance to pulses.

- 18 -

USER'S MANUAL

３． INSTALLATION AND CONNECTION
3-1.How to Add Optional two-axis Controller CB-10-SA57
CB-10-SA57 Accessoris
Spacers
Metallic ornaments
ScrewsNumber3
1
2

Remarks
Length 32mm
Object for C-570-SA～CB-10-SA57 attachment reinforcement
M3×7 (Square washer screw) Remove 3 square washer screws fixing the bottom plate of C-570-SA.
The removed square washer screws (3 pieces) are used later.
So, keep them surely.


Square washer screw
Square washer screws (at 2 places)

Bottom plate Remove the bottom plate of C-570-SA.
3 places where screws are
removed from Remove 3 screws from the spacer fixing the base.
The remove bottom plate and screws(3 pieces) are used later.
So, keep them surely.

○○( with inner clip washer)○○○

SpacerConnector

 Remove the screws.

Bottom plate Remove the bottom plate.

 Attach the accessory spacers of CB-10-SA57 at 3 places from where screws were removed.
 Insert the expansion controller CB-10-SA57 straight from the bottom of C-570-SA while keeping
the connectors free from stress.

 Expansion controller CB-10-SA57

Connector

 Attach 3 accessory spacers of
CB-10-SA57- 19 -

USER'S MANUAL Fix CB-10-SA57 with the screws (3 pieces) removed in  .

Connector

 Fix CB-10-SA57 with screws at 3 places.

 Place the bottom plate on CB-10-SA57.
 Fix the bottom plate with the square washer screws removed in  at the 3 places.
Place the removed inner clip washers where they were and tighten the screws.
 Fix C-570-SA and CB-10-SA57 with the accessory reinforcing fitting of CB-10-SA57 and 2 screws.

Square washer screw






Bottom plate

 Make sure that CB-10-SA57 has been firmly assembled.

- 20 -

 Reinforcing fitting
Reinforcing fitting fixing screws(at 2 places) Square washer screws (at 2 places) Place the bottom plate on CB-10-SA57

USER'S MANUAL

3-2.How to Install(1)Installing Place
C-570-SA and CB-10-SA57 are designed and manufactured for assembling equipment.
Install them at the following places:
・In an airy chassis installed indoors (Avoid places that are exposed to direct sunlight.)
・Working ambient temperature and humidity: 0?~+40? 80%RH max. (non-condensing)・A place free from corrosive gas and inflammable gas
・A place free from dirt, dust, salt and iron powder.
・A place not exposed to splashes of water, oil or chemical.
・A place free from continuous vibrations or excessive shock.
・A place where is hardly influenced by electromagnetic noises caused by any power-driven
equipment.
・A place free from radioactive material, magnetic field and vacuum.
(2)Installation Interval
Install the controller more than 30mm away from the chassis or other equipment in the chassis inorder to secure wiring, connection and disconnection of connectors and air flow.
When attaching commercial covers (produced by Fujitsu) to the J1 and J2 connectors,inserting
RS232C cable after installation or changing Fujitsu's J1 and J2 connectors to MIL connectors,
make the interval 70mm.

(J2)

(J2)
(J1)

(J1)

(RS232C)(J2)(RS232C)

30mm(70mm when connector covers are attachedor when RS232C cable is connected)

(J2)
(J1)
(RS232C)(J1)(RS232C)

30mm(70mm when connector covers are attached)(3)How to Install
Install the controller in the horizontal direction by facing the product panel to the upper faceor in the vertical direction by facing the panel to the front.
Fix the controller directly to the base plate or attach a DIN rail mounting plate and mount thecontroller to the DIN rail.
■Installation to BaseFix the portions  and  firmly to the base plate with the following screws.
When CB-10-SA57 is added to C-570-SA, install it in the same way.


M3 or M4 screw (Select proper lengths suitable to the base plate.)
M3 or M4 plane washer









Base plate- 21 -

USER'S MANUAL■Installation to DIN Plate
The controller can be installed to the DIN rail by means of a DIN rail mounting plate.
When CB-10-SA57 is added to C-570-SA, install it in the same way.
 Fix C-570-SA to the DIN mounting plate with M3 screws at four places.
At the time, prevent the screws from entering more than 6mm inside C-570-SA.
 Mount the DIN mounting plate, to which C-540-SA was fixed, on the DIN rail.
DIN mounting plate


×2 

DIN rail
×2 
Set the upper hook first and fix it
so that the lower hook clicks.


Depth of screw : Less than 6mm
REFERENCE

The following model numbers of DIN mounting plates
can be purchased from the maker.
DIN plate --- DIN-P70 (Misumi)● For the detail, contact the maker.

No. DIN rail height (H)How to Mount DIN Rail

Recommended DIN rail

1

Mount the DIN rail directly on the DIN rail
mounting surface.
DIN rail mounting surface
DIN rail

DAV Type(Toyo Giken)
Type PFP-100N2(Omron)2Standard DIN rail
H＝7.5mm

H

10mm min.

Place two M4 plane washers (large), one on
BAA1000 or BAP1000
the other, between the DIN rail mounting(Izumi Denki)
surface and the DIN rail to make the DIN rail Type PFP-50N or 100N
height more than 8.7mm.
(Omron)DIN rail mounting surface
TB-DR or TB-DR2
M4 plane washer(large) x 2, etc. (Nitto Kogyo), etc.
DIN railH*We recommend DIN
rails the heightsof which are morethan 10mm.



H＝10mm min.

8.7mm min.

- 22 -

USER'S MANUAL

3-3.I/O Signal(1)I/O signal connector (J1, J2)■Connector drawing
・Connector･･･････････････FCN-361P040-AU (of Fujitsu: Body side)・Applicable connector･… FCN-361J040-AU (of Fujitsu: Accessory 2.54mm pitch,
Soldering type)・Applicable wire …………AWG28 (About 0.075mm２)～ AWG22 (About 0.3mm２)
A20

A1
○

○

B20
B1
■Signal Table
The following explains about X axis, but the same is also applicable to Y axis and each axis
to which CB-10-SA57 was added.
I/O signal connector
No. Signal name

Dir. Description

No. Signal name

A1

XCWLM

*1

IN

X axis +(CW)dir. LIMIT signal

B1

GND

*2

－

Return GND

A2XCCWLM*1

IN

X axis -(CCW)dir.LIMIT signai

B2+XZORG*5IN

X axis encoder +Z phasesignal

A3

XNORG

IN

Signal adjacent to X axis
machine home

B3

-XZORG*5IN

X axis encoder -Z phasesignal

A4

XORG

IN

X axis machine home signal

B4

XDRST

*3 OUT

X axis servo deviation
counter clear signal

A5

XSS0

IN

Sensor signal for X axis
SENSOR DRIVE

B5

XDEND

*3

Completion signal of X axis s
ervo driver

A6

NC

X+COM (+5V) OUT*5

Dir. DescriptionIN－

Use is prohibited.

B6

OUT

+X(CW)negative logic PULSE/PULSEB7 XCWP/XPOUT

A8 XCCWP/XCWSEL OUT-X(CCW)negative logic PULSE/Direction designation

B8 XCCWP/XCWSEL OUT-X (CCW) positive logic PULSE/Direction designation

A9

RESET

Signal to initialize the body

B9

NC

－

Use is prohibited.

A10

XM0

IN

B10

XST0

OUT

A11

XM1

IN

B11

XST1

OUT

A12

XM2

IN

B12

XST2

OUT

A13

XM3

IN

B13

XST3

OUT

A14

XM4

IN

B14

XST4

OUT

A15

XM5

IN

B15

XST5

OUT

A16

XM6

IN

B16

XST6

*6 OUT

A17

XM7

*6

IN

B17

XST7

*6 OUT

A18

XM8

*6

IN

B18

N.C

－

Use is prohibited.

A19

XSTOP

IN

Signal to stop X axis
operation

B19

XERR

OUT

Output signal at the time ofabnormal X-axis operation

A20

XSTARTIN

Signal to start X axis

B20

XRDY

OUT

Command wait signal from X
axis high order

A7 XCWP/XPOUT*4

IN

Signal to designate operation

mode and each operation andto set data.
(For the detail,see Chapter
5-2.)

OUT

+COM for XCWP,XCCWP,XDRST+X(CW) positive logic PULSE/PULSE

Signal to inform operationmode, each operation status
and data.
(For the detail, see Chapter
5-2.)*1 When the signal is not used, connect the connector to GND.
B contact input (active high) prevents outputting pulse in case of no-connection (no-processing).
*2 Use this connector as the return GND of signal cable.
+24V power connector GND and the return GND of I/O signal connector are connected inside C-570-SA.
Keep it in mind that this is not F.G (frame GND) connecting shielding portions of shielded cables.
*3 The signals XDRST and XDEND are valid only when the motor type is designated to Servo.
When a stepping motor is used, these connectors remain disconnected.
*4 RESET signals of X axis and Y axis are OR-connected inside, and they can be controlled by input
it to any axis.(Since they are OR-connected even when CB-10-SA57 is expanded, they can be control
led by inputting it to any axis.)*5 Connect either of these signals depending on the ORG DRIVE TYPE.XORG signal and +/-XZORG signal
are OR-connected inside.
*6 Wiring may be omitted depending on operation.
・Wiring to XM8 is not necessary when it is operated only in the basic Normal Mode.
・Wiring to XM8,XM7 and XST7,XST6 is not necessary when this function is not used for full.
(When data setup from I/O and the present value address read-out are not performed.)- 23 -

USER'S MANUAL(2)Power Connector
C-570-SA may be damaged.

 Caution

Pay attention to power supply connecting position and polarity when wiring.

■Connector Drawing
・Connector…… MSTBA2.5/3-G-5.08 (Phoenix Contact Corp: Body side)・Applicable connector …… MSTB2.5/3-ST-5.08 (Phoenix Contact Corp.: Accessory)
・Applicable wire…… AWG20 (About 0.5mm２)～ AWG12 (About 3.3mm２ )In case of 2-wire connection (daisy chain), 2 wires
up to AWG15 (about 1.5mm２ )F.G GND +24V
(C-570-SA)○■Signal Table
Signal name

Description

F.G

Frame GND connection terminal

GND+24V - side power input terminal+24V+24V + side power input terminal(3)RS232C Connector■Connector Drawing
・Connector
・Applicable cable１…… DELC-J9PAF-23L9 (JAE;D-SUB9P)…… RS232C cable (D-SUB9P cross cable)

５

６

９

(Mating Face)・A dust cap is attached to the RS232C connector.
Remove the dust cap when using the connector.
When the RS232C connector is not used, attach the dust cap to the connector in general toprotect it from dusts.
■Signal Table
No. Signal name

Dir.

Description

1

N.C

－

Not used.

2

R ＸD

IN

RS232C receive data signal

3

T ＸD

OUT

RS232C send data signal

4

N.C

－

Not used.

5

GND

－

Ground6

N.C－

Not used.

7

N.C

－

Not used.

8

N.C

－

Not used.

9

N.C

－

Not used.

- 24 -

USER'S MANUAL

3-4.I/O Circuit
The I/O circuit is common to all X/Y (Z/A) axis to be connected when C-570-SA and CB-10-SA57
are expanded.
(1)I/O Input Signal+24V(+V)
  




   ６．８ｋΩPhoto coupler CWLM,CCWLM(B contact input)
RESET,M0～M8,START,STOP
NORG,ORG,SS0,DEND→

High level 1.0mA max.
Low level 2.5mA min.





Photo coupler
○







20V min. High
6V max. Low

 +ZORG A line driver can be connected.
 -ZORG→

２００Ω

Voltage between
terminals
High level 1.0mA max. 0.7V max. OFFF
Low level 7.8mA min. 3.2V min. ON
5.5V max.

C-570-SA(CB-10-SA57)(2)I/O Output Signal

Photo coupler






C-570-SA(CB-10-SA57)+24V(+V)
MAX 50mA

←






 DRST,ST0～ST7,RDY,ERR
Leakage current
High level High impedance
100μA max.
Low level 2V max.
Sink current 50mA
Low level 0.6V max.
Sink current 30mA(3)Pulse Output Signal+24V(+V)
REG

















 



Photo coupler
C-570-SA(CB-10-SA57)

 +COM (for DRST) *1
Output voltage +5V±10%
Up to 10mA/axis



MAX

20mA

 CWP(POUT),CCWP(CWSEL)→← CWP(POUT),CCWP(CWSEL)








２６ＬＳ３１High level 2.4V min.
Low level 0.5V max.

*1 For the procedure for connecting the TTL level interface with a +COM,
see the technical information.

- 25 -

Source current 10mA
Sink current
20mA

USER'S MANUAL

3-5.Connection Example(1)Example of Connection with Motor Driver
Use twisted wire or shielded wire to connect signal cables in order to prevent malfunction due tonoise. Separate the signal cables more than 50mm from the power cable and make the wiring distanceless than 10m.
■Connection Example of Line Driver
I/O connector
CWP(POUT)CWP(POUT)CCWP(CWSEL)CCWP(CWSEL)

B7

Example of 2-pulse(independent type)
input driver

0.075mm２～0.3mm ２ twisted wire (shielded)

+CW




A7
B8

-CW
0.075２mm～0.3mm ２ twisted wire (shielded)

+CCW




A8

-CCW

0.5mm ２～3.5mm ２
F.G C-570-SA
Signals in ( ) are for direction specifying type.



F.G
Servo motor driver, etc.

■Connection Example of Encoder Z Phase・Connection when Z phase is line driver output.

+ZORG

B2

-ZORG

B3

I/O connector
0.075 ２mm～0.3mm２ twisted wire

+Z
○

-Z
・When ±ZORG are connected, the ORG signal
is not connected.

C-570-SA

Servo motor driver・Connection when Z phase is open collector output.
I/O connector
+ZORG

B2

-ZORG

B3

2.2kΩ


＋
24V P.S.
－
Z(C-)
GND

C-570-SA10μs min.

Servo motor driver(2)Example of Connection with Power Supply
To prevent malfunction due to noise, separate the power supply from main circuit and power linesof other equipment and wire the power supply away more than 50mm from them.
Power connector

0.5mm２ ～3.5mm２ twisted wire (depending on wiring
distance and number of units to be connected)

Capacity of 0.5A/unit min.
Omron
24V
Cosel
GND
－
TDK
２
２
0.5 mm～3.5mm
F.G
Shindengen, etc.
C-570-SA
Switching regulator
・Supply power from a common power source so that the sequence supply power source becomes equal
to the C-570-SA supply power source, or try to switch C-570-SA on/off first from other equipment.
When the supply voltage to the sequencer becomes higher than the one of the supply power sourceof C-570-SA, leakage current through the output circuit protection diode may turn on input tothe sequencer.
Supply power source
High
Low
+24V
+24V
+24V


Leakage currentSequencer
C-570-SA

+24V- 26 -＋

USER'S MANUAL(3)Example of Connection with Sensor
To prevent malfunction due to noise, separate connection to each sensor more than 50mm from thepower cable and make the wiring distance less than 10m. When using any sensor other than ourrecommended ones, make sure that the sensor voltage specification is 24V.
■Example of Sensor Connection (In case of photo sensor)【Straight line system sensor(ORG, NORG, LIMIT)】【Rotary system sensor (ORG)】
Groove typephoto sensor

Moving table

Groove typephoto sensor

Fix the detection
flat plate to thetable.



Disk with slit
(to be attached to the motor shaft)■In case of ORG-0, 1, 2, 3 (Detection with one sensor)- (CCW) direction+ (CW) direction+O-

Power connector

Recommended sensor(to be turned off when light enters)
Sunx
PM-K53
PM-L53
PM-T53+Omron
EE-SPX301
24VP.S.
EE-SX670A
Power source(Switchable)etc.

+24V ○GND ○I/O connector
NORG
ORG
GND
+ZORG
-ZORG
C-570-SA side

A3
A4
B1
B2
B3

0.075mm ２～0.3mm２〃・Do not connect ±ZORG signals.

■In case of ORG-4, ORG-5 (Detection with two sensors)
・In case of Stepping Motor Driver
Disk with slit
attached to rotation axis
- (CCW) direction+ (CW) direction

ORG sensor
Power connector+24V ○GND ○I/O connector
NORG
ORG
GND
+ZORG
-ZORG
C-570-SA side

A3
A4
B1
B2
B3

+O-

+O-

NORG sensor
・Do not connect ±ZORG signals.

0.075mm ２～0.3mm２〃〃
Recommended sensor
NORG sensor(to be turned off when light enters)
Sunx PM-K53
PM-L53
PM-T53Omron EE-SPX301
EE-SX670A (Switchable), etc.

- 27 -+

24VP.S. Power source

ORG sensor(to be turned on when light enters)
Sunx PM-K53B
PM-L53B
PM-T53B
Omron EE-SPX401
EE-SX670A (Switchable), etc.

USER'S MANUAL

・In case of Servo Motor Driver
Encoder-(CCW) direction

Servo driver+Z -ZPower connector+24V ○GND ○I/O connector
NORG
ORG
GND
+ZORG
-ZORG

+O-

Recommended sensor(to be tured off when light enters)
Sunx
PM-K53
PM-L53
PM-T53Omron
EE-SPX301+
EE-SX670A
24VP.S.
(Switchable)etc.
Power source

0.075mm ２～0.3mm２

A3
A4
B1
B2
B3

C-570-SA side+(CW) direction

0.075mm ２～0.3mm２〃〃*Connection Example in case of line driver output on Servo Driver side
・Do not connect ORG signal.

■In case of ORG-10 (Detection with two sensors)-(CCW) direction

ORG sensor
Power connector

+O-

+O-

+(CW) direction

NORG sensor

Recommended sensor(to be turned off when light enters)+24V ○GND ○I/O connector
NORG
ORG
GND
+ZORG
-ZORG

A3
A4
B1
B2
B3

Sunx

0.075mm ２～0.3mm２〃〃+

24VP.S.
Power source

Omron

PM-K53
PM-L53
PM-T53
EE-SPX301
EE-SX670A(Switchable)etc.

・Do not connect ORG signal.

C-570-SA side
■In case of ORG-11, 12 (Both Limit Sensor and ORG Sensor are used.)-(CCW) direction+(CW) direction

Power connector

+O-

+O-

+24V ○GND ○I/O connector
CWLM
CCWLM
GND
NORG
ORG
+ZORG
-ZORG
C-570-SA side

A1
A2
B1
A3
A4
B2
B3

Recommended sensor(to be turned on when light enters)
Sunx PM-K53B
PM-L53B
PM-T53B
Omron EE-SPX401
EE-SX670A(Switchable)etc.
+
24VP.S.
Power source

0.075mm ２～0.3mm２〃〃・Do not connect ORG signal and ±ZORG signals except connection of CWLM and CCWLM.
・Limit signal is of active off (B contact) input.If C-570-SA signal input is not connected
to GND even when Limit Signal is not used, pulse output is not available.

