servo operator - raadiran.com operator.pdf · chapter 0 introduction 0-1 0.1 preface
TRANSCRIPT
SERVO OPERATOR
MEHT304
CHAPTER 0 INTRODUCTION 0CHAPTER 1 INSTALLATION 1CHAPTER 2 SEQUENCE MODE 2CHAPTER 3 MONITOR MODE 3CHAPTER 4 COPY MODE 4CHAPTER 5 EDIT MODE 5CHAPTER 6 TEST OPERATION MODE 6CHAPTER 7 ERROR MESSAGE 7APPENDIX A
CHAPTER 0 INTRODUCTION 0-1 0.1 Preface ··································································································· 0-2 0.2 Safety Precautions·················································································· 0-3
■ Precautions on operation ··························································································· 0-4 ■ Precautions on disposal ····························································································· 0-5 ■ Other precautions······································································································· 0-5 ■ General precautions··································································································· 0-5
CHAPTER 1 INSTALLATION 1-1 1.1 Names and Functions of Parts ······························································· 1-2 1.2 Specifications ························································································· 1-3 1.3 Connection ····························································································· 1-5 1.4 Display in Operator Mode······································································· 1-8
1.4.1 Mode································································································· 1-8 1.4.2 Mode Selection················································································· 1-9 1.4.3 Functions List·················································································· 1-10
CHAPTER 2 SEQUENCE MODE 2-1 2.1 Sequence Mode ····················································································· 2-2
CHAPTER 3 MONITOR MODE 3-1 3.1 Monitor···································································································· 3-2 3.2 Changing Monitoring Contents ······························································· 3-3
CHAPTER 4 COPY MODE 4-1 4.1 Copying Parameters ··············································································· 4-2 4.2 Copying Positioning Data ······································································· 4-9 4.3 Copying Alarm History ·········································································· 4-15
CHAPTER 5 EDIT MODE 5-1 5.1 Editing Parameters ················································································· 5-2 5.2 Editing Positioning Data·········································································· 5-4
CHAPTER 6 TEST OPERATION MODE 6-1 6.1 Manual Operation ··················································································· 6-2 6.2 Position Preset ······················································································· 6-4 6.3 Homing ··································································································· 6-5 6.4 Automatic operation················································································ 6-6 6.5 Alarm Reset···························································································· 6-8
Contents
6.6 Initializing Alarm History ······································································· 6-10 6.7 Initializing Parameters ·········································································· 6-11 6.8 Initializing Positioning Data··································································· 6-12 6.9 Auto Offset Adjustment········································································· 6-13 6.10 Z-phase Offset Setting········································································ 6-14 6.11 Easy Tuning························································································ 6-15 6.12 Profile Operation················································································· 6-17 6.13 Sequence Test Mode·········································································· 6-18 6.14 Teaching Mode··················································································· 6-19 6.15 Command Cumulative Pulse Clear····················································· 6-20 6.16 Feedback Cumulative Pulse Clear······················································ 6-21 6.17 Communications Mode Check···························································· 6-22 6.18 Alarm History ······················································································ 6-23 6.19 Changing Baud Rate ·········································································· 6-24 6.20 Adjusting Contrast ·············································································· 6-25
CHAPTER 7 ERROR MESSAGE 7-1 7.1 When Connected to Amplifier ································································· 7-2 7.2 Monitor···································································································· 7-2 7.3 Parameter Copy ····················································································· 7-2 7.4 Positioning Data Copy ············································································ 7-4 7.5 Alarm History ·························································································· 7-5
APPENDIX A-1 ■Parameter List···························································································A-1 Basic Setting Parameter ···············································································A-2 Control Gain and Filter Setting Parameter····················································A-5 Automatic Operation Setting Parameter ·······················································A-8 Extended Function Setting Parameter························································A-10 Input Terminal Function Setting Parameter ················································A-13 Output Terminal Function Setting Parameter ·············································A-15 Revision History··························································································A-17 Product Warranty························································································A-18 Service Network ·························································································A-19
CHAPTER 0 INTRODUCTION
0.1 Preface ·················································································································0-2 0.2 Safety Precautions ·····························································································0-3
0
CHAPTER 0 INTRODUCTION
0-2 Preface
0 0.1 Preface
Thank you for purchasing our servo operator (WSP-51).
The servo operator (WSP-51) can be operated from the servo amplifier by connecting to the servo
amplifier using a LAN straight cable. In addition, the internal memory of the servo operator can be
operated by connecting to the PC using a USB cable. When the servo operator is connected to the
servo amplifier and the PC at the same time, the conversion between USB and RS485 is enabled. The
servo operator has the functions such as operation, monitoring, and copying (parameters of servo
amplifier, the positioning data loading, data writing to other servo amplifiers, verifying).
This manual is intended for the use with the ALPHA5 Smart and the ALPHA5 (VV type only). However,
the covered contents, for example, the monitored items on the key pad, or accessible parameters, may
vary depending on the type of servo amplifier. Read the instruction manual of the servo amplifier
together with this manual when using the servo operator, for correct use. Improper handling might
result in incorrect operation, a short life, or even a failure of this product.
CAUTION
This product is the portable device designed to drive and operate our servomotor by remote control.
This is not designed to be installed in the panel.
Before use, read through this instruction manual or the manual for the servo amplifier, and be familiar
with the handling procedure for correct use.
Improper handling might result in incorrect operation, a short life, or even a failure of this product.
Deliver this manual to the end user of this product.
Keep this manual in a safe place until this product is discarded.
The cables to connect to the servo amplifier and the PC are not supplied with this product. Please
prepare the cables that satisfy the specifications described in “6. How to Handle” separately.
CHAPTER 0 INTRODUCTION
Safety Precautions 0-3
00.2 Safety Precautions
(1) Types and meanings of warning signs Before starting installation, wiring work, maintenance or inspection, read through this manual and other attached documents. Be familiar with the device, safety information and precautions before using. In this manual, safety precautions are described in two categories: "WARNING" and "CAUTION."
Warning sign Meaning
WARNING
Negligence of description will cause danger in which deaths or serious injuries may be caused.
CAUTION
Negligence of description will cause danger in which minor or medium injuries or material losses may be caused.
Description given in the "CAUTION" category may cause serious results under some circumstances. All descriptions are critical and should be strictly observed. After reading, keep the manual in a place where users can refer to it at any time.
(2) Graphic symbols Graphic symbols are used when necessary.
Graphic symbol Meaning Graphic
symbol Meaning
Do not touch
Make sure to make grounding
Do not disassemble
Notice of general prohibition
CHAPTER 0 INTRODUCTION
0-4 Safety Precautions
0 ■ Precautions on operation
CAUTION
• Do not operate the product with wet hand. There is a risk of electric shock. • Do not press the keys using a sharp-pointed object such as a ballpoint pen. Otherwise the product
will be damaged. • Do not use a cross-line LAN cable. Otherwise the product will be damaged. • Do not use the product on areas where water is likely to splash, corrosion or flammable gas is likely
to occur, or near a combustible material. Otherwise fire or damage will result. • In order to avoid unstable motions, never change adjustment radically. It might cause injuries. • Do not hold cables when transporting. There is a risk of failure and injuries. • Do the wiring without fail. If failed, the motor may go out of control, causing failure and injuries. • Do not place a heavy object on the product. There is a risk of failure and damage. • Do not apply strong impact or vibration. It might cause failure and injuries. • To perform test operation, fix the servomotor and leave it disconnected from the mechanical
system. After checking the motion, connect to the machine. It might cause injuries. • When an alarm occurs, resolve the cause and assure safety before performing alarm reset and
restarting operation. There is a risk of injury or an accident. • Stay away from the machine after power failure and power restoration because sudden restart may
be triggered. (Design the machine so that personal safety is secured even if the machine restarts suddenly.) It might cause injuries.
• Install an external emergency stop circuit so that operation can be stopped immediately and the power can be turned off. It might cause fire, failure, burns and injuries.
• Before installing to the machine and starting operation, enter parameters matching the machine. If the machine is operated without entering parameters, the machine may unexpectedly malfunction and cause failure. There is a risk of injury or an accident.
• If auto tuning is not used, be sure to enter the "inertia ratio." • Do not store the product in areas exposed to direct sunlight, rain or water drops, toxic gas or liquid.• Store the product in the atmosphere in a temperature range from -20℃ to 80℃, which is estimated
for storage in relatively short period intended for transportation.
CHAPTER 0 INTRODUCTION
Safety Precautions 0-5
0■ Precautions on disposal
CAUTION
• When disposing of the product, handle it as industrial waste.
There is a risk of injury.
■ Other precautions
WARNING
• Never remodel the servo operator.
There is a risk of electric shock or injury.
■ General precautions
Drawings in this manual may show the state without covers or shields for safety to explain in details.
Restore the covers and shields in the original state when operating the product, and operate the
product following the descriptions in the manual.
CHAPTER 0 INTRODUCTION
0-6 Safety Precautions
0
CHAPTER 1 INSTALLATION
1.1 Names and Functions of Parts ··········································································1-2 1.2 Specifications······································································································1-3 1.3 Connection ··········································································································1-5 1.4 Display in Operator Mode ··················································································1-8
1.4.1 Mode·············································································································1-8 1.4.2 Mode Selection ·····························································································1-9 1.4.3 Functions List······························································································1-10
1
CHAPTER 1 INSTALLATION
1-2 Names and Functions of Parts
1 1.1 Names and Functions of Parts
Use these keys to move the cursor, and to increase or decrease figures.
Arrow keys < / > / Λ / V
USB Type Mini B (CN3)
Connect a cable to the PC.
Connect a cable to the PC.
USB Type B (CN2)
LCD display
Press this key to select the operation mode.
MODE key SET key
Press this key to confirm settings.
Indicators
Press this key to release the alarm being raised.
ALM RESET key
Press this key to release the currently active operation mode.
ESC key
Connect a cable to the servo amplifier.
RJ – 45 (CN1)
CHAPTER 1 INSTALLATION
Specifications 1-3
11.2 Specifications
Item Contents
Power source Supplied from the servo amplifier (via RS-485 port) or the PC (via
USB port) .
Sequence mode Control and operation status of servo amplifier
Monitor mode
Feedback speed, command speed, command torque, motor current,
peak torque, effective torque, feedback position, command position,
position deviation, command pulse frequency, feedback cumulative
pulse, command cumulative pulse, LS-Z pulse, load inertia, DC link
voltage (max.) , DC link voltage (min.) , TREF input voltage, VREF
input voltage, input signals, output signals, OL thermal value, braking
resistor thermal value, power (W) , motor temperature, overshoot unit
amount, settling time, resonance frequency 1 , resonance frequency 2
Copy mode
( ) : no. of stored
data
Parameter (4 pcs.) , positioning data (2 pcs.) , alarm history (1 pc.)
Edit mode Parameter, positioning data
Test operation mode
Manual operation, position preset, homing, automatic operation,
alarm reset, alarm history initialization, parameter initialization,
positioning data initialization, auto offset adjustment, Z-phase offset
adjustment, easy tuning, profile operation, sequence test mode,
teaching, command cumulative pulse clear, feedback cumulative pulse
clear, communications mode check, alarm history, baud rate change
Function
USB-RS485
conversion
Communications conversion between the PC (USB) and the servo
amplifier (RS485)
Display area LCD display (13 characters ×5 lines)
Protocol PC loader protocol
Interface RS485
Synchronization method Asynchronous
Transmission method Four-line half-duplex communications
baud rate 9,600, 19600, 38400, 115200 [bps]
Cable Straight LAN cable (commercial item )
RS485
port
(CN1)
Communications
format
1: 1
CHAPTER 1 INSTALLATION
1-4 Specifications
1
Item Contents
Interface USB2.0
Transmission rate 12 [Mbps] (full speed)
Cable USB type A male connector – type mini B male connector
(commercial item)
USB type A male connector – type B male connector (commercial item)
USB
port
(CN2/
CN3) Communications
format
1: 1
Location Indoors at altitude ≤ 1000 [m] free from powder dust, corrosive gases,
and direct sunlight
Ambient temperature -10 [°C] to +50 [°C] (no freezing allowed)
Ambient humidity 10 [%] to 90 [%] RH (no condensation allowed)
Ambient atmospheric
pressure 70 to 106 [kPa]
Impact Compliant with JIS C 0044 free fall test (fall in 1 m, twice in each
direction)
Storage temperature -20 [°C] to 80 [°C] (no freezing allowed)
Operation
environment
Storage humidity 10~90[%]RH (no condensation allowed)
External dimensions 120 [mm] × 68 [mm] × 22 [mm]
Weight 101 [g]
* The storage temperature shown above is intended for relatively short period during transportation.