- 28 -

USER'S MANUAL(4)Example of Total Connection (The example of 2 axis connection in normal mode limitation)
In the normal mode of C-570-SA EXTERNAL, when not carrying out data setup from I/O, and thepresent value address read-out, the I/O mark of a sequencer can be omitted.
【sequencer】【 C-570-SA】【 AC servo driver】
+24V
+24V
(000

ch)

J1-B7
〈Servo Motor〉
XCWP+
J1-A10
J1-A7
CW
U
OUT0
XM0

XCWP
J1-A11
J1-B8
V
M
OUT1
XM1
XCCWP
+
J1-A12
J1-A8
CCW
W
OUT2
XM2
XCCWP
J1-A13
J1-B6
OUT3
XM3
X+COM
+
J1-A14
J1-B4
RESET
OUT4
XM4
XDRST
J1-A15J1-B5〈Encorder〉
OUT5
XM5
XDEND
+
J1-A16
J1-B1
END
OUT6
XM6
GND
E
J1-A20J1-B2
OUT7
XSTART+XZORG
+
J1-B1
J1-B3
CCOM
GND
-XZORG
J1-A1
J2-A10
XCWLM
○ ○
OUT8
YM0
〈NORG Sensor〉
J2-A11
J1-A2
OUT9
YM1
XCCWLM○ ○J2-A12
+V
OUT10
YM2
J1-A3
J2-A13
XNORG
OUT
OUT11
YM3
J2-A14
J1-A4
0V
OUT12
YM4
XORG
J2-A15
OUT13
YM5
J1-A5
J2-A16
XSS0
0V +24V
OUT14
YM6
J2-A20【Stepping Motor Driver】
OUT15
YSTART
J2-B1
J2-B7
1 〈Stepping
COM
GND
YCWP
+

J2-A7
CW
2
Motor〉(001ch)
YCWP
J1-A9
J2-B8
3
M
OUT0
XRESET *
YCCWP
+
J2-A9
J2-A8
CCW
4
YRESET * * OR connec
YCCWP
J1-A195
OUT1
XSTOP
tion inside
J2-A19
J2-A1
OUT2
YSTOP
YCWLM
○ ○
J1-B1
〈NORG Sensor〉
COM
GND
J2-A2

YCCWLM○ ○〈Output Unit〉
+V
J2-A3
YNORG
OUT
(000ch)
+24V
0V
+24V
+24V


J1-B19
 IN0
XERR
+V
J1-B20
J2-A4
IN1
XRDY
YORG
OUT
J2-B19

IN2
YERR
J2-A5
0V
J2-B20
YSS0
IN3
YRDY
DC IN
〈ORG Sensor〉〈Input Unit〉+24V
J1-B10 XST0
J1-B11 XST1GND
J1-B12 XST2
F.G
J1-B13 XST3
J1-B14 XST4
J1-B15 XST5
GND +24V
J1-B16 XST6
NC
J1-A6
Power
J1-B17 XST7
NC
J1-B9
sourceJ2-B10 YST0NC
J1-B18J2-B11 YST1
NC
J2-A6
J2-B12 YST2NC
J2-B9
J2-B13 YST3
NC
J2-B18J2-B14 YST4
XM7
J1-A17J2-B15 YST5
XM8
J1-A18J2-B16 YST6
YM7
J2-A17J2-B17 YST7
YM8
J2-A18- 29 -

USER'S MANUAL

3-6.Wiring Method(1)Wiring of I/O signal connector (J1, J2)
C-570-SA may be damaged.

 Caution Be careful not to wire I/O signal connector GND to any connector other than GND.
I/O signal connector return GND is connected to +24V power GND inside.

・Use wires between AWG28 (0.075mm ２) and AWG22 (0.3mm２) to connect necessary signal cables to the
I/O signal connectors.

(2)Wiring of Power Connector
C-570-SA may be damaged.

 Caution

Pay attention to power supply polarity in wiring.

F.G
F.G
GND
+24V

GND

Match connectors with power signal names of
C-570-SA.

+24V
Power Connector
・Applicable wires are AWG20 (about 0.5mm２)～ AWG12 (about 3.2mm２). Prepare two wires up to AWG15(about 1.5mm２) for 2-wire connection (daisy chain) and remove the cover 5mm～7mm from the tips
with a special tool like stripper.
・Before inserting signal cables, fully loosen the signal cable fixing screws of the accessory
connectors. When signal cables are inserted in the loosening direction (rear space) contrary to
the tightening direction, they cannot be tightened firmly.
・Insert three power cables in holes of accessory connectors to the end paying attention to thedirection of accessory connectors and polarity of the power cable.
At the time of daisy chain connection, twist same power cables together first and insert the two
cables (of the same polarity).
・Tighten each power cable firmly with the signal cable fixing screw at the accessory connector.
(Turn the screw clockwise to fix the cable.)
REFERENCE
・The following screwdriver is available especial
ly for connectors:
Omron product: Type XW4Z-00C・Crimped terminal for wire is as follows:
Phoenix Contact product: AI Series
Crimped terminal
Wire

・The dedicated crimping tool is as follows:
Phoenix Contact product: Type ZA3●For the detail, contact each maker- 30 -

USER'S MANUAL

3-7.Check of Execution
Point
When CB-10-SA57
is added,Installation
WiringInspection offoreign matters
Power source
capacity

Grounding

No. Contents
1 Did you assemble CB-10-SA57 according to the adding method?
2 Did you firmly tighten the removed screws, accessory spacers andreinforcing fittings?
3 Did you install the controller by fixing with screws according to
the installing method?
4 Did you connect connectors and cables to C-570-SA?
5 Aren't wires and cables short-circuited or disconnected?
6 Are I/O connection cables correctly connected to the object axes?
7 Is the power source polarity correct in wiring to the power
connector?
8 Did you check if I/O signals are correctly wired?
9 Are wire thickness appropriate to the total current consumption of
the power supplying C-570-SA (including CB-10-SA57 in case ofaddition)?
10 Are wire thickness satisfying the specification used for terminal
wiring of I/O signals?
11 Is the controller wired more than 50mm away from the power cableand the high-tension cable?
12 Are I/O signals wired to the sequencer within 10m from sensors anddrivers?
13 Is the controller free from stress to connectors and tension ofwire?
14 After completion of installation and wiring, did you check thatthe controller is free from foreign matters like wire chips?
15 Do you calculate the power source capacity from number of units
connected and current consumption?
16 Do you consider rush current at the time of starting for current
capacity?
17 Did you ground the C-570-SA body with a wire of more than AWG20(0.5mm２)?

- 31 -

ResultYes , NoYes , NoYes , NoYes , NoYes , NoYes , NoYes , NoYes , NoYes , NoYes , NoYes , NoYes , NoYes , NoYes , NoYes , NoYes , NoYes , No

USER'S MANUAL

４． DISPLAYS AND PROGRAMMING
4-1.Panel Overview C-570-SA


 RS
 SEQ
 ERR





 W.M
 S.M
 ADJ

X
Y
Z
A

UPPER

MODE

SEL

   
 RS/SEQ LED
 ERR LED
 MODE LED SEL LED
 No./DATA segment LEDs
 UPPER key
 OP0/OP1/OP2 key
 MODE key
 SEL key Programming/Data
Operation keys
 WRITE key



NO.

DATA
DATA

WRITE

 
OP1

OP2

ABS

▼

▲

ABS

H/B

ST/SP 







Displays externally controlled statuses.
Lit when the C-570-SA detects an error.
Displays the mode selected with the MODE key.
Displays the axis selected with the SEL key.
Display numbers and data using its upper or lower five digits.
Toggles the display mode between the upper five digits and thelower five digits.
Used to select an operation mode.
Used to select a mode.
Used to select the axis you want to view or program its data.
Used to program or operate data.
Used to load programmed data to the C-570-SA (EEROM).

4-2.Panel Description
Use the 7-segment LEDs  and keys  as described below.
(1)Views in External Modes
In External Modes (EXT)、the view is in the Upper-/Lower-5-Digit Auto-Switching Mode.

 When UPPER key is pressed, the viewis fixed to the Upper-5-Digit Mode.
 When the UPPER key is released, theview is in the Upper-/Lower-5-Digit
Auto-Switching Mode.

Display for only a short time     Upper digits
Display for an extended time     Lower digits(2)Views in Panel Modes
The view when programming data in a Panel Mode is fixed to either Upper- or Lower-5-Digit mode.
 Fixed to upper digits with UPPER key
turned on.
 Fixed to lower digits with UPPER key
turned off.

     Upper digits     Lower digits(3)Using panel keys
When entering or operating numbers or data,select the upper digits or lower digits by holding downor releasing UPPER key  .
・Using the key  while holding down UPPER key changes an upper 5-digit number or data.
(The view with UPPER key held down is consistent with those digits valid for the key in termsof the upper digits.)
・Using the key  without pressing UPPER key changes the view to lower 5 digit data.
(The view with UPPER key not held down is consistent with those digits valid for the key interms of the lower digits.)
REFERENCE
For how to operate the panel,see Section 4-5.
"Operation via Panel."- 32 -

USER'S MANUAL

4-3.List of Write Data Entries
Mechanical damage or personal injury may occur.

 Caution Whenever you change DRIVE TYPE, be sure to re-enter speed data.
The output speed will be changed in response to the range of DRIVE TYPE (Write Data No.A1).

Any data entry that is required to operate the C-570-SA is indicated by a ◆ on the left-side
margin. Be sure to enter them.
Description for legends: ｢○｣, ｢×｣and ｢△｣ in OP0，OP1，and OP2 columns｢○｣ indicates both data
reference and entry are available; ｢×｣ indicates neither data reference nor entry is available;｢×｣ indicates only data reference is available.
Item
INDEX ALL HSPD

◆ Distance for
INDEX00(INDEX to use)
◆ INDEX00 HSPD
(INDEX to use)
Distance for
INDEX01
INDEX01 HSPD
Distance for
INDEX49
INDEX49 HSPD
Distance for
INDEX50

INDEX50 HSPD

Distance for
SENSOR DRIVESENSOR HSPD

No.
Description and Setting Range
Factory Setting OP0   Used to enter the same value for all maximum speed
3000Hz×
values (HSPD) applied to INDEX00 through INDEX49
and INDEX50 in one step.
 
Sets the index type of INDEX00 DRIVE (INCREMENTAL
INCREMENTAL ○or ABSOLUTE) and the distance to move (or target
4000PULSE
address).
   Sets the maximum speed (HSPD) for INDEX00 DRIVE
3000Hz×and RTN DRIVE.
 
Sets the index type of INDEX01 DRIVE (INCREMENTAL
INCREMENTAL ○or ABSOLUTE) and the distance to move (or target
4000PULSE
address).
   Sets the maximum speed (HSPD) for INDEX01 DRIVE.
3000Hz
×

OP1
○

OP2
△

○

△

○

△

○

△

○

△

 

Sets the index type of INDEX49 DRIVE (INCREMENTAL
or ABSOLUTE) and the distance to move (or target
address).
   Sets the maximum speed (HSPD) for INDEX49 DRIVE.

INCREMENTAL
4000PULSE○○△

3000Hz

×

○

△

 

INCREMENTAL
4000PULSE○○△

3000Hz×○△

4000PULSE○○△

3000Hz×○△

Sets the acceleration/deceleration driving typefor INDEX00 through INDEX50 DRIVE.
0 = Trapezoidal Drive, 1 = S-Curve Drive
Establishes the range for rates and speeds (LSPD,
HSPD, and CSPD).
0＝L-TYPE
1＝M2-TYPE(RESOLUTION_20)
2＝H-TYPE
3＝M1-TYPE(RESOLUTION_10)
Sets the type of motor driven.
0＝SERVO MOTOR
1＝STEPPING MOTOR
Sets the pulse output type.
0 = Two pulse (CW/CCW) mode
1 = One pulse (direction, pulse) mode

0 = Trapezo
idal Drive

×

○

△

0＝L-TYPE

×○△

1＝STEPPING

×

○

△

0 =Two pulse(CW/CCW)mode

×

○

△

Sets the stop type by STOP signal.
0 = Decelerating Stop (no error outputs, status
32H, REST DRIVE enabled)
1 = Immediate Stop (error status 02H output, REST
DRIVE disabled)
2 = Immediate Stop (no error outputs, status 4EH,
REST DRIVE disabled)

0 =Decelerating Stop

×○△

Sets the index type of INDEX50 DRIVE (INCREMENTAL
or ABSOLUTE) and the distance to move (or target
address).The distance can be rewritten by transfer
ring data from I/O.(The data transferred will be
retained until power is turned off or RESET isentered.)   Sets the maximum speed (HSPD) for INDEX50 DRIVE.
HSPD can be rewritten by transferring data from
I/O.(The data transferred will be retained until
power is turned off or RESET is issued.) 
Sets the distance for SENSOR DRIVE.
   Sets the maximum speed (HSPD) for SENSOR DRIVE.

◆ Drive type for
DRIVE

 

◆ DRIVE TYPE 

◆ MOTOR TYPE 

◆ PULSE TYPE 

◆ STOP TYPE

 

- 33 -

USER'S MANUALItem
SENSOR DRIVE
TYPE

No.
 

Millimeter (ang  ular)conversion
constant

EXTERNALDISPLAY ◆ DELAY TIME 

Status at modeswitching *1◆ ORG TYPE

 

 

Description and Setting Range
Factory Setting OP0
Sets the type of SENSOR DRIVE that decelerates and
0＝TYPE0 ×
stops the motor with a sensor input.
0＝TYPE0 1＝TYPE1
4＝TYPE4
Set a constant that converts a distance per pulse
0 ×
to linear motion (in millimeters) or rotary motion (Unit:(in degrees)in 0.01μm or 0.00001 degrees, respect
Pulse)
ively.0 to 99999 (when set to 0, a distance inpulses is used with no conversion applied)
Select the type of data to be displayed on the
0 = Address×
panel in an External Mode.
of current
0 = Address of current position
position(real-time display)
1 = Distance for INDEX00 to INDEX50(or target address)

OP1
○

OP2
△

○

△

○

△

Sets the delay time inserted between the moment a30(3ms)START signal is issued and the moment a motion
signal (M0 to M8) is read in 0.1ms.
1 to 30 (0.1ms to 3ms)
Sets how to output statuses when switching an Exte 0 = Status
rnal Mode to W. Mode (S. Mode).
with the mot
0 = Status with the motor controlled in an Ext or controlleernal Mode is retained (allows continued
d in an Extemotion control when data was changed).
rnal Mode is
1 = Output an ERR status (errors are determined retained.
by a host)Set the type of ORG(machine home detection) DRIVE.
3＝ORG-30＝ORG-0 1＝ORG-1
2＝ORG-2
3＝ORG-3 4＝ORG-4
5＝ORG-5 6＝ORG-10 7＝ORG-11 8＝ORG-12

×

○

△

×

○

△

×

○

△

HIGH SPEED ORG

 

Set whether to shorten the time required to detect 1 = Shorten
ORG DRIVE.
0 = Not shorten (ORG sensor is detected at HSPD)
1 = Shorten(detect the moment the motor moves tomachine home + offset at HSPD)

×

○

△

◆ ORG DIRECTION 

Set the direction to detect ORG DRIVE in accordan 0 = CCW (-)
ce with the longitudinal relationship of the machi
direction
ne home.
0 = CCW (-) direction: 1 = CW (+) direction

×

○

△

PRESET
DIRECTION 

Set the direction of PRESET DRIVE to automatically 1＝CW (+)
move the motor in a given direction after the
direction
machine home is detected with ORG DRIVE.
0 = CCW (-) direction
1 = CW (+) direction

×

○

△

Preset pulses 

Set the number of pulses for PRESET DRIVE to autom 0 pulses
atically move the motor in a given direction after no PRESET DR
the machine home is detected with ORG DRIVE.
IVE applied)
0～8,388,607PULSE

×

○

△

MARGIN TIME 

Set a margin time before the pulse output stops
when hunting occurs with the sensor detection in
the ORG detection process.
0 to 255 (0 to 51ms, in 0.2ms)
Example:0 …… No margin time
10 …… 2ms
255 …… 51ms

0ms
(No margin
time)

×

○

△

Offset 

Set an address adjacent to the machine home(machinehome + offset) when "b1" has been set to shorten
the ORG detection time.
0～255PULSE

0PULSE×○△- 34 -

USER'S MANUAL

Item
No.
Enable or disab  le Shortest-Dis
tance Indexing
Number of pulse  s per revolutio
n for ShortestDistance IndexingDescription and Setting Range
Factory Setting OP0
Enable or disable Shortest-Distance Indexing when 0 = Disable
×
controlling the rotation system.
0 = Disable: 1 = Enable
Set the number of pulses per revolution when No.C0
4000PULSE ×
has been set to enable Shortest-Distance Indexing.
1～8,388,607PULSE

OP1
○

OP2
△

○

△

RTN DRIVE direc  tion for Shorte
st-Distance Ind
exing

Set the direction for RTN DRIVE that takes theshortest path when No.C0 has been set to enable
Shortest-Distance Indexing.
0 = RTN DRIVE taking the shortest path
1 = CW (+) RTN DRIVE
2 = CCW (-) RTN DRIVE

0 =RTN DRIVE
taking theshortest
path

×

○

△

◆ ORG HSPD 

Set the maximum speed(ORG HIGH SPEED) at which ORG
DRIVE is executed in the External Normal Mode or
via the panel.

3000Hz×○△

ORG TSPD 

Set the speed (ORG TEACHING SPEED) at which an ORG
DRIVE is executed at a safe speed when operating
the motor in the External Teaching or External Tra
ce Mode or at which the motor is operated in theteaching mode via the panel.

1000Hz×○△◆ ORG LSPD 

Set the self-start speed (ORG LOW SPEED) at which
ORG DRIVE is activated.

500Hz

×

○

△

◆ ORG RATE 

Set the acceleration/deceleration constant (RATEDATA TABLE No.) for ORG DRIVE.

No.＝9
100ms
/1000Hz×○△◆ ORG CSPD 

Set the constant detection process speed (ORG
CONSTANT SPEED) for ORG DRIVE.

500Hz

×

○

△

◆ SCAN HSPD
(when SCAN
used)

 

Set the maximum travel speed (SCAN HIGH SPEED) atwhich M. SCAN DRIVE is executed in the External No
rmal or External Teaching Mode or SPECIAL SCAN DRI
VE is activated via  key on the panel.

3000Hz×○△

SCAN TSPD 

Set a safe speed (SCAN TEACHING SPEED) at which
T.M.SCAN DRIVE (a DRIVE for teaching use) is execu
ted in the External Teaching Mode (T.M SCAN DRIVE
is provided independently from M. SCAN DRIVE).

3000Hz×○△◆ SCAN LSPD
(when SCAN
used)

 

Set the self-start speed (SCAN LOW SPEED) at which(T.) M. SCAN DRIVE is executed in the External Nor
mal or External Teaching Mode or SPECIAL SCAN DRIV
E is activated via  key on the panel.

500Hz

×

○

△

◆ SCAN RATE
(when SCAN
used)

 

Set the acceleration/deceleration constant (RATE D
No.＝9
ATA TABLE No.) for (T.) M. SCAN DRIVE in the
100ms
External Normal or External Teaching Mode or/1000Hz
SPECIAL SCAN DRIVE that is activated via   key
on the panel.

×

○

△

◆ SCAN CSPD
(when SCAN
used)

 

Set the constant speed (SCAN CONSTANT SPEED) at wh
ich M. SCAN DRIVE is executed in the External Normal or External Teaching Mode.

×

○

△

◆

- 35 -

500Hz

USER'S MANUAL

R1
Item
INDEX TSPD

No.
 

Description and Setting Range
Set a safe speed (INDEX TEACHING SPEED) at which
INDEX DRIVE or RTN DRIVE is executed when operat
ingthe motor in the External Trace Mode or in
Teaching Mode via the panel.

1000Hz

OP0
×

OP1
○

OP2
△

◆ INDEX LSPD 

Set the self-start speed (INDEX LOW SPEED) when
activating INDEX00 to INDEX50, RTN,or SENSOR DRIVE
s'.

500Hz

×

○

△

◆ INDEX RATE 

Sets the acceleration/deceleration constant (Rate
Data Table No.) for INDEX00 to DRIVE50, RTN, andSENSOR DRIVEs'.

×

○

△

Set the direction to move the motor to relative
1＝CW +)
positions(compensation of coordinates) when positi
direction
oning is done by intentionally moving the motor topositions relative to those positions programmed
through teaching.
0 = CCW (-) direction: 1 = CW (+) direction

×

○

△

Teaching Offset  

Set the number of pulses to move the motor to rela 0 pulses
tive positions (compensation of coordinates) when (no compensa
positioning is done by intentionally moving thetion of coor
motor to positions relative to those positions pro dinates)
grammed through teaching.
0～8,388,607PULSE

×

○

△

RS232C RATE
*1

Set the transfer rate (baud rate) for the RS232C.
0＝9600bps
1＝19200bps
2＝38400bps
3＝57600bps

×

○

△

TEACHING OFFSET  
DIRECTION 

Factory Setting

9
100ms/1000Hz

3＝57600bps

・*1: If you set a value in No.A9 or No.F6 for either X or Y axis (when CB-10-SA57 added, Z and A
axed included), it will be treated as the data shared by the C-570-SA.
In addition, when a setting change of the transfer rate (baud rate) of No.F6 is made,the setup becomes effective from starting after C-570-SA carries out power supply off(or RESET).
・To apply the S-Curve Drive to INDEX00 to INDEX50 DRIVEs', set Write Data No. A0 to 1.
For any axis to be driven in a trapezoidal profile for INDEX00 to INDEX50 DRIVEs', two of the
Panel Modes, S-Curve Data Reference and Programming, and two of the External Modes (I/O datatransfer), S-Curve Programming and Reading, are disabled.
・The distance for INDEX50 and HSPD data transferred from the sequencer I/O is maintained until
power is turned off or a RESET is entered. Data transfer is not required at every motion step
unless the data is changed.
On power up or RESET input, the controller is activated with the data stored in the EEROM.
・The INDEX ALL HSPD is an auxiliary function used to enter the same value in HSPD applied to all
INDEX motions in one step.
It is useful when changing HSPD for some INDEX motions after setting an HSPD shared by multiple
INDEX motions in one step.

- 36 -

USER'S MANUAL

4-4.List of S-Curve Data Entries
SCSPD1 and SCSPD2 data in the S-Curve data may be overwritten.

 Caution Whenever you change DRIVE TYPE, HSPD or LSPD, re-adjust or re-enter SCSPD1 and/or SCSPD2 data if necessary.
If DRIVE TYPE (Write Data), HSPD or LSPD is changed when the S-Curve Drive is selected,
both SCSPD1 and SCSPD2 data will be automatically updated.

When applying the S-Curve Drive to INDEX00 to INDEX50 DRIVEs', a minimum number of parameters
required for it have been automatically set.
It is, therefore, not necessary to set the S-curve data.
When the S-Curve Drive needs fine adjustments, set the following S-curve data.
To externally set or read S-curve data or to do the same via the panel, it is required to preset
Write Data No. A0 to 1.
Description for legends: ｢○｣,｢×｣ and ｢△｣ in OP0，OP1，and OP2 columns｢○｣indicates both data reference and entry are available; ｢×｣indicates neither data reference
nor entry is available; ｢△｣ indicates only data reference is available.
Item
No.
Description and Setting Range
ALL INDEX SCSPD1    Used to enter the same value for the rate at
which linear acceleration starts and for therate at which linear deceleration ends (SCSPD1)
in one step when the S-Curve Drive is applied to
INDEX00 through INDEX50.

Factory Setting

1333Hz

OP0
×

OP1
○

OP2
△

ALL INDEX SCSPD2    Used to enter the same value for the rate at
which linear acceleration starts and for therate at which linear deceleration ends (SCSPD2)
in one step when the S-Curve Drive is applied to
INDEX00 through INDEX50.

2166Hz×○△

INDEX00 SCSPD1   Set the rate at which linear acceleration starts
and the one at which linear deceleration ends when the S-Curve Drive is applied to INDEX00 DRIVE.

1333Hz×○△

INDEX00 SCSPD2   Set the rate at which linear acceleration ends an
d the one at which linear deceleration starts when the S-Curve Drive is applied to INDEX00 DRIVE.

2166Hz×○△

INDEX49 SCSPD1   Set the rate at which linear acceleration starts
and the one at which linear deceleration ends when the S-Curve Drive is applied to INDEX49 DRIVE.

1333Hz×○△

INDEX49 SCSPD2   Set the rate at which linear acceleration ends an
d the one at which linear deceleration starts when the S-Curve Drive is applied toINDEX49 DRIVE.

2166Hz×○△

INDEX50 SCSPD1   Set the rate at which linear acceleration starts
and the one at which linear deceleration ends when the S-Curve Drive is applied to INDEX50 DRIVE.

1333Hz×○△

INDEX50 SCSPD2   Set the rate at which linear acceleration ends an
d the one at which linear deceleration starts when the S-Curve Drive is applied toINDEX50 DRIVE.

2166Hz×○△- 37 -

USER'S MANUAL

Item
No.
INDEX SRATE TYPE  

Description and Setting Range
Factory Setting OP0
Set how to set SSRATE (S-curve starting rate) and
0＝Disable ×
SERATE (S-curve ending rate) for index motions.
0 =Disable(automatically set to the value eighttimes the index rate)
1 =Enable(set to the value of SSRATE for A1 andthe value of SERATE for A2)

OP1
○

OP2
△

INDEX SSRATE 

Set the time constant (Rate Data Table No.) to st
No.＝1
art S-curve acceleration and end S-curve decelera 1000ms
tion for INDEX00 through INDEX 50 DRIVEs'.
/1000Hz×○△

INDEX SERATE 

Set the time constant (RATE DATA TABLE No.) to en
No.＝1
d S-curve acceleration and start S-curve decelera 1000ms
tion for INDEX00 through INDEX50 DRIVEs'.
/1000Hz

×

○

△

SESPD

 

Set the constant speed (S-CURVEE END PULSE SPEED)at which END PULSE DRIVE is executed when the SCurve Drive is applied to INDEX00 through INDEX50
DRIVEs'.

300Hz

×

○

△

END PULSE 

Set the number of end pulses when the S-Curve Dri
ve is applied to INDEX00 through INDEX50 DRIVEs'.
0～65,535PULSE

0PULSE×○△・ALL INDEX SCSPD1/SCSPD2 is an auxiliary function used to enter the same value for both SPSPD1and SCSPD2 applied to S-CURVE INDEX motions in one step.
It is useful when changing SCSPD applied to some INDEX motions after setting SCSPD1/SCSPD sharedby multiple INDEX motions in one step.
・Note that an axis to which data is set in the S-Curve Mode cannot be switched to specific axis.
For example, you cannot switch an axis for which the Programming or S-Curve Adjust Mode (S-Curve
Modes) has been selected to the one to which the Trapezoidal Drive has been set.

REFERENCE
Section 4.5 (5) Switching modes- 38 -

USER'S MANUAL

4-5.Operations Via Panel(1)Checking an External Mode is readyIn an External Mode, the LEDs remain ON when a selected control mode is ready (wait for command)and remain OFF when the controller is in operation in response to a command sent from a host or iscommunicating with other devices.
■SEQ Control Mode
SEQ LED remains ON
when anSEQ Control
Mode is ready.
 RS
 SEQ
 ERR
UPPER



■RS Control Mode
RS LED remains ON
when the RS Control
Modeis ready.

SEQ LED remains OFF
when the controller
is in operation.
 RS
 SEQ
 ERR

 RS
 SEQ
 ERR

UPPER



UPPER



RS LED remains OFF
during communication.

 RS
 SEQ
 ERR
UPPER



(2)Viewing error status (if an error occurs, the ERR LED turns on red)■Error display in SEQ Control Mode
Press SEL key to determine which error occurred in which axis (X, Y, Z, or A) using the error code.
The following example demonstrates the X axis stopped with CCWLM.
 RS  W.M  X
 SEQ  S.M  Y
 ERR  ADJ  Z
AUPPER
MODE SEL






NO.


DATA

DATA



OP1 OP2 ABS

List of SEQ Control Mode Error Codes
Error CodeDescription
CW (+) limit over error
CCW (-) limit over error
Motor stop caused by STOP (Immediate Stop)(Not used)
Undefined motion was entered.
External Mode switched to a Panel Mode (W. M. or S. M.)An error in the procedure for setting data from the external I/O.
Controller failed to recognize the control axis properly.

SENSOR DRIVE activated with Shortest-Distance Indexing enabled.
An error occurred in REST DRIVE.
Taught position out of ±8,388,607 range.
・For , it is possible to select whether to regard its status as an error depending on
Write Data No. .
■Error display in RS Control Mode
When RS232C communication errors occur in an RS Control Mode, the relevant error codes appear.
Any error occurred in RS Control Modes is unrelated to the axis (X/Y or Z/A) selected with SEL key.
The following example demonstrates an undefined request received via an RS232C.
 RS  W.M  X
 SEQ  S.M  Y
 ERR  ADJ  Z
AUPPER
MODE SEL





NO.


DATA

DATA



OP1 OP2 ABS- 39 -

USER'S MANUAL

List of RS Control Mode Error Codes
Error CodeDescriptionInconsistent slave address specified.
Inconsistent slave type specified.

Undefined request received.

Request received when the controller was in a status other than Ready.
Inconsistent axis specified.
Inconsistent number specified for Index, Write Data, or S-Curve Data.

Incorrectly specified data selection.
Inconsistent data specified for Index, Write Data, or S-Curve Data.

Incorrect request format.

Request containing more than 80 bytes received.
■Display when digits overflow
If the number of display digits for the current value for address is more than seven digits,"oVFEr" appears as shown below. If the display digits overflow, an ERR signal will not be turned
on, the action being not interrupted. If the display digits are restored, the display returns tonormal mode that shows the address of the current value.
NO.

DATA

DATA

    
■Display with OP. MASK (operation mask) ON enabled
All panel key entries are disabled when the OP. MASK ON is activated in an External Mode.
When a key is pressed with the OP. MASK ON enabled, the following display appears to indicate thatall panel key entries are disabled.
NO.

DATA

DATA

 

(3)Switching Operation Modes (OP MODE)
Every time you press OP0/OP1/OP2 key with a pen or the like, a Panel Mode changes.
 RS  W.M  X
 SEQ  S.M  Y
 ERR  ADJ  Z
AUPPER
MODE SEL
  



NO.

DATA

DATA

 
OP1 OP2 ABS

OP0 MODEOP1 MODEOP2 MODE- 40 -

Determine the operating mode by checking
the states of the two LEDs (● = On).
OP1
OP2
○
○ Limited to some data.
●○ All pieces of data can be set.
○
● Limited to data reference.

USER'S MANUAL(4)Switching modes
The External (or Panel) Modes change from one to another in the sequence below when you press
MODE key.
EXTERNAL Modes
Panel Modes
 RS  W.M  X
 SEQ  S.M  Y
 ERR  ADJ  Z
A
UPPER
MODE
SEL






 RS  W.M  X
 SEQ  S.M  Y
 ERR  ADJ  Z
A
UPPER
MODE
SEL





→→→→

 Write Mode (Data Set)
Only
 Write Mode (Teaching)Both S-Curve Mode (Data Set) Only
 S-Curve Mode (Adjust)
Both

W.M
W.M
S.M
S.M

LED litand ADJLED litand ADJ

LEDs lit
LEDs lit

・All of W.M , S.M
and ADJ LEDs remain OFF in an External Mode.
・The mode selections vary depending on the drive type (Trapezoidal or S-curve) selected for the
relevant operation mode and index motion.
Any unavailable Panel Mode is skipped, the display returning to the beginning of the External
Modes.
No.


Panel Modes

OP0
OP1
OP2
Trapezoidal S-Curve
Trapezoidal S-Curve
Trapezoidal S-Curve
Write Mode (Data Set)
○
×
○
○
△
△
Write Mode (Teaching)
×
×
○
○
△
△
S-Curve Mode (Data Set)
×
×
×
○
×
△
S-Curve Mode (Adjust)
×
×
×
○
×
△
○ :Data reference and programming enabled
× :Data reference and programming disabled△ :Data reference enabled, but programming disabled(5)Switching axis
When you press SEL key, the LED that corresponds to the selected axis (X/Y or Z/A) is lit and thedata for that axis appears.
 RS  W.M  X
 SEQ  S.M  Y
 ERR  ADJ  Z
A
UPPER
MODE
SEL






NO.

DATA

DATA
Y axis number and data
appear.(E.g. Address ofcurrent position 0)・You can select neither Z nor A when the CB-10-SA57 has been connected to the C-570-SA.
・Pressing SEL key in the S-Curve Mode does not allow you to select any axis with Trapezoidal
Drive selected for index motions.

(6)Selecting data display digits■In External Modes
The following example shows a case where INDEX31 is being driven and the current value is 1269.
・The display is normally in the Upper/Lower
Digit Auto-Switching Mode.
Upper digits(approx. 0.5 sec)
NO.

DATA

DATA

 
OP1 OP2 ABS

・When UPPER key is pressed, the upper
five digits are displayed.

Lower digits(approx. 1 sec)
NO.

DATA

Upper digits (fixed)

DATA

 RS  W.M
 SEQ  S.M
 ERR  ADJ

   

UPPER
 


OP1 OP2 ABS- 41 -

MODE


NO.

DATA

DATA

 
OP1 OP2 ABS

USER'S MANUAL■In Panel Modes
The following example shows a case where Write Data No. A0 (DRIVE TYPE) is set to 1 (S-Curve).
・When UPPER key is pressed:
・When UPPER key is released:
Fixed to the upper digits (No./Data).
Fixed to the lower digits (Data).
When UPPER key is released, the display
returns to the Lower Digits Mode.
Upper digits (fixed)
Lower digits (fixed)
 RS  W.M
 SEQ  S.M
 ERR  ADJ
UPPER
 


MODE


NO.

DATA

DATA

 RS  W.M
 SEQ  S.M
 ERR  ADJ

 

UPPER
MODE
  
(Not pressed)

OP1 OP2 ABS

NO.

DATA

DATA


OP1 OP2 ABS(7)Programming in Write Mode (W. M)
Select Write Mode with MODE key.
In the Write Mode, enter the parameters required to operate the C-570-SA.
The following example shows a case where Write Data No. A0 (DRIVE TYPE) is set to 1 (S-Curve).
・When UPPER key is pressed:
・When UPPER key is released:
Upper digits (fixed)
Lower digits (fixed)
 RS  W.M
 SEQ  S.M
 ERR  ADJ
UPPER
 


MODE


NO.

DATA

DATA

 RS  W.M
 SEQ  S.M
 ERR  ADJ

 
OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP 

UPPER
MODE
  
( Not pressed)

*1

NO.

DATA

DATA


*2

WRITE


OP1 OP2 ABS▼ ▲ ABS    



H/B ST/SP         
10４ -digit data
10３ -digit data
10２ -digit data
10１-digit data
10０-digit data

Decrement Write Data No.
Increment Write Data No.
ABS+/ABS-/INC
10６-digit data
10５-digit data
*1

Every time ABS key is pressed, the display changes in the sequence below.
" . " (blank + dot): +Absolute" - ." (minus + dot): -Absolute"" (blank): Incremental*2

When WRITE key is pressed, Data Write is executed. Approximately one second later, the Write
Data No. is automatically incremented.
Press WRITE key while holding down UPPER key only when entering all HSPD values in one step.

- 42 -

USER'S MANUAL(8)Setting the current value for address in Teaching Mode via panel
Select Write Mode (Teaching) with MODE key.
Shown below are Teaching (Panel Mode) menu numbers and the actions executed.
MENU No. ST/SP key

Execute/Stop ORG DRIVE

Execute/Stop RTN DRIVE

Execute/Stop INDEX00
DRIVE
Execute/Stop INDEX01
DRIVE
Execute/Stop INDEX49
DRIVE
Execute/Stop INDEX50
DRIVE





H/B key
ON : HSPD speed
OFF: TSPD speed
ON : HSPD speed
OFF: TSPD speed
ON : HSPD speed
OFF: TSPD speed
ON : HSPD speed
OFF: TSPD speed
ON : HSPD speed
OFF: TSPD speed
ON : HSPD speed
OFF: TSPD speed

WRITE key－
R.P. SET motion
Write the current value foraddress to INDEX00.
Write the current value foraddress to INDEX01.
Write the current value foraddress to INDEX49.
Write the current value foraddress to INDEX50.

■Starting and stopping ORG DRIVE, RTN DRIVE and INDEX DRIVE functions
The following example shows a case where INDEX01 is selected.
・When UPPER key is pressed:
Select the number assigned to yourdesired action menu.
Upper digits (fixed)
 RS  W.M
 SEQ  S.M
 ERR  ADJ
UPPER
 


MODE


NO.

DATA

・When UPPER key is released:
Execute the action assigned to theselected menu number.
Lower digits (fixed)

DATA

 RS  W.M
 SEQ  S.M
 ERR  ADJ

 

UPPER
MODE
  
( Not pressed)

OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP 



NO.

DATA


OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP  
Decrement Menu No.
Increment Menu No.

DATA



 
Accelerate to HSPD in combination with H/B key
Start/Stop specified action

・ST (Start) key is enabled with UPPER key turned off, whereas SP(Stop) key operates irrespectiveof whether UPPER is turned on or off.
・When H/B key is turned on alone with UPPER key turned off, the current value appears.
■Setting address of current value
The following example shows a case where the address of current value for INDEX01 is set to 1.
・When UPPER key is pressed:
・When UPPER key is released:
Select the number assigned toMove to the taught point
your desired action menu.
Upper digits (fixed)
Lower digits (fixed)
 RS  W.M
 SEQ  S.M
 ERR  ADJ
UPPER
 


MODE


NO.