CHAPTER 1 INSTALLATION
Connection 1-5
11.3 Connection
Connection with the servo amplifier (operation mode) Configuration diagram:
Connect the servo operator to the servo amplifier in one axis to perform operation such as monitoring,
copying, and editing.
Internal wiring diagram:
P5 8 8 P5
M5 (0V) 7 7 M5 (0V)
*RXD 6 6 *TXD
TXD 5 5 RXD
*TXD 4 4 *RXD
RXD 3 3 TXD
M5 (0V) 2 2 M5 (0V)
P5 1 1 P5
Servo amplifier Servo operator
IN port
(CN3A) 10 BASE-T cable or similar
item (EIA568-compliant item)
RJ-45 (CN1)
CHAPTER 1 INSTALLATION
1-6 Connection
1
Connection with the PC loader (memory mode) Configuration diagram:
Connect the servo operator to the PC loader (PC LOADER for Servo Operator) to operate the internal
memory of the operator by copying or other operations.
• Display during communications
(The last line blinks.)
• Menu window of PC loader (Wizard Menu)
USB type-B (CN2)
USB (A) - USB (mini-B) cable or
USB (A) - USB (B) cable
USB type mini-B
(CN3)
M e m o r yM o d e
C o m m u n i c a t i n g
CHAPTER 1 INSTALLATION
Connection 1-7
1
Connection with the PC loader and the servo amplifier (through mode) Configuration diagram:
By connecting the servo operator as a converter between USB and RS-485, the PC loader can be
utilized to drive and operate (including copying, and others) the servo amplifier on with to 31 axes on
either PC Loader for ALPHA5 Smart or PC Loader for ALPHA5.
• Display during communications ・Communications setup for PC loader
(PC LOADER for ALPHA5 and ALPHA5 Smart)
(The last line blinks.)
U S B - R S 4 8 5C o n v e r s i o nM o d e
C o n v e r t i n g
USB type B (CN2) or USB
type mini-B (CN3)
IN port
(CN3A)
OUT port
(CN3B)
10 BASE-T cable
or similar item
(EIA568-compliant
item)
RJ-45 (CN1)
USB (A) – USB (B) cable or
USB (A) – USB (mini-B) cable
CHAPTER 1 INSTALLATION
1-8 Display in Operator Mode
1 1.4 Display in Operator Mode
1.4.1 Mode
The servo operator has five operation modes, which switches the data indicated on the LCD
display.
1) Sequence mode : indicates control and operation status of the servo amplifier.
2) Monitor mode : monitors the various status of the servomotor and input/output signals.
3) Copy mode : copies of parameters, positioning data, and alarm history to the memory of
the servo operator.
4) Edit mode : edits parameters and positioning data.
5) Test operation mode : operates servomotor using the servo operator keys.
The indicators on the upper part of the LCD display show the output signal statuses.
The output signal status is lit with the signal status ON. (indicated as )
• RDY ············Operation ready. The indicator is lit when the servomotor becomes ready for
operation.
• ALM ··········· Alarm detection. The indicator is lit when a protection target operation is
detected (alarm) on the servo amplifier.
• NZERO ········ Zero speed. The indicator is lit when the rotation speed of the servomotor is
regarded as “0”. • OT ·············· OT detection. The indicator is lit when the servomotor detects the OT signal in
either positive or negative direction.
• LV ··············· Main power undervoltage. The indicator is lit when the supply voltage to the
main power of the servo amplifier is once dropped below the minimum voltage
in the specification range.
• INP ············· In-position. The indicator is lit when positioning is complete.
CHAPTER 1 INSTALLATION
Display in Operator Mode 1-9
1
Being initialized.
Sequence mode
Monitor mode
Copy mode
Edit mode
Test operation mode
1.4.2 Mode Selection
Select each mode using the [MODE]/[ESC] keys.
Turn on the power.
[MODE] [ESC]
[MODE] [ESC]
[MODE] [ESC]
When the normal communication is successful:
L O A D I N G . . .
[MODE] [ESC]
[MODE] [ESC]
S nP o s i t i o n C t r lS e r v o O n
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
E d i t0 1 : P A E d i t0 2 : P O E d i t
O n S t a r tM N 1 : S P E E D f bM N 2 : S P E E D c m dM N 3 : T O R Q c m d
F n ▼0 1 : J o g0 2 : P r e s e t0 3 : H o m i n g
CHAPTER 1 INSTALLATION
1-10 Display in Operator Mode
1
1.4.3 Functions List
Mode Sub mode Display
Sequence mode Sequence mode
Monitor mode
Feedback speed
Command speed
Command torque, etc.