DATA

DATA

 RS  W.M
 SEQ  S.M
 ERR  ADJ

 

UPPER
MODE
  
( Not pressed)

OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP 



NO.

DATA

DATA


OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP 

 

*1

WRITE






 

Decrement Menu No.
Increment Menu No.
*1

Accelerate Scan key
CCW (-) Constant Speed Scan key
CW (+) Constant Speed Scan key
When you press WRITE key, the address of the current value is written to the INDEX number
specified with the menu number.
Approximately one second later, the menu number is automatically incremented.

・When H/B key is turned on alone with UPPER key turned off, the current value appears.
・Momentarily pressing SCAN key activates a JOG DRIVE.
・The use of Constant Speed Scan in combination with H/B key activates a SCAN DRIVE that
accelerates up to HSPD.

- 43 -

USER'S MANUAL(9)Programming in S-Curve Mode (S. M)
Select S-Curve Mode with MODE key. Note that it is required to set Write Data No. A0 (Drive Type)to S-Curve Drive before selecting this mode.
The range within which acceleration and deceleration speeds vary is divided into three - SCSPD1,SCSPD2, and S-Curve Rate based on LSPD, HSPD, and RATE values programmed in Write Data entries.
By default, these three values are automatically set in the basic S-curve parameters.
It is, therefore, not required to set these parameters unless they needs fine adjustments.

The following example shows a case where SCSPD1 for INDEX02 is set to 1400 Hz.
・When UPPER key is pressed:
・When UPPER key is released:
Upper digits (fixed)
Lower digits (fixed)
 RS  W.M
 SEQ  S.M
 ERR  ADJ
UPPER
 


MODE


NO.

DATA

DATA

 RS  W.M
 SEQ  S.M
 ERR  ADJ

    

UPPER
MODE
  
( Not pressed)

OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP 

 



DATA

DATA

    

*1

WRITE


OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP      
10 ４-digit data
10 ３-digit data
10 ２-digit data
10 １-digit data
10 ０-digit data

Decrement S-Curve Data No.
Increment S-Curve Data No.
10６-digit data
10５-digit data

*1

NO.

When you press WRITE key, SCSPD data specified with S-Curve Data number is written.
Approximately one second later, the S-Curve Data number is automatically incremented.
Press WRITE key while holding down UPPER key only when entering all SCSPD data values in
one step.

- 44 -

USER'S MANUAL(10)Adjusting S-Curve Drive
Select C-Curve Adjust Mode (an S-Curve Mode) with MODE key. Note that it is required to set
Write Data No. A0 (Drive Type) to S-Curve Drive before selecting this mode.
■Selecting the number corresponding to the INDEX to which S-Curve Drive is applied and verifying
target address
The following example shows a case where SCSPD1 for INDEX02 is set to 1400 Hz and the target
address +1269.
・When UPPER key is pressed:
・When UPPER key is released:
Select the number assigned to the INDEXThe SCSPD currently stored in a memory appears.
whose SCSPD setting needs adjustments.
Upper digits (fixed)
Lower digits (fixed)
 RS  W.M
 SEQ  S.M
 ERR  ADJ
UPPER
 


MODE


NO.

DATA

DATA

 RS  W.M
 SEQ  S.M
 ERR  ADJ

    

UPPER
MODE
  
( Not pressed)

OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP 



NO.

DATA

DATA

    
OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP  When H/B key is pressed alone, thetarget addressis displayed.
Auto Switching
Upper digits
Lower digits(approx. 0.5 sec)
(approx. 1 sec)

Decrement S-Curve Data No.
Increment S-Curve Data No.

NO.

DATA

DATA

 

NO.

DATA

DATA

   OP1 OP2 ABS

OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP 
Target address is displayed with H/B key alone,■Starting and stopping S-Curve Drive
・When UPPER key is pressed:
Select the number assigned to the INDEX
to which S-Curve Drive is applied.
Upper digits (fixed)
 RS  W.M
 SEQ  S.M
 ERR  ADJ
UPPER
 


MODE


NO.

DATA

・When UPPER key is released:
Start INDEX DRIVE in an S curve.
Lower digits (fixed)

DATA

 RS  W.M
 SEQ  S.M
 ERR  ADJ

    

UPPER
MODE
  
( Not pressed)

OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP 

Increment S-Curve Data No.

DATA

DATA

    
OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP  
Decrement S-Curve Data No.

NO.



 
Used in combination with H/B key:
Back to original position
Used alone to start/stop INDEX DRIVE
While INDEX DRIVE is active, the current value appears.
Upper digits
Lower digits(approx. 0.5 sec)
(approx. 1 sec)
NO.

DATA

DATA

 
OP1 OP2 ABS

NO.

DATA

DATA

   OP1 OP2 ABS

・ST (Start) key is enabled with UPPER key turned off, whereas SP (Stop) key operates
irrespective of whether UPPER is turned on or off.
・Pressing H/B key and then ST/SP key returns the motor back to the position where it was started
in an index movement. Verify the adjustments on the S-curve by repeating a drive that moves the
motor to the target address and the one that returns it to it original position where it was in
before an index movement was activated .

- 45 -

USER'S MANUAL■Adjusting S-Curve Drive
The following example shows a case where SCSPD1 for INDEX02 initially set to 1400 Hz has beenchanged to 1600 Hz.
・When UPPER key is pressed:
Select the number assigned to the INDEX
for which its S-curve is to be adjusted.
Upper digits (fixed)
 RS  W.M
 SEQ  S.M
 ERR  ADJ
UPPER
 


MODE


NO.

DATA

・When UPPER key is released:
Adjust SCSPD.
Lower digits (fixed)

DATA

 RS  W.M
 SEQ  S.M
 ERR  ADJ

    

UPPER
MODE
  
( Not pressed)

OP1 OP2 ABS▼ ▲ ABS*1    
H/B ST/SP 



NO.

DATA

DATA

    
OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP  Decrement S-Curve Data No.

 

Rapid traverse with
H/B key pressed afterward
Decrement SCSPD data
Increment SCSPD data

Increment S-Curve Data No.
*1This position displays a bar (-) within 100KHz.
For speeds in 1MHz, the display changes to indicate 106-digit SCSPD data.

*2

When you press WRITE key, SCSPD data is written to the S-Curve Data number specified.
Approximately one second later, the S-Curve Data number is automatically incremented.

- 46 -

*2

WRITE


USER'S MANUAL(11)Using Signal Check function
First, check that OP1 Mode is selected..
With Signal Check Mode on, the SEQ or RS RDY LED remains OFF, RDY = BUSY (High) output sent to ahost sequencer.
■Activating Signal Check Mode
Pressing both No. INC and ABS keys while holding down UPPER key activates the Signal Check Mode.
The following example shows as case where the display changed to show the first IN signal in the
Signal Check Mode.
Upper digits (fixed)
 RS  W.M
 SEQ  S.M
 ERR  ADJ
UPPER
 


NO.

DATA

DATA

 

MODE


 

OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP 

＋

No.INC key
ABS key■Selecting and monitoring Signal Check Mode
Select the Signal Check Mode by pressing No. INC or DEC key while holding down UPPER key.
Upper digits (fixed)
 RS  W.M
 SEQ  S.M
 ERR  ADJ
UPPER
 


NO.

DATA

DATA

 

MODE


 

NO. view changes to the display in Signal Check Mode.

OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP  (DEC)or(INC)・When UPPER key is pressed:

・When UPPER key is released:

M5 M4 M3INC

DEC First IN signal

M2 M1 M0 START STOP

    

Signal states    

 : LOW : HIGH

M8 M7 M6INC

DEC Second IN signal

 

INC

DEC



SENSOR signal

  
SS0

CCWLM CWLM NORG ORG DEND    

(ORG is used in combination
with±ZORG)

ST5 ST4 ST3INC

DEC First OUT signal    

INC

DEC Second OUT signal

 

ST2 ST1 ST0 ERR RDY    
DRST ST7 ST6  ■Example of operating signals
To set DRST:
DRST ST7 ST6Second OUT signal

 

  
OP1 OP2 ABS▼ ▲ ABS    
H/B ST/SP  (DRST is set while this key held down)■Clearing Signal Check Mode
Pressing MODE key clears the Signal Check Mode.

- 47 -

USER'S MANUAL

５． SEQUENCER CONTROL
5-1.Introduction of Sequencer Control
The sequencer control is a control mode depending on designation of Motion No. selected by M LINEsignal from the host sequencer.
When the power supply is turned on or when RESET is input, the controller waits for commands fromthe sequencer and the SEQ LED on the main panel comes on.
The host sequencer sends out START signal while handshaking operation in each mode with RDY signal
and STATUS (ST) signal.
When an error occurs, C-570-SA informs the error by ERR signal, and interlock-like control ispossible because ERR signal is regarded as the ladder conditions.
■Motion Selection and Status Grasping
Motion command

M8

M7

M6

M5

M4

M3

M2

M1

M0

INDEX00 DRIVE

H
H
H

H
H
H

H
H
L

H
H
L

H
H
L

H
H
H

H
H
L

H
L
L

H/L
H/L
-

INDEX01 DRIVE
ORG DRIVE

Command by combining I/O
Host sequencer
M0～M8,START,STOP

ST0～ST7,RDY,ERR
Notification of motion status
Motion completion

ST7

ST6 ST5 ST4 ST3 ST2 ST1 ST0 ERR RDY

INDEX00 DRIVE

H
H

H
H
H

INDEX01 DRIVE
ORG DRIVE

H
H
L

H
H
L

H
H
L

H
H
H

H
H
L

H
L
L

H
H
H

L
L
L

■Sequencer Handshaking Method
M0～M8
RDY
ST0～ST7

Motion command

Next motion command

Command wait

During processing

Command wait

Previous status

During motion

Status notification

ON when RDY=L

OFF when RDY=H

START- 48 -

USER'S MANUAL

5-2.List of Motion Command and Status Signal(1) External Mode Select Signal and Status Signal
When any mode other than the External Normal Mode is used, it is not necessary to designate themode.
When M0～M8 signals are input to any axis out of the X, Y, (Z, A) axes, an External Mode can bechanged over.
When an External Mode is selected, the status signal of the selected External Mode (Normal/Trace/
Teaching, etc.) is output to the selected axis.
When any axis out of the X, Y, (Z, A) axes is in operation (not in the RDY status), External Modecannot be changed over.
When the all axes are in the RDY status, it can be changed over.
・When writing (setting)/ reading (storing) DATA from the sequencer I/O after changing over
External Modes, refer to our technical information.
【External Mode Select Signal】
Status ap
plicable
No.

Motion command input signal

Motion

M8
－
















(1)
－
(2) Setting inhibited(3) Setting inhibited(4) Setting inhibited(5) Setting inhibited(6) OP.MASK ON(7) OP.MASK OFF(8) Setting inhibited(9) Setting inhibited(10) S-Curve Data Reading Mode(11) Write Data Reading Mode
(12) S-Curve Data Programming Mode(13) Write Data Programming Mode(14) TEACHING MODE
(15) TRACE MODE
(16) NORMAL MODE

M7
－
Ｈ
Ｈ
Ｈ













M6
－
Ｈ
Ｈ
Ｈ













M5
－
Ｈ
Ｈ
Ｈ
Ｈ












M4
－
Ｈ
Ｈ
Ｈ

Ｈ
Ｈ
Ｈ









M3
－
Ｈ
Ｈ
Ｈ

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ





Display on
M2
－
Ｈ
Ｈ


Ｈ
Ｈ

Ｈ
Ｈ


Ｈ
Ｈ



M1
－
Ｈ

Ｈ

Ｈ

Ｈ
Ｈ

Ｈ

Ｈ

Ｈ


M0
－
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*

panel
Motion No.
















・Input logic from EXTERNAL is =LOW ACTIVE when negative logic is input.
・MO marked with * is either H or .
【Status Signal】
Motion co
mmand applicable
No.

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

Status output signal

Header status

ST7

ST6

ST5

ST4

ST3

ST2

ST1

ST0

ERR

RDY

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ


Ｈ
Ｈ








Ｈ
Ｈ
Ｈ
Ｈ
Ｈ


Ｈ
Ｈ








Ｈ
Ｈ
Ｈ
Ｈ
Ｈ


Ｈ
Ｈ








Ｈ
Ｈ
Ｈ
Ｈ
Ｈ


Ｈ
Ｈ








Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ








Ｈ




Ｈ
Ｈ


Ｈ
Ｈ
Ｈ





Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ


Ｈ
Ｈ



Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ
Ｈ

Ｈ

Ｈ

Ｈ


Ｈ




Ｈ
Ｈ


Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ
















Meaning of output signal
MODE is being set.
An undefined input occurs.
An undefined input occurs.
An undefined input occurs.
An undefined input occurs.
OP. MASK is not ON any more.
OP. MASK is not OFF any more.
An undefined input occurs.
An undefined input occurs.
S-Curve Data Reading Mode is set.
Write Data Reading Mode is set.
S-Curve Data Programming Mode is set.

Write Data Programming Mode.
Teaching mode set.
Trace mode set.
Normal mode set.

・When an undefined input is available for Setting inhibited,  is displayed on the panel andan error status (Err 04H) is output.
・When the power supply is turned on or when RESET is input, the External Normal Mode is selected
and the status 3FH is output to the all axes.

- 49 -

USER'S MANUAL(2) Motion Command in Normal Mode and Status Signal
This is a basic mode in which various drives such as INDEX, SCAN, etc. are selected from thesequencer and are operated.
Fundamental motion of operation can be performed in the【Motion Command Signal】
combination to M0-M6.
StatusMotion command input signal
Display
Running
Coordiapplica
Motionspeed
nate
ble No.

on panel

M8

M7

M6

M5

M4

M3

M2

M1

M0

(1) －
(2) INDEX00 DRIVE(3) INDEX01 DRIVE(4) INDEX48 DRIVE(5) INDEX49 DRIVE

－
Ｈ
Ｈ
Ｈ
Ｈ

－
Ｈ
Ｈ
Ｈ
Ｈ

－
Ｈ
Ｈ



－
Ｈ
Ｈ



－
Ｈ
Ｈ
Ｈ
Ｈ

－
Ｈ
Ｈ
Ｈ
Ｈ

－
Ｈ
Ｈ
Ｈ
Ｈ

－
Ｈ

Ｈ


－
Motion No
Ｈ/ 
Ｈ/ 
Ｈ/ 
Ｈ/ 

(6) (STOP input:Deceleration)(7) Setting inhibited(8) Setting inhibited(9) INDEX50 DRIVE(10) Setting inhibited(11) M.CSCAN DRIVE(12) SENSOR DRIVE(13) RTN DRIVE(14) ORG DRIVE(15) M.SCAN DRIVE(16) R.P.SET(17) DRST(18) REST DRIVE

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ



























Ｈ
Ｈ
Ｈ
Ｈ









Ｈ



Ｈ
Ｈ
Ｈ
Ｈ






Ｈ


Ｈ
Ｈ


Ｈ
Ｈ



Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ


*
*
Ｈ/
*
Ｈ/
Ｈ/
*
*
Ｈ/
*
*
*

(19) (P.ON or RESET input)(20) Current Value Address Reading 1CODE(21) Current Value Address Reading 2CODE(22) Current Value Address Reading 3CODE(23) Current Value Address Reading 4CODE(24) INDEX50 Travel Setting 1CODE(25) INDEX50 Travel Data1(26) INDEX50 Travel Setting 2CODE(27) INDEX50 Travel Data2(28) INDEX50 Travel Setting 3CODE(29) INDEX50 Travel Data3(30) INDEX50 Travel Setting 4CODE(31) INDEX50 Travel Data4(32) INDEX50 HSPD Setting 1CODE(33) INDEX50 HSPD Data1(34) INDEX50 HSPD Setting 2CODE(35) INDEX50 HSPD Data2(36) INDEX50 HSPD Setting 3CODE(37) INDEX50 HSPD Data3(38) INDEX50 HSPD Setting 4CODE(39) INDEX50 HSPD Data4(40) Setting inhibited(41) Setting inhibited(42) Setting inhibited

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ







Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ
Ｈ
Ｈ
Ｈ


INDEX Type(0=INC,1=ABS+,2=ABS-)

Ｈ
Ｈ
Travel 10５ＨＨ
Travel 10３ＨＨ
Travel 10１

Ｈ
Ｈ
－

Ｈ
Ｈ
HSPD 10 ５Ｈ
Ｈ
HSPD 10 ３Ｈ
Ｈ
HSPD 10 １

Ｈ
Ｈ

Ｈ
Ｈ




Ｈ
Ｈ
Ｈ








Ｈ
Ｈ
Ｈ


Ｈ


Ｈ
Ｈ
Travel 10 ６Ｈ
Travel 10 ４Ｈ
Travel 10 ２
Travel 10 ０
Ｈ
Ｈ
Ｈ
HSPD 10６
Ｈ
Ｈ

HSPD 10４
Ｈ

Ｈ
HSPD 10２Ｈ
HSPD 10０

Ｈ
Ｈ


Ｈ




*
*
*
*
*
*
*
*
*
*
*
*
*
*
*

EXT















Teac
h

correc
tion

○
○
○
○

×
×
×
×

○
○
○
○

○

×

○

○
○
○
○
○

×
×
×

○

×

○

















・At the times of Incremental Index, Scan Drive and Sensor Drive, the MO signal designate a direct
ion; H=+(CW) direction or  =-(CCW) direction. At the time of Absolute Index Drive and in caseof motion command marked with *, either H or  will do.
When Index50 Data is transferred, it becomes the least significant bit of BCD Data.
・For reading of current value address, specify a place to be read by Code.
・For Index 50 travel and HSPD Data, set Code and Data (BCD) continuously at necessary places.
Data not transferred by Index50 is not handled as 0 (zero) and becomes the previous data.
For Index Type, BCD sets any of Incremental=0, Absolute+=1 and Absolute-=2.
・Index50 travel from Sequencer I/O and HSPD Transfer Data are retained until the power supply isturned on or RESET is input, and it is not necessary to transfer data each time unless data ischanged. After the power supply is turned on or RESET is input, the data stored in the EEROM
starts the sequencer.

- 50 -

USER'S MANUAL【Status Output】
Status output signal

Motion co
mmand applicableNo.