Copy mode Parameter copy
Read/write
Transfer
Verify
Name change
Data check
Positioning data copy
Read/write
Transfer
Verify
Name change
Data check
alarm history copy
Read/write
Verify
Name change
Data check
S nP o s i t i o n C t r lS e r v o O n
O n S t a r tM N 1 : S P E E D f bM N 2 : S P E E D c m dM N 3 : T O R Q c m d
P A C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P O C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
A L C o p y0 1 : R e a d & S a v e0 2 : V e r i f y0 3 : R e n a m e0 4 : C h e c k
CHAPTER 1 INSTALLATION
Display in Operator Mode 1-11
1
Mode Sub mode Display
Edit mode Parameter edit
Positioning data edit
Test operation mode Manual operation
Position preset
Homing
Automatic operation
Alarm reset
Alarm history initialization
Parameter initialization
Positioning data initialization
Auto offset adjustment
P A E d i tP A 2 - 2 6
2 0 0 0 0 0 0 0 0 02 0 0 0 0 0 0 0 0 0
P O E d i t 1 5C M D : I N CM o d e :P 0S P D : 0 . 0 1
F n P r e s e tG O → S E TC a n c e l → E S C
+ 0 1 2 3 4 5 6 7 8 9
F n H o m i n gG O → S E TC a n c e l → E S C
+ 0 1 2 3 4 5 6 7 8 9
F n A u t o S t a r tP O : 0 1M N 1 : S P E E D f bM N 2 : S P E E D c m d
F n A L M R e s e tG O → S E TC a n c e l → E S C
F n A L M I N I TG O → S E TC a n c e l → E S C
F n P A I N I TG O → S E TC a n c e l → E S C
F n P O I N I TG O → S E TC a n c e l → E S C
F n A / D O f f s e tG O → S E TC a n c e l → E S C
F n J o g N e x tP A 1 - 4 1- 6 0 0 0 . 0 0M N 1 : S P E E D f bM N 2 : S P E E D c m d
CHAPTER 1 INSTALLATION
1-12 Display in Operator Mode
1
Mode Sub mode Display
Test operation mode Z-phase offset adjustment
Easy tuning
Profile operation
Sequence test mode
Teaching mode
Command cumulative pulse clear
Feedback cumulative pulse clear
Communications mode check
Alarm history
Servo operator baud rate change
F n Z O f f s e tG O → S E TC a n c e l → E S C
F n S E Q T e s tG O → S E TC a n c e l → E S C
F n C M D P L S C L RG O → S E TC a n c e l → E S C
F n F B P L S C L RG O → S E TC a n c e l → E S C
F n B a u d R a t e3 8 4 0 0 b p s1 9 2 0 0 b p s
9 6 0 0 b p s1 1 5 2 0 0 b p s
F n A L M H I S TP r e s e n t O C 1H i s t 0 1 : O C 2
0 2 : O S0 3 : L V C ▼
S t a r t
M N 1 : S P E E D f bM N 2 : S P E E D c m d
S t a r t
M N 1 : S P E E D f bM N 2 : S P E E D c m d
F n C O M C h e c kA d d r e s s : 0 1 ▲
G O → S E TC a n c e l → E S C
F n T e a c h i n gP O : 0 1 ▲T e a c h i n g → S E T- 1 2 3 4 5 6 7 8 9 0 . u
CHAPTER 2 SEQUENCE MODE
2.1 Sequence Mode···································································································2-2
2
CHAPTER 2 SEQUENCE MODE
2-2 Sequence Mode
2
2 Sequence Mode
The sequence mode shows the servo amplifier status.
2.1 Sequence Mode
This mode shows the operation status of the servo amplifier. Select the sequence mode using the [MODE] key.
Sequence mode
Display list
1st line Sequence mode Sn
Control mode LCD display
Position control Position Ctrl
Speed control Speed Ctrl
2nd line
Torque control Torque Ctrl
Sequence mode LCD display
Servo off Servo Off
Servo on Servo On
Zero speed stop Zero Speed
Manual operation Manual Feed
Pulse operation Pulse/POS
+OT + OT
-OT - OT
In LV Under Voltage
Positioning Positioning
Homing Homing
3rd line
Interrupt positioning Interrupt Pos
1st line 2nd line 3rd line
S nP o s i t i o n C t r lS e r v o O n
CHAPTER 3 MONITOR MODE
3.1 Monitor·················································································································3-2 3.2 Changing Monitoring Contents ·········································································3-3
3
CHAPTER 3 MONITOR MODE
3-2 Monitor
3
3 Monitor Mode
The monitor mode shows the servo motor speed and input pulse cumulative values, etc. The LCD display can show up to three pieces of monitor data at the same time.
3.1 Monitor
This mode shows the servo motor speed and input pulse cumulative values, etc. Select the monitor mode using the [MODE] key.
Check the cursor if it is located at "START", and then press the [SET] key.
Sequence mode
Monitor mode
Monitor
O n+ 6 0 0 0 r /m in+ 6 0 0 0 r /m in+ 0 %
ESC SET
MODE ESC
O n S t a r tM N 1 : S P E E D f bM N 2 : S P E E D c m dM N 3 : T O R Q c m d
S n
P o s i t i o n C t r lS e r v o O n
CHAPTER 3 MONITOR MODE
Changing Monitoring Contents 3-3
3
3.2 Changing Monitoring Contents
The monitor display contents can be changed. Move the cursor to the monitor no. to be changed using the [Λ] / [V] keys, and then press the [SET] key.
Select the item to be displayed using the [Λ] / [V] keys, and then confirm the setting by pressing the
[SET] key.
Monitor mode
Selecting the monitor 1
Selecting the monitor 2
Selecting the monitor 3
O n2 6 : S t l g T I M E ▲2 7 : R e s F R Q 12 8 : R e s F R Q 2
O n S t a r tM N 1 : S P E E D f bM N 2 : S P E E D c m dM N 3 : T O R Q c m d
O n S t a r tM N 1 : S P E E D f bM N 2 : S P E E D c m dM N 3 : T O R Q c m d
O n0 1 : S P E E D f b0 2 : S P E E D c m d0 3 : T O R Q c m d ▼
∨ ∧
O n0 1 : S P E E D f b0 2 : S P E E D c m d0 3 : T O R Q c m d ▼
∨ ∧
∨ ∧
∨ ∧
∨ ∧
The monitor 1 - 01 is being selected.
The monitor 1 - 02 is being selected.
The monitor 1 - 28 is being selected.
SET
SET
O n S t a r tM N 1 : S P E E D f bM N 2 : S P E E D c m dM N 3 : T O R Q c m d
O n S t a r tM N 1 : S P E E D f bM N 2 : S P E E D c m dM N 3 : T O R Q c m d
CHAPTER 3 MONITOR MODE
3-4 Changing Monitoring Contents
3
Display list
LCD display Contents
01: SPEED fb Feedback speed
02: SPEED cmd Command speed
03: TORQ cmd Command torque
04: Current Motor current
05: TORQ pk Peak torque
06: TORQ eff Effective torque
07: POS fb Feedback position
08: POS cmd Command position
09: POS devi Position deviation
10: FRQ cmd Command pulse frequency
11: PULSE fb Feedback cumulative pulse
12: PULSE cmd Command cumulative pulse
13: PULSEl sz LS-Z pulse
14: INERTIA Load inertia ratio
15: VDC max DC link voltage (max.)
16: VDC min DC link voltage (min.)