R2
Header status

Meaning of output signal

ST7

ST6

ST5

ST4

ST3

ST2

ST1

ST0

ERR

RDY

(1)
(2)
(3)
(4)
(5)

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ
Ｈ
Ｈ



Ｈ
Ｈ
Ｈ



Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ
Ｈ

Ｈ


Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ





During motion
INDEX00 Drive Completion
INDEX01 Drive Completion
INDEX48 Drive Completion
INDEX49 Drive Completion

(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
(15)
(16)
(17)

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ


Ｈ
Ｈ

Ｈ









Ｈ
Ｈ

Ｈ








Ｈ
Ｈ
Ｈ
Ｈ
Ｈ








Ｈ




Ｈ
Ｈ
Ｈ
Ｈ





Ｈ
Ｈ

Ｈ
Ｈ
Ｈ


Ｈ
Ｈ


Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ

Ｈ

Ｈ

Ｈ


Ｈ

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ














At a halt
Undefined input occurrence
Undefined input occurrence
INDEX50 Drive Completion
Undefined input occurrence
M.CSCAN Drive Completion
SENSOR Drive Completion
RTN Drive Completion
ORG Drive Completion
M.SCAN Drive Completion
R.P.SET Completion
DRST Completion(18) ＨＨ**(19) ＨＨ(20) Code (1=+ABS,2=-ABS)(21)
10５ digits(22)
10３ digits(23)
10１ digits(24) Ｈ
Ｈ
Ｈ(25) Index Type Set Value(26) ＨＨ
Ｈ(27) INDEX50 Travel 10 Set Value(28) ＨＨ
Ｈ(29) INDEX50 Travel 10 Set Value(30) ＨＨ
Ｈ(31) INDEX50 Travel 10 Set Value(32) ＨＨ
Ｈ(33)－(34) ＨＨ
Ｈ5(35) INDEX50 HSPD 10 Set Value(36) ＨＨ
Ｈ3(37) INDEX50 HSPD 10 Set Value(38) ＨＨ
Ｈ1(39) INDEX50 HSPD 10 Set Value(40) Ｈ
Ｈ
Ｈ
Ｈ(41) Ｈ
Ｈ
Ｈ(42) Ｈ
Ｈ
Ｈ
Ｈ

*


*
*
*



10６ digits
10４ digits
10２ digits
10０ digits

Ｈ
Ｈ

Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ
Ｈ

Ｈ




























Halt Motion Completion Status Output
Initial status

5

3

1

Ｈ

INDEX50 Travel 10

Ｈ



６

Set ValueＨ

4

INDEX50 Travel 10 Set Value

Ｈ





Ｈ

2

INDEX50 Travel 10 Set Value

Ｈ







0

INDEX50 Travel 10 Set Value



Ｈ

Ｈ

Ｈ

６

INDEX50 HSPD 10 Set Value



Ｈ

Ｈ



4

INDEX50 HSPD 10 Set Value



Ｈ



Ｈ

2

INDEX50 HSPD 10 Set Value



Ｈ





0

INDEX50 HSPD 10 Set Value

Ｈ

Ｈ





Ｈ

Ｈ

Ｈ
Ｈ
Ｈ

Current Value Address Reading Data1 Notification
Current Value Address Reading Data2 Notification
Current Value Address Reading Data3 Notification
Current Value Address Reading Data4 Notification

INDEX50 Travel Setting 1CODE Completion
INDEX50 Travel Setting 1Data Notification
INDEX50 Travel Setting 2CODE Completion
INDEX50 Travel Setting 2Data Notification
INDEX50 Travel Setting 3CODE Completion
INDEX50 Travel Setting 3Data Notification
INDEX50 Travel Setting 4CODE Completion
INDEX50 Travel Setting 4Data Notification
INDEX50 HSPD Setting 1CODE Completion
INDEX50 HSPD Setting 1Data Notification
INDEX50 HSPD Setting 2CODE Completion
INDEX50 HSPD Setting 2Data Notification
INDEX50 HSPD Setting 3CODE Completion
INDEX50 HSPD Setting 3Data Notification
INDEX50 HSPD Setting 4CODE Completion
INDEX50 HSPD Setting 4Data Notification

Undefined input occurrence
Immediate Stop
Undefined input occurrence

・When a Current Value Address Reading is instructed, C-570-SA outputs BCD Data of the Current
Value Address in any unit of pulse, mm and angle set by Write Data No. A6 to the status line.
・When the Stop signal set with the Stop Type of Write Data No. A4 stops the sequencer, any of thefollowing statuses is output:
Stop Type 0: Stop after deceleration, No ERR output, Status 32H, A REST DRIVE is possible.
Stop Type 1: Immediate stop, ERR is output. Status 02H, No REST DRIVE is possible.
Stop Type 2: Immediate stop, No ERR output. Status 4EH, No REST DRIVE is possible.
・When an setting inhibited undefined input is available,  is displayed on the panel and anerror status (Err 04H) is output.

- 51 -

USER'S MANUAL

5-3.Motion Example

R2

Index No. 50 is used to execute an Index Drive with most basic data previously set.
Then, the Data Transfer function from Index50 Sequencer is used for positioning with a target
address data transfer from the sequencer.
(1)Motion Flow
Sequencer start
ORG DRIVE(Automatic detection of machine home)

INDEX No.50 DRIVE(Index Drive with data previously set)
(Setting of a target address from sequencer.)

Setting of Address+1987654 at Index No. 50.

INDEX No.50 DRIVE(Index Drive with data set from sequencer)

END(2)Connection【Sequencer Output】
Y4F
Y4E
Y4D
Y4C
Y4B
Y4A
Y49
Y48
Y47
Y46
Y45
Y44
Y43
Y42
Y41
Y40
COM

【C-570-SA】

A9
RESET
A19
STOP
A20
START
A18
M8
A17
M7
A16
M6
A15
M5
A14
M4
A13
M3
A12
M2
A11
M1
A10
M0
B1
GND

【 Sequencer Input】
X4F
X4E
X4D
Sequencer
X4C
START
X4B
X4A
B19
ERR
X49
B20
RDY
X48
B17
ST7
X47
B16
ST6
X46
B15
ST5
X45
B14
ST4
X44
B13
ST3
X43
B12
ST2
X42
B11
ST1
X41
B10
ST0
X40

(3)Allocated Signal Table
Example of Sequencer
Data Memory Setup
Allocation

High order←

K4Y040→Low order

Data

⑧

④

②

①

⑧

④

②

①

⑧

④

②

①

⑧

④

②

①

in data

Y4F

Y4E

Y4D

Y4C

Y4B

Y4A

Y49

Y48

Y47

Y46

Y45

Y44

Y43

Y42

Y41

Y40

memoryRESETSTOP START

M8

M7

M6

M5

M4

M3

M2

M1

M0

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｌ

Ｈ

Ｌ

Ｈ

Ｈ

Ｈ

Ｌ

Ｈ

Ｈ

Ｈ

02_88

INDEX Type ,INDEX106

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｌ

Ｈ

Ｈ

Ｈ

Ｈ

Ｌ

Ｈ

Ｈ

Ｈ

Ｌ

02_11

INDEX50 Travel Setting
2CODE

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｌ

Ｈ

Ｌ

Ｈ

Ｈ

Ｈ

Ｌ

Ｈ

Ｌ

Ｈ

02_8A

INDEX105 ,INDEX104

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｌ

Ｈ

Ｌ

Ｈ

Ｈ

Ｌ

Ｌ

Ｈ

Ｈ

Ｈ

02_98

INDEX50 Travel Setting
3CODE

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｌ

Ｈ

Ｌ

Ｈ

Ｈ

Ｈ

Ｌ

Ｌ

Ｈ

Ｈ

02_8C

INDEX103 ,INDEX102

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｌ

Ｈ

Ｈ

Ｌ

Ｌ

Ｌ

Ｈ

Ｌ

Ｌ

Ｈ

02_76

INDEX50 Travel Setting
4CODE

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｌ

Ｈ

Ｌ

Ｈ

Ｈ

Ｈ

Ｌ

Ｌ

Ｌ

Ｈ

02_8E

INDEX101 ,INDEX100

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｌ

Ｈ

Ｈ

Ｌ

Ｈ

Ｌ

Ｈ

Ｌ

Ｈ

Ｈ

02_54

MotioncommandINDEX50 Travel Setting
1CODE

ORG DRIVE

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｌ

Ｈ

Ｈ

Ｌ

Ｌ

Ｌ

Ｈ

Ｌ

Ｌ

Ｈ

02_76

INDEX50 DRIVE

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｌ

Ｈ

Ｈ

Ｌ

Ｌ

Ｈ

Ｌ

Ｌ

Ｈ

Ｈ

02_6C

- 52 -

USER'S MANUAL(4) Example of Ladder Circuit(Sequencer Start)

R2
RDY

ERR

X48

X49

RDY

ERR

X48

X49

RDY

ERR

X48

X49

X4A

100

102

101
101
102

100

102

104

103
103
104

102

104

106
104

106

RDY

ERR

X48

X49

108
106

108

RDY

ERR

X48

X49

110
RDY

ERR

X48

X49

112
110

112

RDY

ERR

X48

X49

114
112

114

RDY

ERR

X48

X49

116
114

116

RDY

ERR

X48

X49

118

MOV H028A K4Y40 Setting 2CodeIndex50 Travel Code2

116

118

MOV H0298 K4Y40 Setting 2Data
105(9) and 104(8) are set.

111
MOV H028C K4Y40 Setting 3CodeSetting 3Code Designation

113
MOV H0276 K4Y40 Setting 3Data
103(7) and 102(6) are set.

115
MOV H028E K4Y40 Setting 4CodeSetting 4Code Designation
116

117
RDY

ERR

X48

X49

120

117
MOV H0254 K4Y40 Setting 4Data
101(5) and 10 0(4) are set.
118

119
119
120

107

114

115

117
118

MOV H0211 K4Y40 Setting 1Data
Index Type (+) and 106(1) are set.

112

113

115
116

105

110

111

113
114

MOV H0288 K4Y40 Setting 1Code
Index50 Travel Code1

109
108

110
111
112

103

108

109
109
110

MOV H026C K4Y40
INDEX50 DRIVE
102

106

107
107
108

101

104

105
105
106

MOV H0276 K4Y40
ORG DRIVE
100

119
118

RDY

ERR

X48

X49

RDY
X48

- 53 -MOV H026C K4Y40
INDEX50 DRIVE
120
MOV H0000 K4Y40
After RDY is replied, output relay isturned off together with START signal.

USER'S MANUAL

5-4.List of Timings for External Operations(1) How to issue START signal
Determine that the RDY signal is set (Low) before specifying motor movements with M0 through M8.
Then, issue a START to activate the specified motion.
・Always ensure that RDY is active (C-570-SA waits for a command) before issuing a START.
・Always ensure that RDY is inactive (C-570-SA responded to a command) before resetting a START.
・RDY will not become active if START is left active when the C-570-SA completed motor motions.
・For the C-570-SA operated in a Servo Motor mode, RDY will not become active unless a completion
signal is sent back to DEND signal from a servo driver when the C-570-SA completed motor motions.
(2) Timing specifications
M0～M8
RDY
ST0～ST7

Busy state

START
Response to a command(pulse output or control
operation)

t3＊

t2
t1

t5
t4
t6
t7 ＊

※t7 = Time until pulses are output or a motioncommand (e.g. R.P.SET) is issued.

An asterisk (*) in the following table indicates the value when Delay Time for the C-570-SA to read in
a START set to 0.1ms.
Command

t1

t2
≧0

t3

t4

≦0.6ms

＊

≧0

t5
＞0

t6

t7

Until pulses are
outputINDEX DRIVE(Trapezoidal Drive)≧0

INDEX DRIVE(S字駆動)≧0≧0≦0.6ms＊≧0＞0Until RDY
= High≦1.6ms＊

Until pulses are
output

RTN DRIVE≧0≧0≦0.6ms＊≧0＞0Until RDY
= High≦1.1ms＊

Until pulses are
outputSENSOR DRIVE≧0≧0≦0.6ms＊≧0＞0Until RDY
= High≦1.1ms＊

Until pulses are
outputM.SCAN DRIVE≧0≧0≦0.6ms＊≧0＞0Until RDY
= High≦12.1ms ＊ Until pulses are
outputM.CSCAN DRIVE≧0≧0≦0.6ms＊≧0＞0Until RDY
= High≦12.1ms ＊ Until pulses are
outputORG DRIVE≧0≧0≦0.6ms＊≧0＞0Until RDY
= High≦1.1ms＊

Until pulses are
outputREST DRIVE≧0≧0≦0.6ms＊≧0＞0Until RDY
= High≦1.1ms＊

Until pulses are
outputR.P.SET≧0≧0≦0.6ms＊≧0＞0Until RDY
= High≦1.1ms＊

Until SET
completed

DRST

≧0

≧0

≦0.6ms＊≧0＞0Until RDY

≦1.1ms＊

Until DRST is output(DRSTwidth:10ms)

Until RDY

≦1.1msDescription of t7＊= High= HighSet INDEX50 Data

≧0≧0≦0.6ms＊≧0＞0Until RDY
= High≦1.1ms＊

Until code anddata entries are
responded

Read Address Data

≧0≧0≦0.6ms＊≧0＞0Until RDY
= High≦1.1ms＊(≦10ms)

Until data is rea
dy on status line

(3) Delay time for START signal
Simultaneous activation of the M signal lines and START signal on sequencer ladder logic may not
be synchronized with those signals from an output device. On the controller, the delay time for
START is factory set to 3ms to ensure that a motion signal is read in when a START is issued. To
shorten the time until pulses are output or to start motor motion, set a small value for the delay
time.
M0～M8
Read in a motion signal for an M line after the delay time.

START
Unstable
period* Factory set to 3ms*DELAY TIME
- 54 -

Setting a small value shortens
the time to start motor motion.

USER'S MANUAL

６． RS CONTROL
6-1.Outline of RS Control
RS Control is a mode in which data is transferred (sent or received) between the C-570-SA and apersonal computer via RS232C communications. It allows the sending (loading) of C-570-SA data froma PC and the receiving (saving) C-570-SA internal data by the PC. RS control simultaneously switch
es for all axes connected to the C-570-SA. When the control is passed to RS Control via a commandfrom a PC, the RS LED is lit to indicate that the controller is in that mode, RDY for all axes
being set to High (Busy) to notify a host sequencer of this state. When the control is passed to asequencer, the SEQ LED is lit to indicate that the controller is back in the wait for sequencer
command state, RDY for all axes being set to Low (Ready) to notify a host sequencer of this state.
(Excerpt from MAP-11-SWXP Specifications)
Host PC

RS232CDATA LOAD

C-570-SADATA SAVE

Send RDY (High) to a host sequencer
in RS Mode communicating PC.

Create data on PC and save data in it
Send created data (write to C-570-SA)
Receive data (read from C-570-SA)

6-2.Communication Specifications■Base standard■Communication mode
■Synchronization mode
■Baud rates■DATA bit
■Parity check■STOP bit
■Terminate code

RS232C (EIA-574 compliant)Half-duplex (full-duplex on the lines)
Asynchronous
9.6Kbps/19.2Kbps/38.4Kbps/57.6Kbps (factory setting: 57.6 kbps)
7bit
Odd
1bit
CR+LF

6-3.MAP-11-SWXP Specifications(1)Details of screen









- 55 -



USER'S MANUAL Menus・File menu: Provides file functions such as read, save, print and to quit the program.
・Auxiliary Menu: Provides an auxiliary function to set speed data in one step.
・Controller Select Menu: Select dual-axis C-570-SA (stand-alone) or 4-axis CB-10-SA57(expanded
version)・RS232C Parameter Configuration Menu: Sets the baud rate for the RS232C.
(Both C-570-SA and MAP-11-SWXP are initially set to 57.6 kbps.)
 Select Axis buttons
Select the axis (axes) to which you want to program data.
The axes (X, Y, Z, and A) to which you can program data are restricted according to the numberof axes provided to the controller(s) you selected.
 RS232C Send(Write)/Receive(Read)/Compare Check buttons
Select the data operation executed between the C-570-SA and PC.
The data sent to the C-570-SA via these buttons is backed up onto an EEROM in the C-570-SA.
 Mode Selection tags
Select the modes of data to be programmed in the C-570-SA.
・Write Mode 1: Sets distances for INDEX00 through INDEX50 and SENSOR DRIVE, and HSPD values.
・Write Mode 2: Sets system data for the X-570-SA.
*・S-Curve Mode 1: Sets SCSPD1 and SCSPD2 for INDEX00 through INDEX50 in the S-Curve Drive Mode.
*・S-Curve Mode 2: Sets parameters required for S-Curve Drive.
・Title: Enter a title to manage the data you programmed.
* :You can program data only when S-Curve Drive has been selected with Write Data No.
 Data entry list pane
Displays a list of data entries based on the mode selected with the relevant mode selection tag.
 Data entry area
Used to enter (or alter) data.
 Message area
Displays messages that outline each of the data entries.

(2)Operating environment
Operating systems supported
・Microsoft Windows95
・Microsoft Windows98
・Microsoft WindowsME・Microsoft WindowsNT4.0
・Microsoft Windows2000
・Microsoft WindowsXP* Microsoft Windows is a registered trademark or trademark of Microsoft Corporation in the
United States.

(3)Operating instructions
After installing the MAP-11-SWXP, refer to "MAP-11-SWXP User Help."
Following the instructions provided in Help, perform data creation, transmission, reception, andcomparison.

- 56 -

USER'S MANUAL

７． MISCELLANEOUS SPECIFICATIONS
7-1.ORG DRIVE (machine home detection)(1)Description of ORG DRIVE
The ORG DRIVE automatically moves the motor according to the preset data until the machine home isfound. Upon completion of ORG DRIVE, the current motor position is automatically set as electricalzero(absolute address 0). A combination of  , , ,  and  shown below forms the drive pattern.
 Accel/Decel Drive cycle (a process to accelerate or decelerate the motor as far as the address
adjacent to machine home (= machine home + offset)
Hz
HSPD(TSPD)
Distance to theaddress adjacen
LSPDt to machine
RATE
home
RATE
t
CWP or
CCWP
 Accel/Decel Drive cycle (a process continued until the ORG sensor is detected at HSPD
Hz
HSPD(TSPD)

LSPD
RATE

RATE
t

CWP or
CCWP
ORG orNORG

 Constant Speed Drive cycle (a process to detect the ORG sensor at a constant speed)
Hz
CSPD
t
CWP or
CCWP Precision Drive cycle (a process to detect the edge of ORG sensor with JOG DRIVE)
CWP
JOG
・None of ORG-0, ORG-1, ORG-10, and ORG-11 involves an edge detection process.
 Preset Drive cycle
Automatically positions the motor to the number of preset pulses in the preset direction after
the machine home is detected.
Hz
HSPD(TSPD)
Preset pulses
LSPD
RATE

RATE
t

CWP
・Stable home detection operation can be achieved by appropriately adjusting the position for home
position (ORG) in the last process of the ORG detection cycle to avoid the extent to which amechanical hunting occurs.
・When specifying another electrical zero after ORG detection,programming preset pulses eliminates
the need for automatically running the motor with PRESET DRIVE to that electrical zero andissuing an R.P. SET.
- 57 -

USER'S MANUAL(2)Types of machine home detection
No.of sensors Sensor state TimeAccu Availability Requirements for
ORG TYPE required.
when detecti required racy of backlash position that sta Featureson completescompensation rts activation
ORG-0,11 One ORG(LIMIT)
OFF
Short
Low
Available
None
Fast detection
ORG-1
One ORG
ON
Short
Low
Available
None
Fast detection
ORG-2,12 One ORG(LIMIT)
0FF
Long
MediumAvailable
None
Precise positioning
with one sensor
ORG-3
One ORG
ON
Long
MediumAvailable
None
Precise positioning
with one sensor
ORG-4
Two ORG,NORG
OFF
Longest High Available
None
Pursuit of precision
ORG-5
Two ORG,NORG
ON
Longest High Available
None
Pursuit of precision
ORG-10
Two ORG,NORG
ON
Shortest Low Not available
None
Fastest detection
・ORG-11 and ORG-12 are types that use a LIMIT sensor input signal as an ORG signal.
・The sensor state when detection completes listed above indicates a condition with the number ofpreset pulses set to 0.
・Each of ORG-0 and ORG-1, ORG-2 and ORG-3, and ORG-4 and ORG-5 have the same motion cycle but
differs in the sensor state when detection completes (ON or OFF).
(3) Explanation of symbols used for machine home detection process
ORG,NORG

Sensor signals (Sensor On = Low)○

Indicates the position to start detecting the machine home.

△

Indicates the position to end the detection of the machine home.

Indicates ACCEL/DECEL ORG DRIVE cycle and its direction (ORG HSPD)PRESET

Indicates that the motor is automatically run with PRESET DRIVE after
the detection of machine home. (When PRESET DRIVE added.)
Indicates ORG CONSTANT SPEED DRIVE cycle and its direction (ORG CSPD)
Indicates REPEAT JOG DRIVE cycle (20ms intervals) and its direction.

LD

Indicates that a move is stopped by limit for 300ms. (LIMIT DELAY TIME)

SD

Indicates that a move is stopped for 50ms at the start of SCAN DRIVE.(SCAN DELAY TIME)

JD

Indicates that a move is stopped for 20ms at the start of JOG DRIVE.

PD*

PRESET DRIVE added.

Indicates that a move is stopped for 50ms at the start of PRESET DRIVE.(PRESET DELAY TIME)(4) Process charts by machine home detection type
■ORG- 0
■ORG- 1-(CCW)LIMIT+(CW)LIMIT-(CCW)LIMIT
ａ
ａ
ORG
ORG
ＨＳＰＤ ←ＳＤ○↓→ ＣＳＰＤ↓ ＰＤ← ＨＳＰＤＰＲＥＳＥＴ

○

ＳＤ

↓

○

+(CW)LIMITＨＳＰＤＰＲＥＳＥＴ→ ＨＳＰＤＬＤ
ＣＳＰＤ↓ → ＨＳＰＤ○

←↓ ＳＤ
ＣＳＰＤ

ＳＤ

↓ → ＣＳＰＤ↓ ＰＤ
ＰＲＥＳＥＴ

ＳＤ

*

←↓ ＳＤ

↓→ ＣＳＰＤ↓ ＰＤ△→ ＨＳＰＤＰＲＥＳＥＴ

○

ＣＳＰＤ

←↓ ＳＤ
○

ＳＤ

*
△

→ ＨＳＰＤ○*△← ＨＳＰＤ↓→ ＣＳＰＤ↓ ＰＤ
ＰＲＥＳＥＴ

ＣＳＰＤ

ＳＤ

*
△

←↓ ＳＤ

↓→ ＣＳＰＤ↓ ＰＤ
ＰＲＥＳＥＴ*△- 58 -←○↓→ ＣＳＰＤ
↓ ＰＤ

*
△

ＬＤ

(JOG DELAY TIME)○

USER'S MANUAL■ORG- 2-(CCW)LIMIT+(CW)LIMITａ■ORG- 3-(CCW)LIMIT

ORG+(CW)LIMIT

ａ

ORG
ＨＳＰＤ

ＳＤ

ＨＳＰＤ

○

↓→ ＣＳＰＤ

ＣＳＰＤ

ＪＤ

←
○

ＳＤ

←↓ ＳＤ

ＪＤ

↓→
↓ ＰＤ

*

ＰＲＥＳＥＴ

ＬＤ

↓

○

△

← ＨＳＰＤ→ ＨＳＰＤＪＤＬＤ↓ → ＨＳＰＤ○← ↓ ＳＤ

ＣＳＰＤ

↓→

ＪＤ

←↓ ＳＤ

↓→

↓ ＰＤ

↓ ＰＤ
*

ＰＲＥＳＥＴ

○

○

ＣＳＰＤ

ＪＤ

△

→ ＨＳＰＤ
○

←↓ ＳＤ

↓→

ＣＳＰＤ

ＪＤ

← ↓ ＳＤ

↓→

↓ ＰＤ

↓ ＰＤ
*

ＰＲＥＳＥＴ△+(CW)LIMIT

ａ

ORG
ＨＳＰＤ

ＳＤ

↓→ ＣＳＰＤ*ＰＲＥＳＥＴ△■ORG- 4
【NEAR ORG process】-(CCW)LIMIT*ＰＲＥＳＥＴ△→ ＨＳＰＤ*ＰＲＥＳＥＴ

△

ＣＳＰＤ

←
○

○

← ＨＳＰＤ【ORG process】
・ For ORG = High (Sensor Off) when point a is detected
ａ
NORG
ｂ
ｃ
ORG
← ＣＳＰＤ↓ ＳＤ
ＪＤ

↓→
↓ ＰＤ

ＬＤ

↓

○

→ ＨＳＰＤＰＲＥＳＥＴ*△

ＣＳＰＤ← ↓ ＳＤ・ For ORG = Low (Sensor On) when point a is detected
ａ
NORG
ｃ
ｂ
ORG
ＳＤ ↓ ＣＳＰＤ →→ ＨＳＰＤ
○

○

ＣＳＰＤ

○

←↓ ＳＤ

↓ ＰＤ
← ＨＳＰＤ○↓→ ＣＳＰＤ

ＣＳＰＤ

↓→

←

←↓ ＳＤ

ＣＳＰＤ

ＪＤ

←↓ ＳＤ

↓→
↓ ＰＤ
ＰＲＥＳＥＴ*△- 59 -

USER'S MANUAL■ORG- 5
【NEAR ORG process】-(CCW)LIMIT

ａ

ORG
ＨＳＰＤ

ＳＤ

【ORG process】
・ For ORG = High (Sensor Off) when point a is detected
ａ
NORG
ｃ
ｂ
ORG
ＳＤ ↓ ＣＳＰＤ →+(CW)LIMIT←○↓→ ＣＳＰＤ○← ＨＳＰＤ
ＬＤ

○

↓

ＣＳＰＤ

→ ＨＳＰＤ
ＣＳＰＤ

ＪＤ

○

↓→
↓ ＰＤ

← ↓ ＳＤＰＲＥＳＥＴ→ ＨＳＰＤ
○

ＣＳＰＤ

*

△

・ For ORG = Low (Sensor On) when point a is detected
ａ
NORG
ｂ
ｃ
ORG
← ＣＳＰ ↓ ＳＤ

←↓ ＳＤ

ＪＤ

↓→

↓ ＰＤ
ＰＲＥＳＥＴ△■ORG -10-(CCW)LIMIT

←↓ ＳＤ

*

+(CW)LIMIT

ａ

NORG
ｂ
ORG
ＨＳＰＤ

←

← ＣＳＰＤ ･No DELAY TIME○↓ ＰＤ*

ＰＲＥＳＥＴ△← ＨＳＰＤＬＤ○

Both NORG and ORG = On detected

→○

↓

ＨＳＰＤ

○

○

ＣＳＰＤ

←↓ ＳＤ

↓ ＰＤ
ＰＲＥＳＥＴ*△

The motor may run into a mechanical limit, damaging mechanical parts, workpieces

 Caution or the like. If you have changed RATE, HSPD or other parameters, the relevant
stopping points would vary.
to the mechanical limit.

It is, therefore, required to verify the distance

For ORG-11 and -12, a motor stop by Limit during ORG detection is defined as a decelerating stop.

■ORG- 11-(CCW)LIMIT
ａ
CCWLM
(注)
ＳＤ

+(CW)LIMIT

ＨＳＰＤ

○

↓→ ＣＳＰＤ↓ ＰＤ
ＰＲＥＳＥＴ←■ORG-12-(CCW)LIMIT
ａ
CCWLM
(注)

○

ＳＤ

△

ＪＤ

→ ＨＳＰＤ
○

ＣＳＰＤ

ＳＤ

↓
↓ ＰＤ
ＰＲＥＳＥＴ↓→ ＣＳＰＤＰＲＥＳＥＴ*△→ ＨＳＰＤ
○

*
△

ＣＳＰＤ

ＪＤ

←↓ ＳＤ

↓→ ＣＳＰＤ↓ ＰＤ
ＰＲＥＳＥＴ- 60 -

←
○

←↓ ＳＤ

←↓ ＳＤ

↓ ＰＤ

ＨＳＰＤ

↓→ ＣＳＰＤ

ＣＳＰＤ*+(CW)LIMIT

*

△

○

USER'S MANUAL(5)ORG DRIVE DIRECTION
The ORG or NORG sensor can be attached to CW (+) Limit using the function that sets the direction
for ORG DRIVE.
■ Example of sensor attachedto CCW (-) Limit for ORG-3-(CCW)LIMIT■Example of sensor attached
to CW (+) Limit for ORG-3+(CW)LIMITａ

ORG-(CCW)LIMIT+(CW)LIMIT

ａ

ORG
ＨＳＰＤ

ＳＤ

ＨＳＰＤ

○

↓→ ＣＳＰＤ

ＣＳＰＤ

ＪＤ

←
○

○

←↓ ＳＤ

○

→
ＣＳＰＤ

ＳＤ

↓→

↓ → ＣＳＰＤ←↓ ＪＤ← ＨＳＰＤ △△↓ → ＨＳＰＤ○

ＪＤ

ＨＳＰＤ

○

ＣＳＰＤ

ＪＤ

←↓ ＳＤ

↓→

→ ＨＳＰＤ

ＨＳＰＤ

○

→
↓ ＬＤ

←
ＳＤ ↓→ ＣＳＰＤ

ＬＤ
ＣＳＰＤ

←↓ ＳＤ

←↓ ＪＤ

△

△

← ↓ ＳＤ

ＳＤ

↓→

ＨＳＰＤ

←

↓→ ＣＳＰＤ

○

←↓ ＪＤ

△

△

(6)HIGH SPEED ORG DRIVE (high-speed machine home detection)
The HIGH SPEED ORG DRIVE stores the address of the machine home once found, which is used for thesubsequent ORG DRIVE cycles to shorten the time taken to detect the machine home.
On activation of an ORG DRIVE, an ACCEL/DECEL DRIVE is executed until the address adjacent to home(machine home + offset) is found, after which the controller enters into the programmed ORG DRIVE
process.
・When ORG DIRECTION is set to CW (+), the offset is applied to CCW (-).
・On activation of an ORG DRIVE,the controller immediately enters into the programmed ORG DRIVE
process without executing an ACCEL/DECEL DRIVE is executed until the address adjacent to home(machine home + offset) is found if:
・HIGH SPEED ORG (Write Data No. ) is not set to 1.
・ORG-10 is selected.
・An ORG DRIVE is activated for the first time after power-up or reset.
・An ORG DRIVE is activated for the first time after an immediate stop caused
by CWLM, CCWLM or STOP input.
・An ORG DRIVE (except PRESET) is activated for the first time after a deceleratingstop caused by STOP input.
・An ORG DRIVE is activated for the first time after ORG TYPE modified.
・The address is out of the range between +8,388,607 and -8,388,607.
・An ORG DRIVE fails to detect the home.
■Example of ORG-3-(CCW)←↓Machine home
ORG
ＨＳＰＤ ←→ ＨＳＰＤ→+(CW)○

 Address adjacent to machine home: ORG-3 process starts from here.
○

Offset- 61 -

USER'S MANUAL(7)PRESET DRIVE
The PRESET DRIVE automatically positions the motor to the number of preset pulses in the preset
direction after the machine home is detected.
・Stable home detection operation can be achieved by appropriately adjusting the position forhome position (ORG) in the last process of the ORG detection cycle to avoid the extent to whicha mechanical hunting occurs.
・When specifying another electrical zero after ORG detection, programming preset pulses eliminates the need for automatically running the motor with PRESET DRIVE to that electrical zero andissuing an R. P. SET.
Example: To provide stable home detection operation by avoiding the detection of the extent towhich a mechanical hunting occurs in an ORG DRIVE cycle.

■ORG- 0-(CCW)LIMIT+(CW)LIMIT

ａ

ORG
ＨＳＰＤ

ＳＤ

←
○

↓→ ＣＳＰＤ○

If a mechanical hunting results in an unsteady ORG DRIVE
cycle, run the motor with a PRESET DRIVE as long as a few
pulses are output to stabilize it.

Extent to↓ ＰＤ

which amechanical s*

ＰＲＥＳＥＴ△hunting occur

Set the number of pulses to prevent a mechanical hunting.
(8)PRESET DIRECTION
The PRESET DIRECTION runs the motor CCW (?) with PRESET DRIVE (CCW) by setting the direction withPRESET DIRECTION.
■For PRESET CW (+) (factory setting)-(CCW)←ORG↓ Machine home

■For PRESET CCW (-)→+(CW)-(CCW)←
ORG

←

ＨＳＰＤ

↓ Machine home
ＨＳＰＤ○→+(CW)←○→ ＣＳＰＤ→ ＣＳＰＤ↓ ＰＤ↓

ＰＤ
ＰＲＥＳＥＴＰＲＥＳＥＴ△△(9)MARGIN TIME
The MARGIN TIME inserts a margin for time (delay time) between the moment an ORG sensor output isdetected and the moment the pulse output stops in each process to adjust the travel beyond thesensor position, preventing a malfunction resulted from a mechanical hunting.
Example: For ORG-0-(CCW)LIMIT
ORGａ+(CW)LIMIT
ＨＳＰＤ

①
ＳＤ

↓→ ＣＳＰＤ
↓

↓

○

○

○

△

← ＨＳＰＤＬＤ←→ ＨＳＰＤ
ＣＳＰＤ

①
↓ ＳＤ

←

②
↓ → ＣＳＰＤ↓① When the ORG detection has caused the motor
to decelerate to a speed set in LSPD, it is run
at a constant low speed for a period of time set
as the margin for time.
② After ORG is detected, the motor runs for aperiod of time set as the margin for time before
stopping.

ＳＤ→ ＨＳＰＤ
○

○

ＣＳＰＤ

△

←

①
↓ ＳＤ

②
↓→ ＣＳＰＤ↓・ For ORG-4 and -5, the margin for time is not inserted
into a Constant Speed Drive cycle that is activated imme
diately before moving from NORG detection process to ORG
detection process.

ＳＤ△- 62 -

USER'S MANUAL(10)Sensor locations■For ORG-0, -1, -2, -3, and ORG-10
・Attach the sensors for ORG and NORG, ORG signals to the side corresponding to the direction
set with ORG DIRECTION.
Example: When ORG DIRECTION has been set to CCW (-) on a ballscrew driven table-(CCW)
Workpiece+(CW)

Sensor for NORG used for ORG-10
Sensor for ORG

Use a photo sensor that outputs
Off level at light input.

■For ORG-4 and -5
・Attach the sensor for NORG to the side corresponding to the direction set with ORG DIRECTION as
above.
・When using a stepping motor, attach the sensor for ORG to its rotary shaft as shown below.
Sensor for ORG
Use a photo sensor that outputs H level at light input.

STEPPING MOTOR
Disc with slit attached to rotary shaft
・When using a servo motor, input an encoder Z-phase (C-) to +ZORG and -ZORG instead of ORG.
When +ZORG and -ZORG connected, leave ORG input unconnected.
・The pulse width of encoder Z phase (C-) outputs must be more than 10μs.
■For ORG-11 and -12・Since these types use a LIMIT signal as an ORG signal, they need limit sensors only.
・For ORG-11 and -12, all of ORG, +ZORG and -ZORG signals are also valid.
It is, therefore, required to guarantee these signals are not active.
(11)Conditions for detecting machine home
■Any sensor used for the controller must interface with it from +24V.
■When using ORG, NORG and LIMIT signals as ORG sensors, chattering must be eliminated from the
LIMIT signal. (When using a photo sensor, chattering does not cause problems.)■The output of the following sensor signals detected must be 1ms or more in time when a motor
passes the sensors at a maximum speed.
・ORG signal for ORG-0, -1, -2, and -3
・NORG signal for ORG-4, -5, and -10
・LIMIT for ORG-11 and -12■For ORG-4, -5, and -10, the distance between ORG and NORG (between points and b and between points
a and c) must be more than N pulses in terms of the number of pulses obtained from the following
equation.
N ≧ 0.005 × CSPD (Assuming that CSPD is in Hz and the minimum value of N is 1.)
Example) Where CSPD = 5kHz
N= 0.005×5000 = 25 pulses or more(in practice, an appropriate allowance should be added to the calculated value)■The following distances shown in the ORG DRIVE process charts must be long enough to allow the
motor to decelerate and then stop.
・Distance between point a and LIMIT shown in each process chart
・Distance between points a and b shown in ORG-10
・Distance between point a and mechanical limit shown in ORG-11 and -12.
■To use encoder Z phase (C-), the following conditions must be satisfied.
・The pulse width of +ZORG and -ZORG inputs must be 10μs or more.
・When using +ZORG and -ZORG inputs, ORG must be left unconnected. (The use of ORG in combination
with +ZORG and -ZORG is not allowed.)■To use ORG-11 and -12, ORG, +ZORG and -ZORG must be not active.

- 63 -

USER'S MANUAL

7-2.SENSOR DRIVE(1)SENSOR DRIVE (TYPE 0)
Moves the motor at a constant speed after an INCREMENTAL INDEX DRIVE and then stops it when asensor (SS0) signal is issued.
Hz
HSPD

Distance specified

LSPD

RATE

RATE

t

SS0
・The maximum pulses output by this function are 16,777,215. When no sensor (SS0) signal isissued, the motor automatically stops when the maximum pulses have been output.
・With LSPD?HSPD, the motor is moved at a constant speed specified with HSPD.
・During an INCREMENTAL INDEX DRIVE, a sensor (SS0) signal is ignored.
With LSPD≧HSPD specified, the motor stops when an SS0 signal is issued during an INCREMENTALINDEX DRIVE.

(2)SENSOR DRIVE (TYPE 1)
When a sensor (SS0) signal is issued during an INCREMENTAL INDEX DRIVE, the motor decelerates andthen moves at a constant speed.
HSPD

LSPD

Hz

Distance specified

RATE

RATE

t

SS0
・If a sensor output is detected before the motor being accelerated to a speed specified with HSPD,
it starts decelerating.