17: Vref VREF input voltage
18: Tref TREF input voltage
19: In Sig Input signals
20: Out Sig Output signals
21: OLtherml OL thermal value
22: RBtherml Braking resistor thermal value
23: Power Power (W)
24: TEMP mtr Motor temperature
25: OVERSht Overshoot unit amount
26: StlgTIME Settling time
27: ResFRQ1 Resonance frequency 1
28: ResFRQ2 Resonance frequency 2
CHAPTER 4 COPY MODE
4.1 Copying Parameters···························································································4-2 4.2 Copying Positioning Data ··················································································4-9 4.3 Copying Alarm History·····················································································4-15
4
CHAPTER 4 COPY MODE
4-2 Copying Parameters
4
4 Copy Mode
The copy mode allows parameters, positioning data, and the contents of alarm history to be
loaded from the servo amplifier and to be stored to the servo operator. Besides from the servo
operator, the data are written into the servo amplifier.
Furthermore, verifying the contents of the data in the servo operator and of the memory in the
servo amplifier, and checking the contents of the memory in the servo amplifier are enabled in
the copy mode.
4.1 Copying Parameters
Copying parameters (Amp to Operator)
The parameters with 4 servo amplifiers can be reserved. Select the copy mode using the [MODE] key. The explanation below shows an example in which a
parameter is copied to the memory 2.
Check the cursor if it is located at "01: PA COPY", and then press the [SET] key. And, check the cursor
again if it is located at "01: Read & Save", and then press the [SET] key. Select the memory 2 using the
[Λ] / [V] keys, and then confirm the setting by pressing the [SET] key to copy the item.
(1) Copy mode (3) Select a memory.
(2) Parameter copy (4) The memory 2 is selected.
See the next page.
ESC SET
ESC SET
ESC SET
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
P A R e a d & S a v e0 1 : - - - - - - - - - -0 2 : - - - - - - - - - -0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
P A C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
∨ ∧
P A R e a d & S a v e0 1 : - - - - - - - - - -0 2 : - - - - - - - - - -0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
CHAPTER 4 COPY MODE
Copying Parameters 4-3
4
(5) Confirm copying.
(6) Being copied.
(7) Copied into the memory 2.
(8) Memory is selected.
P A R e a d & S a v e
S a v i n g. . . . .
P A R e a d & S a v e
C o m p l e t e
→ E S C
ESC
P A R e a d & S a v e0 1 : - - - - - - - - - -0 2 : S a v e d0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
P A R e a d & S a v e
O K ?Y e s → S E T
C a n c e l → E S C
ESC SET
CHAPTER 4 COPY MODE
4-4 Copying Parameters
4
Copying parameters (Operator to Amp) Select the copy mode using the [MODE] key. Check the cursor if it is located at "01: PA COPY", and
then press the [SET] key. And, check the cursor again if it is located at "02: Write", and then press the
[SET] key. Select the memory 2 using the [Λ] / [V] keys, and press the [SET] key to copy the item to the
servo amplifier.
(1) Copy mode
(2) Parameter copy (6) Confirm copying.
(3) Copying to the servo amplifier (7) Being copied
(4) Select a memory. (8) Copied into the servo amplifier.
(5) The memory 2 is selected. (9) Memory is selected.
ESC SET
∨ ∧
ESC SET
ESC SET
ESC SET
ESC
∨ ∧
P A W r i t e
O K ?Y e s → S E T
C a n c e l → E S C
P A W r i t e
W r i t i n g. . . . .
P A W r i t e
C o m p l e t e
→ E S C
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
P A C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P A C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P A W r i t e0 1 : - - - - - - - - - -0 2 : S a v e d0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
P A W r i t e0 1 : - - - - - - - - - -0 2 : S a v e d0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
P A W r i t e0 1 : - - - - - - - - - -0 2 : S a v e d0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
CHAPTER 4 COPY MODE
Copying Parameters 4-5
4
Verifying parameters (Operator and Amp, Operator and Operator) Select the copy mode using the [MODE] key. Check the cursor if it is located at "01: PA COPY", and
then press the [SET] key. And, check the cursor again if it is located at "03: Verify", and then press the
[SET] key. Select the item to be verified (the servo amplifier or the operator memory), and select the
memory 2 using the [Λ] / [V] keys. Press the [SET] key to verify the memory with the target item.
(1) Copy mode (6) The memory 2 is selected.
(2) Parameter copy (7) Confirm verifying.
(3) Parameter verification (8) Being verified.
(9) Verification result (match)
(4) Select the item to be verified.
(9) Verification result (mismatch)
(5) Select a memory.
(10) Memory is selected.
ESC SET
∨ ∧
ESC SET
ESC SET
ESC SET
ESC
∨ ∧
P A V e r i f y
O K ?Y e s → S E T
C a n c e l → E S C
P A V e r i f y
R e a d i n g. . . . .
P A V e r i f y
M a t c h e d → E S C
ESC SET
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
P A C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P A C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P A V e r i f yM E M O R Y ⇔ A M PM E M O R Y ⇔ M E M O R Y
P A V e r i f y0 1 : - - - - - - - - - -0 2 : S a v e d0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
P A V e r i f y0 1 : - - - - - - - - - -0 2 : S a v e d0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
P A V e r i f y0 1 : - - - - - - - - - -0 2 : S a v e d0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
P A V e r i f yU n m a t c h e d → E S CP A 1 1 0P A 1 2 0P A 1 3 0 ▼
CHAPTER 4 COPY MODE
4-6 Copying Parameters
4
Changing the name of the servo operator memory
(up to 10 characters, alpha-numeral, symbol, and space) Select the copy mode using the [MODE] key. Check the cursor if it is located at "01: PA COPY", and
then press the [SET] key. Select "04: Rename" using the [V] key, and select the memory 2. Move the
cursor using the [>] / [<] keys to change the characters one at a time. After changing, press the [SET]
key to confirm the change.
(1) Copy mode
(2) Parameter copy (5) The memory 2 is selected.
(3) Memory name change (6) Moving the cursor.
(4) Select a memory. (7) Change the characters.
See the next page.
ESC SET
∨ ∧
ESC SET
∨ ∧
ESC SET
P A R e n a m e
0 2 : S a v e d0 2 : S a v e d
< >
P A R e n a m e
0 2 : S a v e d0 2 : S a v e d
∧ ∨
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
P A C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P A C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P A R e n a m e0 1 : - - - - - - - - - -0 2 : S a v e d0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
P A R e n a m e0 1 : - - - - - - - - - -0 2 : S a v e d0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
CHAPTER 4 COPY MODE
Copying Parameters 4-7
4
(8) Confirming the character.
(9) Moving the cursor.
(10) Selecting a character type.
(11) Selecting a figure.
(12) Confirming the character.
(13) Name has been changed.
P A R e n a m e
0 2 : S m v e d0 2 : S a v e d
P A R e n a m e
0 2 : S m a r t0 2 : S a v e d
P A R e n a m e
0 2 : S m a r t A0 2 : S a v e d
MODE
MODE
P A R e n a m e
0 2 : S m a r t 00 2 : S a v e d
∧ ∨
P A R e n a m e
0 2 : S m a r t 10 2 : S a v e d
SET ESC
P A R e n a m e0 1 : - - - - - - - - - -0 2 : S a v e d0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
P A R e n a m e0 1 : - - - - - - - - - -0 2 : S m a r t 10 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
CHAPTER 4 COPY MODE
4-8 Copying Parameters
4
Checking parameters (Operator) Select the copy mode using the [MODE] key. Check the cursor if it is located at "01: PA COPY", and
then press the [SET] key. And, check the cursor again if it is located at "05: Check", and then press the
[SET] key. Select the memory 2 using the [Λ] / [V] keys. Press the [SET] key to check the contents.
(1) Copy mode
(2) Parameter copy (6) Parameter 1 is loaded.
(3) Memory contents check (7) Parameter 2 is loaded.
(4) Select a memory. (8) Select the number.
(5) The memory 2 is selected. (9) Checking the contents.
ESC SET
ESC SET
∨ ∧
ESC SET
∨ ∧
P A C h e c kP A 1 - 0 1P A 1 - 0 2P A 1 - 0 3P A 1 - 0 4 ▼
P A C h e c kP A 2 - 0 1P A 2 - 0 2P A 2 - 0 3P A 2 - 0 4 ▼
ESC SET
< >
∨ ∧
P A C h e c kP A 2 - 1 9P A 2 - 2 0P A 2 - 2 1P A 2 - 2 2 ▼
P A C h e c kP A 2 - 2 2
0
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
P A C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P A C o p y0 2 : W r a t e ▲0 3 : V e r i f y0 4 : R e n a m e0 5 : C h e c k
P A C h e c k0 1 : - - - - - - - - - -0 2 : S a v e d0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
P A C h e c k0 1 : - - - - - - - - - -0 2 : S a v e d0 3 : - - - - - - - - - -0 4 : - - - - - - - - - -
CHAPTER 4 COPY MODE
Copying Positioning Data 4-9
4
4.2 Copying Positioning Data
Copying positioning data (Amp to Operator)
The positioning data with 2 servo amplifiers can be reserved. Select the copy mode using the [MODE] key. The explanation below shows an example in which a
piece of data is is copied to the memory 2.
Move the cursor to "02: PO COPY" using the [V] key, and then press the [SET] key. Check the cursor if
it is located at "01: Read & Save", and then press the [SET] key. Select the memory 2 using the [Λ] / [V]
keys, and then confirm the setting by pressing the [SET] key to copy the item.
(1) Copy mode (5) Confirm copying.
(2) Positioning data copy (6) Being copied.
(3) Select a memory. (7) Copied into the memory 2.
(4) The memory 2 is selected. (8) Memory is selected.
ESC SET
∨ ∧
ESC SET ESC SET
ESC SET
ESC
P O R e a d & S a v e
O K ?Y e s → S E T
C a n c e l → E S C
P O R e a d & S a v e
S a v i n g. . . . .
P O R e a d & S a v e
C o m p l e t e
→ E S C
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
P O C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P O R e a d & S a v e0 1 : - - - - - - - - - -0 2 : - - - - - - - - - -
P A R e a d & S a v e0 1 : - - - - - - - - - -0 2 : - - - - - - - - - -
P A R e a d & S a v e0 1 : - - - - - - - - - -0 2 : S a v e d
CHAPTER 4 COPY MODE
4-10 Copying Positioning Data
4
Copying positioning data(Operator to Amp) Move the cursor to "02: PO COPY" using the [V] key, and then press the [SET] key. And, move the
cursor to "02: Write" using the [V] key, and then press the [SET] key. Select the memory 2 using the
[Λ] / [V] keys, and confirm the setting by pressing the [SET] key to copy the item.
(1) Copy mode
(2) Positioning data copy (6) Confirm copying.
(3) Copying to the servo amplifier (7) Being copied.
(4) Select a memory. (8) Copied into the servo amplifier.
(5) The memory 2 is selected. (9) Memory is selected.
ESC SET
∨ ∧
ESC SET
ESC SET
ESC SET
ESC
∨ ∧
P O W r i t e
O K ?Y e s → S E T
C a n c e l → E S C
P O W r i t e
W r i t i n g. . . . .
P O W r i t e
C o m p l e t e
→ E S C
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
P O C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P O C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P O W r i t e0 1 : - - - - - - - - - -0 2 : S a v e d
P O W r i t e0 1 : - - - - - - - - - -0 2 : S a v e d
P O W r i t e0 1 : - - - - - - - - - -0 2 : S a v e d
CHAPTER 4 COPY MODE
Copying Positioning Data 4-11
4
Verifying positioning data (Operator and Amp, Operator and Operator) Move the cursor to "02: PO COPY" using the [V] key, and then press the [SET] key. And, move the
cursor to "03: Verify" using the [V] key, and then press the [SET] key. Select the item (the servo
amplifier or the servo operator memory) to be verified. Select the memory 2 using the [Λ] / [V] keys, and
confirm the setting by pressing the [SET] key to verify.
(1) Copy mode (6) The memory 2 is selected.
(2) Positioning data copy (7) Confirm verifying.
(3) Verifying the positioning data (8) Being verified.
(4) Selecting an item to be verified. (9) Verification result (match)
(9) Verification result (mismatch)
(5) Memory is selected.
(10) Memory is selected.
ESC SET
∨ ∧
ESC SET
ESC SET
ESC SET
ESC
∨ ∧
P O V e r i f y
O K ?Y e s → S E T
C a n c e l → E S C
P O V e r i f y
R e a d i n g. . . . .