(3)SENSOR DRIVE (TYPE 4)
The motor moves the specified number of pulses when a sensor (SS0) signal is issued.
When started, this function performs the same motor motions as those for SCAN DRIVE and, when SS0
detected, performs an INCREMENTAL INDEX DRIVE before stopping the motor.
Hz
HSPD
Specified number of pulses

LSPD

RATE

RATE
t

SS0
・With LSPD≧HSPD specified, the motor is moved at a constant speed specified with HSPD.
・The maximum speed is limited to a speed at which the motor can decelerate to stop by the numberof pulses specified.
As a result, the motor cannot reach the specified speed if fewer pulses specified.
・The SENSOR DRIVE runs by detecting the falling edge of a sensor input.
There is no error in the number of pulses output after the falling edge is detected.
It is not possible to set the number of pulses to zero (0).

- 64 -

USER'S MANUAL

7-3.REST DRIVE
When the controller activates the RESET DRIVE without starting other motion after a motion using
an INCEREMENTAL INDEX DRIVE or ABSOLUTE INDEX DRIVE and SENSOR DRIVE decelerated to stop by a STOP
signal, it continues performing the rest of the steps.
The REST DRIVE is disabled for all motions performed by M. SCAN DRIVE, M.CSCAN DRIVE and SENSOR
DRIVE TYPE4 after decelerating to stop by a STOP signal.
(1)PRESET DRIVE for INDEX and RTN DRIVEHz
HSPD
Distance remaining or
distance to the target
address

LSPD
RATE

RATE
t

・With LSPD≧HSPD, the motor is moved at a constant speed specified with HSPD.
・If half of the remaining pulses is output before the motor being accelerated to a speed specif
ied with HSPD, it starts decelerating. Where the result of adding the number of pulses remaining
in an INCREMENTAL INDEX DRIVE motion to the current position address exceeds the range between-8388607 and +8388607, an allowable range for managing addresses, no motions are performed,
resulting in a REST DRIVE error and Err09H status output.

(2)REST DRIVE for SENSOR DRIVE (TYPE 0)【When the number of pulses remaining ＝ 0】
The motor is moved at a constant speed
after completing a motion that corresponds
to the remaining pulses until a sensor (SS0)signal is issued.

【When the number of pulses remaining = 0】
The motor is moved at a constant speed
until a sensor (SS0) signal is issued.

SS0

SS0

Hz

Hz

LSPD

LSPD
Distance remainingtt(3)REST DRIVE for SENSOR DRIVE (TYPE 1)
The motor is moved at a constant speed by the remaining pulses with a sensor (SS0) signal input
disabled.
Hz
LSPD
Distance remainingt(4)REST DRIVE for ORG DRIVE
The controller re-executes an ORG DRIVE from the beginning.

- 65 -

USER'S MANUAL

7-4.Metric (angular) Conversion(1)Metric (mm) conversion To perform metric conversion, set the metric (angular) conversion constantin 0.01μm.
(2)Angular conversion To perform angular conversion, set the metric (angular) conversion constantin 0.00001ﾟ.
(3)Examples of maximum settings【Example of metric (mm) conversion】【Example of angular conversion】

Conversion constant
0.1μm (Conversion constant＝10)0.2μm (Conversion constant＝20)0.25μm(Conversion constant＝25)0.4μm (Conversion constant＝40)0.5μm (Conversion constant＝50)1μm(Conversion constant＝100)2μm(Conversion constant＝200)
2.5μm (Conversion constant＝250)4μm(Conversion constant＝400)5μm(Conversion constant＝500)10μm (onversion constant＝1000)
20μm (onversion constant＝2000)
25μm (onversion constant＝2500)
40μm (onversion constant＝4000)
50μm (onversion constant＝5000)

Conversion constant
0.009ﾟ (Conversion constant＝900)
0.018ﾟ (Conversion constant＝1800)
0.0225ﾟ (Conversion constant＝2250)
0.036ﾟ (Conversion constant＝3600)
0.045ﾟ (Conversion constant＝4500)
0.072ﾟ (Conversion constant＝7200)
0.09ﾟ (Conversion constant＝9000)
0.1125ﾟ (Conversion constant＝11250)
0.18ﾟ (Conversion constant＝18000)
0.225ﾟ (Conversion constant＝22500)
0.36ﾟ (Conversion constant＝36000)
0.45ﾟ (Conversion constant＝45000)
0.72ﾟ (Conversion constant＝72000)
0.9ﾟ
(Conversion constant＝90000)

Maximum setting

838.8607mm
999.9998mm
99.99975mm
999.9996mm
999.9995mm
8388.607mm
9999.998mm
999.9975mm
9999.996mm
9999.995mm
83886.07mm
99999.98mm
9999.975mm
99999.96mm
99999.95mm

Maximum setting

9999.999ﾟ
9999.990ﾟ
999.9900ﾟ
9999.972ﾟ
9999.990ﾟ
9999.936ﾟ
99999.99ﾟ
999.9000ﾟ
99999.90ﾟ
9999.900ﾟ
99999.72ﾟ
99999.90ﾟ
99999.36ﾟ
999999.9ﾟ

・Where a certain value cannot be divided by the conversion constant entered, the remainder isdropped before being written to the C-570-SA.
Example: Where the metric (angular) conversion constant is set to 5μm and the distance
0.143mm, the remainder of this division is rounded to 0.140mm before being written to
the C-570-SA, the result "0.140" being display on the panel.
・Where the metric (angular) conversion constant is set to 0, no conversion is performed, thevalues being in pulses.
・Where a step angle cannot be divided by a specific constant, you cannot use the metric (angular)
conversion. Use conversion constant = 0 (pulses) instead.

- 66 -

USER'S MANUAL

7-5.Shortest-Distance Indexing
When activating INDEX00-INDEX50 DRIVE or RTN DRIVE with the Shortest-Distance Indexing enabled,
the controller automatically determines the direction of rotation that allows the motor to quickly
move from the current position to a target position and then moves the motor the shortest distance.

Destination
Shortest path
CW (+) direction

CCW (-) direction

Current position

・With this function enabled, INDEX00 through INDEX50 are of absolute and the sign fixed toplus (+).
・When the distance between the current position and the destination is the same for both
directions, CW (+) and CCW (-), the motor move CW (+).
・With the Shortest-Distance Indexing enabled, the SENSOR DRIVE is not available.
■To perform the angular conversion:
・Set the metric (angular) conversion constant in 0.00001ﾟ.
・Obtain the metric (angular) conversion constant by the number of pulses per revolution in
the Shortest-Distance Indexing using the following equation.
Millimeter (angular) conversion constant =Step angle x 100,000

Step angle =360ﾟ
Number of pulses per revolution for
Shortest-Distance Indexing

・Where a step angle cannot be divided by a specific constant, set the metric (angular) conversion
constant to zero (pulses).
■Example of angular conversion
Step angle Conversion Maximum
constant setting
0.009ﾟ
900
359.991ﾟ
0.018ﾟ
1800
359.982ﾟ
0.036ﾟ
3600
359.964ﾟ
0.045ﾟ
4500
359.955ﾟ
0.072ﾟ
7200
359.928ﾟ

Pulses per
revolution
40,00020,00010,0008,000
5,000- 67 -

Step angle Conversion Maximum
constant setting
0.09ﾟ
9000
359.91ﾟ
0.18ﾟ
18000
359.82ﾟ
0.36ﾟ
36000
359.64ﾟ0.45ﾟ
45000
359.55ﾟ0.72ﾟ
72000
359.28ﾟ

Pulses per
revolution
4,000
2,000
1,000
800
500

USER'S MANUAL

7-6.Teaching Specifications
Mechanical damage or personal injury may occur.

 Caution

When teaching positions during adjustment, be sure to run the motor at a safe
speed provided for teaching.

(1)Teaching methods
The C-570-SA allows teaching in an External Mode and via the panel.
Teaching method

Application

Teaching via C-570-SA panel

A method that operates the C-570-SA via the panel independently ofa host.Use to operate the controller alone during the adjustment of
mechanisms or maintenance.

Teaching Mode
(external control)

A method that provides control via sequencer I/O outputs using a touch panel.Used as overall controller functionality including thechange of setups involved in fine adjustments.

(2)Teaching speed
You can set both the normal operating speed and the speed at which the motor is run in the
Teaching Mode.
Hz
H SP D

RA T EL S PD

Specified
number of pulses
or target address

Applied to ORG, SCAN, INDEX, and RTN DRIVE functionsIt is
possible to set the speed for each of HSPD and TSPD.
Set the speed to ensure that the motor is run safety at
TSPD in the Teaching Mode.

R A TEt(3)Compensation of Coordinates
For a mechanism whose coordinates taught using a CCD camera or the like differ from those applied
to machine workpieces, it is possible to change the position of workpiece when the motor is run
in an INDEX DRIVE to that captured with a device (e.g. CCD camera) to provide compensation of thecoordinates.
CCD camera
Work head
For this example, set the direction of travel requiring the compen
sation coordinates to CW (+) on the work head using a CCD camera.

-(CCW)+(CW)

Offset =(5cm)(home of workpiece)

Coordinates for R.P. SET motion

-X
(-Y)

0

10000

Set a mechanically specific distance in terms of pulses.
For a 5mm-pitch ballscrew having the resolution of 1000 puls
es per revolution, the offset is given by 10,000 pulses
corresponding to the mechanical offset of 5cm.
When activating an INDEX DRIVE, the controller compensates for the offset of 10000 pulses for ABS20000 recognized with a▼
CCD camera before positioning the motor at ABS200000.
(Target workpiece)
Coordinates to teach
Coordinates to teach

20000

Coordinates of work head

Offset

30000

+X
(+Y)

10000Pulse
・When externally operating the controller, the compensation of coordinates is enabled in a Normal
Mode and disabled in a Trace Mode.
・When operating the controller in Teaching Mode via the panel, the compensation of coordinates
can be enabled or disabled with the H/B key.
・When operating the controller in S-Curve Adjust Mode via the panel, the compensation of
coordinates is enabled.
・With the Shortest-Distance Indexing enabled, the compensation of coordinates is disabled.

- 68 -

USER'S MANUAL

7-7.Miscellaneous Specifications on Timing
StatusNecessary signal
input width

Time until signal
replyTime until
RDY=L

Remarks

POWER ON

(Power On ≦200ms)≦400ms≦1s

When Servo is specified, DRST
output 10ms is added to thetime until RDY=L.

RESET

≧6ms

≦15ms

≦1s

When Servo is specified, DRST
output 10ms is added to thetime until RDY=L.

LIMIT Stop

≧400μsWithin 1 pulse after From pulse stop When Servo is specified, DRST
detection≦300μsoutput 10ms is added to thetime until RDY=L.

STOP(Immediatestop)≧400μs(Until RDY=LOW)≦300μsFrom pulse stop When Servo is specified, DRST
Within 1 pulse after ≦300μs
output 10ms is added to thedetection
time until RDY=L.

STOP≧400μs(Stop after(Until RDY=LOW)
deceleration)≦300μsFrom pulse stop In the acceleration/decelerat
The output pulse dep ≦300μs
ion drive, the speed depends
ends on the speed at
on pulse number to be output
the time of STOP.
at the time of deceleration.
Within 1 pulse at
the time of constant
speed.

■POWER ON
When the power supply is correctly turned on, the inside of C-570-SA is initialized and thesequencer control turns into the Normal Mode.
Turn on the +24V power supply of C-570-SA before or at the same time when turning on the power
supply of the sequencer.
・When stepping motor is specified as the motor type, the DRST signal is not output.

■RESET Signal
When the RESET signal is input, the motion stops, and when the signal is released, the inside of
C-570-SA is initialized (Address 0), and the sequencer control turns into the Normal Move.
The RESET signal to each axis is OR-connected to all axes inside, and even when the signal is
input to any axis, all the axes are initialized.
・The pulse number to be output after C-570-SA detected the RESET signal is not more than 1 pulse.
・Since the RESET signal contains CR time constant, there will be a delay up to 15ms by the time
when C-570-SA detects the signal inside.
・When stepping motor is specified as the motor type, the DRST signal is not output.

■CWLM and CCWLM Signals
LIMIT signals (CWLM, CCWLM) input to any axis connected to C-570-SA stops pulse output of the axis
immediately. Err00H status is output to the axis in case of CW direction, and Err01H status is
output in case of CCW direction.
・When stepping motor is specified as the motor type, the DRST signal is not output.
・The pulse number to be output after C-570-SA detected CWLM, CCWLM is not more than 1 pulse.
・Since the CWLM and CCWLM signals contain CR circuit, there will be a delay up to 300us by thetime when C-570-SA detects the signals inside.

- 69 -

USER'S MANUAL■STOP signal (Stop after deceleration)
When the STOP signal (stop after deceleration) is input, C-570-SA comes to a stop decelerating
output frequency of PULSE. Status 32H showing that the motion is at a halt is output to the axis
that stopped after deceleration. For an axis for which stop after deceleration is selected as thestop type, REST DRIVE from a halfway stop status is valid.
・Pulse number to be output after C-570-SA detects STOP signal (stop after deceleration)◇ is equal to the one to be output at the time of deceleration during the acceleration/
deceleration drive and depends on set values of HSPD, LSPD and RATE.
◇ is less than 1 pulse during a constant speed drive.
・Since the STOP signal contains CR circuit, there will be a delay up to 300us by the time when
C-570-SA detects the signal inside.
・Even when a motion stops after the STOP signal is input,the RDY signal does not become LOW while
the START signal is LOW.

■STOP signal (Immediate stop)
When the STOP signal (immediate stop) is input to C-570-SA, it stops pulse output immediately.
When an axis stopped immediately by STOP signal is set to output an error, the status of Err02H isoutput.
When an axis stopped immediately by STOP signal is set not to output an error,the status of 4EH is
output.
When Immediate Stop is selected as the stop type, REST DRIVE becomes invalid.
・When stepping motor is specified as the motor type, the DRST signal is not output.
・The pulse number to be output after C-570-SA detected STOP (immediate stop) is not more than 1
pulse.
・Since the STOP signal or the FSSTOP signal contains CR circuit,there will be a delay up to 300usby the time when C-570-SA detects the signal inside.
・Even when a motion stops after the STOP signal is input,the RDY signal does not become LOW while
the START signal is LOW.
■ERR Signal
When C-570-SA detects an error like LIMIT signal input, the ERR signal is reported to the hostsequencer.
The ERR signal is released by inputting START signal for the next motion command.
If the error status is not avoided after the next motion command is given, an ERR signal isreported again without motion.

- 70 -

USER'S MANUAL

7-8.External Dimensions

R3(1)Standard Dimensions of C-570-SA


C-570-SA





ＮＯ．
ＤＡＴＡ
ＤＡＴＡ

 RS  W.M  X
 SEQ  S.M  Y      ERR  ADJ  Z
A
ＯＰ １

 



Ｊ ２ （Ｙ 軸

）



（

UPPER

ＯＰ ２

▼

． ．

WRITE



Ａ ＢＳ

MODE

SEL

▲





    ABS

HHB STHSP 









．

 

（  ）


















（）




J1 X axis



．


()

(．)

(．)

(2)When CB-10-SA57 is added

J1 (X axis)J2 (Y axis)．
CB-10-SA57


J2 (A axis)J1 (Z axis)




（

．

The portion where CB-10-SA57 is added.

- 71 -．

USER'S MANUAL

7-9.RATE Table(1)RATE DATA Table■L-TYPENo.
ms/1000Hz
0
1000
1
800
2
600
3
500
4
400
5
300
6
200
7
150
8
125
9
100
10
75
11
50
12
30
13
20
14
15
15
10
16
7.5
17
5.0
18
4.0
19
2.0
20
1.5
21
1.0

■M1-TYPE(RESOLUTION10)
No.
ms/1000Hz
0
100
1
40
2
30
3
20
4
15
5
10
6
6.0
7
3.0
8
2.0
9
1.0
10
0.6
11
0.4
12
0.2
13
0.15
14
0.10

■M2-TYPE(RESOLUTION20)
No.
ms/1000Hz
0
50
1
20
2
15
3
10
4
7.5
5
5.0
6
3.0
7
1.5
8
1.0
9
0.5
10
0.3
11
0.2
12
0.1
13
0.075
14
0.05

・ms/1000Hz indicates the average time necessary for acceleration or
deceleration of 1000Hz.

(2)RATE Curve■L-TYPEf■H-TYPENo.
ms/1000Hz
0
5.0
1
2.0
2
1.5
3
1.0
4
0.75
5
0.50
6
0.30
7
0.15
8
0.10
9
0.05
10
0.03
11
0.02
12
0.01
13
0.007514
0.005■M1-TYPE(RESOLUTION_10)

20 18
21 19 17 16 15

14

13

12

f 1 4131 2 11

11

10

9

8

7

(Hz)

( Hz )
10

50K

2 0K
9

6

8
7

1 0K

2 5K

6
5
4
3
１2
0

0 .8

0. 4

1. 2

1 .6

4
3
2
１
0

t
(s)

100

■M2-TYPE(RESOLUTION_20)
f 141312 1 1

10

9

5

200

3 00

400

t
( ms )■H-TYPE8

f1 41 31 2 1 1 1 0
(Hz)

7

(Hz)

100K

9

8

7

1 .0M
6

50K

6

0 .5M

5

5

4
3
2
１
0

50

100

1 50

200

4
3
2
１
0

t
( ms )

50- 72 -

10 0

1 50

200

t
( ms)

USER'S MANUAL(3)Speed Difference in RATE TYPERATE TYPE
Speed difference

L-TYPE
51Hz/STEP～62Hz/STEP

M1-TYPE
500Hz/STEP～2kHz/STEP

M2-TYPE
1kHz/STEP～4kHz/STEP

H-TYPE
10kHz/STEP～68kHz/STEP

・Speed difference indicates the difference of speeds before and after speed changes inacceleration or deceleration.
The speed difference is not constant in all speed ranges and increasesgradually as the speed
rises from low to high.
・The drive type is often set to M-Type when servo motors are used, but motor rotating noise andvibration are supposed to occur as an influenced of speed difference in acceleration anddeceleration sometimes depending on conditions such as use of high gain servo and mechanicalrigidity.
In this case, Type-M1 (RES0_10) can be selected to reduce noise and vibration.
However, the rate (accelerating time/1kHz) setting range of Drive Type-M1 (RES0_10) becomesslower than that of RES0_20.

- 73 -

USER'S MANUAL

８． MAINTENANCE
You may get an electric shock in case of misoperation.

 Caution

No person other than specialist engineer is allowed to conduct inspection andreplacement works.
Be sure to turn off the power supply before starting inspection and replacement
work of the product.

You may face the danger of electric shock, injury or fire.

 Caution

Do not disassemble C-570-SA and CB-10-SA57 for repair like changing fuse or for
modification.