P O V e r i f y
M a t c h e d → E S C
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
P O C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P O C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P O V e r i f y0 1 : - - - - - - - - - -0 2 : S a v e d
P O V e r i f y0 1 : - - - - - - - - - -0 2 : S a v e d
P O V e r i f y0 1 : - - - - - - - - - -0 2 : S a v e d
P O V e r i f yM E M O R Y ⇔ A M PM E M O R Y ⇔ M E M O R Y
ESC SET P O V e r i f yU n m a t c h e d → E S CP O : 0 1P O : 0 2P O : 3 0 ▼
CHAPTER 4 COPY MODE
4-12 Copying Positioning Data
4
Changing the name of the servo operator memory
(up to 10 characters, alpha-numeral, symbol, and space) Move the cursor to "02: PO COPY" using the [V] key, and then press the [SET] key. Select "04:
Rename" using the [V] key and select the memory 2. Move the cursor using the [>] / [<] keys to change
the characters one at a time. After changing, press the [SET] key to confirm the change.
(1) Copy mode
(2) Positioning data copy (5) The memory 2 is selected.
(3) Memory name change (6) Moving the cursor.
(4) Memory is selected. (7) Change the characters.
See the next page.
ESC SET
∨ ∧
ESC SET
ESC SET
< >
∧ ∨ ∨ ∧
P O R e n a m e0 2 : S a v e d0 2 : S a v e d
P O R e n a m e0 2 : S a v e d0 2 : S a v e d
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
P O C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P O C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P O R e n a m e0 1 : - - - - - - - - - -0 2 : S a v e d
P O R e n a m e0 1 : - - - - - - - - - -0 2 : S a v e d
CHAPTER 4 COPY MODE
Copying Positioning Data 4-13
4
(8) Confirming the character.
(9) Moving the cursor.
(10) Selecting a character type.
(11) Selecting a figure.
(12) Confirming the character.
(13) Name has been changed.
MODE
MODE
∧ ∨
SET ESC
P O R e n a m e0 2 : S m v e d0 2 : S a v e d
P O R e n a m e0 2 : S m a r t0 2 : S a v e d
P O R e n a m e0 2 : S m a r t A0 2 : S a v e d
P O R e n a m e0 2 : S m a r t 00 2 : S a v e d
P O R e n a m e0 2 : S m a r t 10 2 : S a v e d
P O R e n a m e0 1 : - - - - - - - - - -0 2 : S a v e d
P O R e n a m e0 1 : - - - - - - - - - -0 2 : S m a r t 1
CHAPTER 4 COPY MODE
4-14 Copying Positioning Data
4
Checking positioning data (Operator) Move the cursor to "02: PO COPY" using the [V] key, and then press the [SET] key. Check the cursor if
it is located at "05: Check", and press the [SET] key. After loading, select the memory 2 using the [Λ] /
[V] keys, and then[SET] to confirm the contents.
(1) Copy mode
(2) Positioning data copy (6) Selecting a positioning data no.
(3) Checking the memory contents. (7) Loading the positioning data.
(4) Memory is selected. (8) Checking the contents.
(5) The memory 2 is selected. (9) Checking the contents.
ESC SET
ESC SET
∨ ∧
ESC SET
∨ ∧
ESC SET
∨ ∧
P O C h e c kP O : 0 1P O : 0 2P O : 0 3P O : 0 4 ▼
∨ ∧
P O C h e c k 1 5A c c : 0 . 0D e c : 0 . 0T I m gM C o d :
P O C h e c k 1 5C M D : I N CM o d e :P : 0 . 0 0S P D m : 0 . 0 1
P O C h e c kP O : 1 2 ▲P O : 1 3P O : 1 4P O : 1 5
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
P O C o p y0 1 : R e a d & S a v e0 2 : W r i t e0 3 : V e r i f y0 4 : R e n a m e ▼
P O C o p y0 2 : W r i t e ▲0 3 : V e r i f y0 4 : R e n a m e0 5 : C h e c k
P O C h e c k0 1 : - - - - - - - - - -0 2 : S a v e d
P O C h e c k0 1 : - - - - - - - - - -0 2 : S a v e d
CHAPTER 4 COPY MODE
Copying Alarm History 4-15
4
4.3 Copying Alarm History
Copying alarm history (Amp to Operator)
The alarm history with single servo amplifier can be reserved. Select the copy mode using the [MODE] key. The explanation below shows an example in which a
piece of data is is copied to the memory 1
Move the cursor to the fourth line (03: AL COPY) using the [V] key, and then press the [SET] key. Check
the cursor if it is located at the second line (01: Read&Save) and then press the [SET] key. Select the
memory 1 using the [Λ] / [V] keys, and then confirm the setting by pressing the [SET] key to copy the
item.
(1) Copy mode
(2) Alarm history copy (5) Being copied.
(3) Memory is selected. (6) Copied into the memory 1.
(4) Confirm copying. (7) Memory is selected.
ESC SET
ESC SET
ESC SET
ESC SET ESC
A L R e a d & S a v e
O K ?Y e s → S E T
C a n c e l → E S C
A L R e a d & S a v e
S a v i n g. . . . .
A L R e a d & S a v e
C o m p l e t e→ E S C
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
A L R e a d & S a v e0 1 : - - - - - - - - - -
A L R e a d & S a v e0 1 : S a v e d
A L C o p y0 1 : R e a d & S a v e0 2 : V e r i f y0 3 : R e n a m e0 4 : C h e c k
CHAPTER 4 COPY MODE
4-16 Copying Alarm History
4
Verifying alarm history (Operator and Amp) Select the copy mode using the [MODE] key. Check the cursor if it is located at "03: AL COPY", and
then press the [SET] key. Check the cursor again if it is located at "02: Verify", [and then press the
[SET] key. Select the memory 1 using the [Λ] / [V] keys, and then confirm the setting by pressing the
[SET] key to verify them with the servo amplifier.
(1) Copy mode (5) The memory 1 is selected.
(2) Alarm history copy (6) Confirm verifying.
(3) Verifying the alarm history (7) Being verified.
(4) Selecting an item to be verified. (9) Complete successfully
(10) Memory 1 is selected.
ESC SET
ESC SET
ESC SET
ESC SET
ESC
∨ ∧
ESC SET
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
A L C o p y0 1 : R e a d & S a v e0 2 : V e r i f y0 3 : R e n a m e0 4 : C h e c k
A L V e r i f yM E M O R Y ⇔ A M P
A L V e r i f y0 1 : S a v e d
A L V e r i f yO K ?