8-1.Maintenance and Inspection(1)Cleaning Method
To operate C-570-SA and CB-10-SA57 in good conditions, clean them periodically as follows:・Wipe them with dry soft cloth at the time of daily cleaning.
・When stains cannot be removed by wiping with dry cloth, moisten the cloth with thin neutral
detergent and squeeze it hard for wiping.
・If rubber or vinyl products or tapes are stuck to C-570-SA and CB-10-SA57 for a long time,these products may be stained. Remove these stains, if any, at the time of cleaning.
・Do not use volatile solvents like benzine and thinner and chemical duster.
Paint and label may be deteriorated sometimes.

(2)Inspection Method
To operate C-570-SA and CB-10-SA57 in good conditions, inspect them periodically.
In general, inspect them every 6 months or once a year.
When operating them in an extremely high temperature and high humid environment or in a very dusty
environment, however, inspect them more frequently.
Inspection Item Detail of Inspection

Environment
Condition

Installation
Condition

Criterion

Are the ambient temperature and the 0～+40℃
internal temperature of the system appropriate?

Inspection Means
Thermometer

Are the ambient humidity and theinternal humidity of the systemappropriate?

10％～80％RH(non-condensing) Hygrometer

Haven't dusts gathered?

There should be no dust.

Is the product firmly fixed?

There should no loose parts. Torque driver(6kg.cm)

Are connectors inserted perfectly?

There should be no loose or
disconnected parts.

Visual check

Is there any cable going to be disco There should be no loose ornnected?
disconnected parts.

Visual check

Is there any connection cable being
to be broken?

- 74 -

Visual checkAppearance should be normal. Visual checkUSER'S MANUAL(3)Replacing Method
When C-570-SA or CB-10-SA57 gets out of order, the whole system may be affected. So, repair it pro
mptly. To make repair works promptly, we recommend you to prepare spare equipment for replacement.
・Before replacement, stop the system and turn off the power supply to prevent electric shock andany accident.
・hen imperfect contact is supposed, wipe contacts with clean pure cotton cloth moistened withindustrial alcohol.
・At the time of replacement, reset the internally stored data to the state before the replacement.
・After the replacement, make sure that the new equipment is also in order.
・Return the removed defective equipment to us for repair together with a report detailing defects.

8-2.Storage and Disposal(1) Storing Method
Store the controller in the following environment:
・Indoors (where the controller is not exposed to direct sunlight).
・A place where ambient temperature and humidity satisfy the specification.
・A place free from corrosive gas and inflammable gas
・A place free from dirt, dust, salt and iron powder.
・A place where the product body is protected from vibration and shock.
・A place not exposed to splashes of water, oil or chemical.
・A place where no one can get on the product and place any substance on it.
(2) Disposing Method
Dispose the product as an industrial waste.

- 75 -

USER'S MANUAL

8-3.Measures against Errors and Releasing Method(1)Measures to be taken when an error occurred
Displayonpanel

Factor for error output

Troubleshooting for
C-570-SA

Error releasing method+ (CW) direction LIMIT signal
is input.

・Stop PULSE output
・After return to RDY, input START for
immediately.
releasing.
・Output DRST
・Or, input RESET for returning.
(when SERVO is designated).

- (CCW) direction LIMIT signal ・Stop PULSE output
・After return to RDY, input START for
is input.
immediately.
releasing.
・Output DRST
・Or, input RESET for returning.
(when SERVO is designated).



Stop PULSE output immediately. ・Stop PULSE output
・After return to RDY, input START for
immediately.
releasing.
・Output DRST
・Or, input RESET for returning.
(when SERVO is designated).

An undefined motion command is ・Wait until normal conditi ・Input START of a defined motion
input.
ons are input.
command for releasing.

*1

The panel key changes the Ext. ・When the Ext. Mode isMode to Write Mode.
changed to Write Mode,(At the time, panel data can b
output the error to thee set.)
all axes.
・After the Write Mode isreturned to the Ext.
Mode, hold the all axes
in an error status evenafter return to RDY.

・When the Ext. Mode is selected again
with the Panel Modes key, the control
ler returns to RDY.
・Input START to each axis returned to
RDY to release it from error.



An error occurred in the datatransmitting method from thehigh order.

・Wait until the normal
setting method is input.

・Check the data setting method and theprocedures and start the system again
for releasing.

A trouble occurred to the bus
inside C-570-SA.

・Wait until the trouble is ・Check if the assembling was normal inremoved.
cluding optional units.

*2

The minimum-distance indexing
became valid, and the SENSOR
DRIVE started.

・Wait for a motion command ・In case of SENSOR DRIVE in the rotary
other than SENSOR DRIVE.
system, do not use the minimum-distan
ce indexing.

・The REST DRIVE started in・Wait for a motion command ・Input START other than REST DRIVE for
the state exceedingother than REST DRIVE.
releasing.
+/-8,388,607 of the address
control range.
・The REST DRIVE started otherthan after deceleration to
stop.



A teaching caused the state
exceeding +/-8,388,607 of
ADDRESS control.

・Receive a teaching at +/- ・Release the system from error by
8,388,607 in the ADDRESS
designating a teaching ADDRESS in therange.
+/-8,388,607 PULSE range.

*1: When WRITE DATA No. A9 is set to 0, the previous status is retained even when MODE is changed
over, and the status of Err05H is not output. (The delivery status is set to 0.)*2: WRITE DATA No.CO. decides if the minimum-distance indexing in the rotary system is used.
When SENSOR DRIVE is used, the minimum-distance indexing cannot be used.

- 76 -

USER'S MANUAL(2)Notice to High Order Sequencer
Status output signal

Header status

ST2

ST1

ST0

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ





+ (CW) direction LIMIT stops entering. *1

Ｈ

Ｈ

Ｈ

Ｈ

Ｈ







-(CCW) direction LIMIT stops entering. *1

Err01 Ｈ 

Ｈ

Ｈ

Ｈ

Ｈ



Ｈ





Stop by inputting STOP (immediate stop)

Err02 Ｈ 

Ｈ

Ｈ

Ｈ

Ｈ









(Not used).

Ｈ

Ｈ

Ｈ



Ｈ

Ｈ





Ｈ

Ｈ

Ｈ



Ｈ





Ｈ

Ｈ

Ｈ





Ｈ



Ｈ

Ｈ

Ｈ









Ｈ

Ｈ



Ｈ

Ｈ

Ｈ



Ｈ

Ｈ



Ｈ

Ｈ







*1

Ｈ



Ｈ



code

Display
on
panel

ST3

Ｈ

RDY

Status

ST4

Ｈ

ERR

Meaning of output signal

ST5

Err00 Ｈ －－

An undefined motion command is input.
Write Mode or S-Curve Mode is selected
Ｈ/from Ext. Mode.
An error occurred in the procedures ofsetting DATA from EXTERNAL.
The control axis cannot be recognized
correctly.
The minimum-distance indexing becamevalid, and the SENSOR DRIVE started.

Err04 Ｈ An error occurred in REST DRIVE.

Err09 Ｈ 

A position after teaching is outside the+/-8,388,607 PULSE range.

Err0A Ｈ 

Err05 Ｈ 
Err06 Ｈ 
Err07 Ｈ 
Err08 Ｈ 

If an motion starts when both CW and CCWLM LIMITs are ON, CWLM is displayed and the statusis output irrespective of direction.

8-4.Troubleshooting
Phenomenon

Check point

Nothing is displayedon the panel.

・Check if the power source is correctly connected.
・Check if the RESET signal was input and remains as it is.
While the RESET signal is input, the display contents are not guaranteed.

The operation with・When an axis connected to C-570-SA is operating in the External Modes, thepanel is not possible.
operation with panel is not possible.
Press the SEL key to check if all axes
are in the RDY status.
・Check if OP.MASK, which prohibits operation from the panel, is not OeN.
・Check if the operation mode is not set to OP2.
INDEX HSPD is not
displayed.

・The OP0 mode (operation for operator) is selected.
Press the OP0/OP1/OP2 selection hole, and select the OP1 or OP2 mode in which
all data can be referred to.

Reference of S-Curve
data cannot be set.

・Check if the drive type of WRITE DATA No. A0 is not set to 0 (trapezoidal
drive). When the trapezoidal drive is set, S-Curve Data cannot be referred toand set from the panel and the External modes.

SCSPD1/SCSPD2 of SCurve Data changes.

・Check if HSPD and LSPD are set by WRITE DATA and then S-Curve Parameters of
SCSPD1/SCSPD2 are set. SCSPD1/SCSPD2 changes depending on setting of DRIVE
TYPE, HSPD and LSPD.

The SPEED in DRIVE is ・Check if the DRIVE TYPE is correctly designated.
different from the set
WRITE DATA No.A1 ( L-TYPE=0, M-TYPE=1, H-TYPE=2 )ting. Also, the driver ・Check if the relations between the designated operation and the speed setting
does not operate as
are correct.
set.
・Review the setting of speed suitable for performances of the motor and thedriver.
The motor does not
drive even if START
signal is input.

・Check if the External SEQ (SEQUENCER) Mode is selected.
START signal is not accepted in the RS (RS232C) Mode and the Panel Modes except
the SEQ Mode.
・Check if the RESET, STOP, CWLM and CCWLM signals are not input.
(Pay attention to B contact of the CWLM and CCWLM signal logics.)
・Check if M0～M8 are not set to DRST, R.P.SET.
・Check if the travel of INDEX DRIVE (INCREMENTAL designation) is not set to 0.
・Check if start is arranged from the current ADDRESS (ABSOLUTE designation) to
the same purpose ADDRESS.
・Check if RTN DRIVE is not started from the status already existing at theelectrical zero.

- 77 -

USER'S MANUAL

Phenomenon

Check point

The SENSOR DRIVE can
not start.

・Check if WRITE DATA No. C0 is not valid for the minimum-distance indexing.
While the minimum-distance indexing is valid, SENSOR DRIVE cannot be used.

The RDY signal is not ・Check if the START signal was input and remains as it is.
turned on (LOW) after ・When the driver is used in setting SERVO MOTOR (WRITE DATA No. A2 … 0), makethe end of DRIVE. Or,
sure that the DEND signal is input after the end of operation.
the return to RDY isWhen the positioning end signal is not available from the SERVO DRIVER, connect
slow.
the DEND signal to GND.
Motion command fromhigh order cannot
start normally.

・Make sure that the RDY signal is LOW, and check if a handshake is conducted sothat the START signal is output.
・Check if the START signal is turned off only after the RDY signal was confirmed
to have become HIGH.
・Check the timing list of EXTERNAL motion in Chapter 5-4. once again.
・Check if the timing specification and the sequencer program are notincompatible.
・Check if cable is not disconnected or no command error occurs in communication
through RS232C.

A stop from high order ・Check if the STOP signal is turned off only after the RDY signal was confirmed
cannot be commanded
to have become LOW.
normally.
・Check Other Timing Specification in Chapter 7-7. once again.
No teaching ispossible.

・Check if the External Mode was once set to the Teaching Mode (FDH).
・Check if teaching is not tried to be stored in places exceeding +/-8,388,607
PULSE of the coordinate control range.

A position after teach ・Check if any PULSE other than 0 is not set to the TEACHING OFFSET of WRITE DATA
ing is different from
No. F5.
actual positioning.
If any PULSE other than 0 is set, the coordinates are corrected (by relativemove) by the OFFSET from the coordinate after teaching.
The machine home can・Check if ORG TYPE of WRITE DATA No. b0 satisfies the specifications such as
not be detected correc
necessary quantity, layout, detection level (+24V), etc. of the ORG sensor.
tly.
In case of ORG-4, 5 and 10, the necessary distance between NORG and ORG isexpressed as N ≧ 0.005xCSPD in equivalent to pulse (N) as well as in use of
disk slit.
・Check if the ORG signal is not connected when Z phase (+ZORG) is used.
・Check if mechanical hunting does not occur.
Try to set several pulses so as to escape hunting width with WRITE DATA No.b4.
Or, try to insert a delay time with MARGIN TIME of WRITE DATA No.b5.

- 78 -

USER'S MANUAL

９． DIFFERENCE FROM C-570-S
The specification of C-570-SA allows to be rewritten from C-570-S but covers some points
completely different from C-570-S.
When using the controller by rewriting or mixing, check differences of the specifications.
In addition, set parameters and data to be added from C-570-S.
No. Item

C-570-SA

C-570-S

Remarks

1

PULSE output
Both +/-CWP and +/-CCWP are Both +/-CWP and +/-CCWP are The maximum load current
drive capacity 20mA max .
40mA max.
specification is degraded.
・When SINK current is・When SINK current is
When voltage is assured, the
20mA, the low level is
20mA, the low level iscurrent capacity does notbelow 0.5V.
below 0.5V.
change.
・When SOURCE current is・When SOURCE current is
20mA, the high level is
20mA, the high level isover 2.4V.
over 2.4V.

2STOP TYPE

・0= Deceleration to stop・0= Deceleration to stop
An immediate stop comes to(No error output, Status(No error output, Status be triggered without error
32H,REST DRIVE possible)
32H,REST DRIVE possible) output.
・1= Immediate stop
・1= Immediate stop
(Error status 02H is out(Error status 02H is out
put, REST DRIVE impossib
put, REST DRIVE impossible)le)・ 2= Immediate stop(No error output, Status
4EH, REST DRIVE impossib
le)3

DRIVE TYPE

・L-TYPE・ M1-TYPE(RESOLUTION10)
・M2-TYPE(RESOLUTION20)
・H-TYPE

4

7-segment
5 digits
5 digits
display method (High order/ low order chan (High order/ low order changeover)geover)Automatic changeover is
Automatic changeover isdisplayed during EXT.
displayed during EXT.

・L-TYPE
・M-TYPE(RESOLUTION20)
・H-TYPE

Short
High
Short
High
     order     order
Long
Long
     Low     Low
order
order
 When the UPPER key is set  The H/L key is invalid
to ON, the upper digit is during EXT.
fixed.
Automatic changeover is When the UPPER key is set always displayed.
to OFF, automatic changeover is displayed.

- 79 -TYPE M1 of RESOLUTION 10 for
little speed difference inacceleration and deceleration was added to TYPE M.
This works as a measures aga
inst vibration in accelerati
on and deceleration due to
speed difference.

USER'S MANUAL

No. Item

C-570-SA

7-segment
While DATA is set, display
display method is fixed.
UPPER keyHigh At      orderON At      Low
OFF
order
・ The UPPER key is used todesignate Display ofUpper Digit or Setting.

5

Panel display
symbol    

C-570-S

Remarks

Automatic changeover is
While DATA is set, thedisplayed even while DATA
display digit is fixed, andis set.
the setting became easier.
Short
High
     orderLong     Low
order At ON
When the DATA key is set
to ON, high order display
is fixed.
 At OFF
When the DATA key is set
to ON, low order display
is fixed.

・The display symbol on thecontrol key indicate a fun
６５▼ ▲ ＡＢＳ (10 10 )Upper
Ｈ／Ｂ ＳＴ／ＳＰ 
ction available when the    digit
    
UPPER key is pressed.
Ｈ／Ｂ ＳＴ／ＳＰ  
▼
▲
ＡＢＳ ▼
▲
During
The display symbol below
teaching
Valid in low
the control key indicate a(10 ４～10０ )While DATA
order
function available whenis setValid inthe UPPER key is nothigh orderpressed.
UPPER key
H/L key
Relations with the UPPER
 At ON, No INC/DEC, ABS
 At ON, No INC/DEC, ABS
key became easily
is changed over, and 10６
is changed over, and 10６
understood.
５
and 10 DATA are set.
and 10５ DATA are set.
*The H/L key was changed toAt OFF, 10４～10０-digitAt OFF, 10 ４～10０-digit
the UPPER key.
DATA are set, or teaching
DATA are set, or teaching *OP2 D.P was added, and theoperation.
operation.
ABS D.P position was
shifted to right by one position.
ＯＰ１ ＯＰ２ ＡＢＳ    
ＯＰ１ ＡＢＳ

Duringteaching

6

OPERATION MODE ・OP0 (for operator)
・OP1 (for designer)・ OP2 (for DATA monitor)

・OP0 (for operator)
・OP1 (for designer)

OP2 MODE was added that allo
ws referring to DATA only.
Since the WRITE key is not
used from the panel, set
DATA can be protected during
shipment to end users.

7

OP MASK
Available.
function
・OP.MASK ON(Operation
・OP.MASK OFF
mask function)

Unavailable.

Panel operation can be prohi
bited or the prohibition can
be cleared from the sequencer.
ON/OFF is controlled
by command.

- 80 -

USER'S MANUAL

R1
No. Item
8

9

RS232CINDEX DRIVE

C-570-SA

11

Write Data and
S-Curve Data
Programming
Modes

Write Data and
S-Curve Data
Reading Mode

Remarks

Available.
Unavailable.
・RS LED is added on thepanel.
When the External Sequenc
e Control Mode is RDY,
the SEQ LED comes on.
When the External RS(RS232c) Mode is RDY, the
RS LED comes on.
・D-SUB 9P connector isadded.
・Communication Specificati
on Parameters necessary
for communication through
RS232C are set with WRITEDATA.
・INDEX00～49(Previously set
positioning DRIVE)・ INDEX50(INDEX DRIVE is possible
during positioning by
I/O or during transfer(change) of HSPD DATA.)
CODE1 ＋ DATA1
CODE2 ＋ DATA2
CODE3 ＋ DATA3
CODE4 ＋ DATA4

10

C-570-S

An application software,
which allows loading and sav
ing DATA optionally, is read
ily available.
The RS232C cable allows conn
ecting commercial D-SUB 9P
cross cable to it directly.

・INDEX00～49(Previously set
positioning DRIVE)

Transfer of

INDEX 50 allows changing travels and speeds on the sequencer side.
The previous DATA remains as
DATA at a place where no
DATA was set.
Transferred DATA is retained
until the power supply isturned off or until RESET is
input.

necessary
portions onlyis acceptable.

CODE1 ＋ DATA1 ← Necessary
CODE2 ＋ DATA2
No particular
CODE3 ＋ DATA3
order is set,
CODE4 ＋ DATA4 or omis sible.
CODE5 ＋ DATA5 ← Necessary

CODE1 ＋ DATA1
CODE2 ＋ DATA2
CODE3 ＋ DATA3
CODE4 ＋ DATA4
CODE5 ＋ DATA5

CODE1 ← Necessary
CODE2
No particular
CODE3
order is set,
CODE4
or omis sible.
CODE5

CODE1
CODE2
CODE3
CODE4
CODE5

It is necessa
ry to write
all data in
the regularorder.

It is necessary to write
all data in the regular

I/O connector

FCN-361P040-AU (Fujitsu)
XG4C-4034(Omron)
FCN-361J040-AU is an access MIL type: Applicable to MIL
ory (soldering type).
40P and distribution board
option.

13

PULSE LEDs

Unavailable.

- 81 -The same DATA writing
procedures as C-570-S are
acceptable without trouble.

order.

12

Available.

DATA at omitted position isregarded as 0.
The same DATA writing
procedures as C-570-S are
acceptable without trouble.

Preservation mode was calledin C-570-SA.

R4

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.

Cﾛﾛﾛﾛ