Y e s → S E TC a n c e l → E S C
A L V e r i f y
R e a d i n g. . . . .
A L V e r i f y
M a t c h e d → E S C
A L V e r i f y0 1 : S a v e d
A L C o p y0 1 : R e a d & S a v e0 2 : V e r i f y0 3 : R e n a m e0 4 : C h e c k
CHAPTER 4 COPY MODE
Copying Alarm History 4-17
4
Changing the name of the servo operator memory
(up to 10 characters, alpha-numeral, symbol, and space) Move the cursor to the fourth line (03: AL Copy) using the [V] key, and then press the [SET] key. Select
the fourth line (03:Rename) using the [V] key and select the memory 1. Move the cursor using the [>] /
[<] keys to change the characters one at a time. After changing, press the [SET] key to confirm the
change.
(1) Copy mode
(2) Alarm history copy
(3) Memory name change (5) Moving the cursor.
(4) Memory is selected. (6) Change the characters.
See the next page.
ESC SET
∨ ∧
ESC SET < >
∧ ∨ ∨ ∧
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
A L R e n a m e0 1 : S a v e d
A L C o p y0 1 : R e a d & S a v e0 2 : V e r i f y0 3 : R e n a m e0 4 : C h e c k
A L R e n a m e
0 1 : S a v e d0 1 : S a v e d
A L R e n a m e
0 1 : S a v e d0 1 : S a v e d
A L C o p y0 1 : R e a d & S a v e0 2 : V e r i f y0 3 : R e n a m e0 4 : C h e c k
CHAPTER 4 COPY MODE
4-18 Copying Alarm History
4
(7) Confirming the character.
(8) Moving the cursor.
(9) Selecting a character type.
(10) Selecting a figure.
(11) Confirming the character.
(12) Name has been changed.
MODE
MODE
∧ ∨
SET ESC
A L R e n a m e0 1 : S m a r t0 1 : S a v e d
A L R e n a m e0 1 : S m a r t A0 1 : S a v e d
A L R e n a m e0 1 : S m a r t 00 1 : S a v e d
A L R e n a m e0 1 : S m a r t 10 1 : S a v e d
A L R e n a m e0 1 : S a v e d
A L R e n a m e0 1 : S m a r t 1
A L R e n a m e
0 1 : S m v e d0 1 : S a v e d
CHAPTER 4 COPY MODE
Copying Alarm History 4-19
4
Checking alarm history Move the cursor to the fourth line (03: AL COPY) using the [V] key, and then press the [SET] key. Check
the cursor if it is located at the fifth line (04: Check), and then press the [SET] key. After loading, select
the memory using the [>] / [<] keys, and then press the [SET] key to check the contents. In addition, by
pressing the [SET] key, status information for each alarm is shown.
(1) Copy mode (6) History 2 is selected.
(2) Alarm history copy (7) History 20 is selected.
(3) Alarm history check (8) Checking the supplementary info.
(4) Memory is selected. (9) Checking the info. for history 20.
(5) Checking the contents. (10) Alarm history contents checked.
ESC SET
∨ ∧
ESC SET
∨ ∧
C o p y0 1 : P A C o p y0 2 : P O C o p y0 3 : A L C o p y
A L C h e c k0 1 : S a v e d
A L C o p y0 1 : R e a d & S a v e0 2 : V e r i f y0 3 : R e n a m e0 4 : C h e c k
A L C o p y0 1 : R e a d & S a v e0 2 : V e r i f y0 3 : R e n a m e0 4 : C h e c k e
ESC SET
A L C h e c k0 1 : O C 10 2 : O C 20 3 : O S0 4 : L V C ▼
A L C h e c k0 1 : O C 10 2 : O C 20 3 : O S0 4 : L V C ▼
A L C h e c k1 7 : O F - ▲1 8 : O H -1 9 : O F -2 0 : O C 1
A L C h e c k 2 0A l m : O C 1P o n : 6 5 5 3 5 hC o n : 6 5 5 3 5 hM o t : 5 9 m 5 9 s
A L C h e c k 2 0E C : 6 5 5 3 5P - 2 1 4 7 4 8 3 6 4 7 uC m d : S p e e dM o d : U n d e r V L T
∨ ∧
ESC SET
∨ ∧
ESC
A L C h e c k1 7 : O F - ▲1 8 : O H -1 9 : O F -2 0 : O C 1
CHAPTER 4 COPY MODE
4-20 Copying Alarm History
4
・Display data list
LCD display Descriptions
Alm: OC1 Alarm contents
Pon: 65535h Total time - main power supply
Con: 65535h Total time - control power supply.
Mot: 59m59s Motor running time (less than one hour)
Mot: 65535h Motor running time ( one hour or more)
Sfb: - 6000r/min Feedback speed
Sf5: - 6000r/min Feedback speed: less than 5ms
Scm: - 6000r/min Command speed
Tcm: 300% Command torque
Crt: 300% Motor current
Ter: 300% Effective torque
Vdc: 300V DC link voltage
EC : 65535 EC error count
P-2147483647u Command position
Cmd: Position Control mode (Position control)
Cmd: Speed Control mode (Speed control)
Cmd: Torque Control mode (Torque control)
Mod: Servo Off Sequence mode (Servo off)
Mod: Servo On Sequence mode (Servo on)
Mod: Zero Spd Sequence mode (Zero speed stop)
Mod: Manual Sequence mode (Manual operation)
Mod: Pulse/POS Sequence mode (Pulse operation)
Mod: +OT Sequence mode (+OT)
Mod: -OT Sequence mode (-OT)
Mod: Under VLT Sequence mode (Undervoltage)
Mod: Auto Sequence mode (Positioning)
Mod: Homing Sequence mode (Homing)
Mod: Interrupt Sequence mode ( Interrupt positioning )
CHAPTER 5 EDIT MODE
CHAPTER 5 EDIT MODE
5.1 Editing Parameters ·····························································································5-2 5.2 Editing Positioning Data ····················································································5-4
5
CHAPTER 5 EDIT MODE
5-2 Editing Parameters
5
5 Edit Mode
The edit mode allows editing data including parameters and positioning data.
5.1 Editing Parameters
Parameter read and edit of the servo amplifier Select the edit mode using the [MODE] key. Check the cursor if it is located at "01:PA Edit", and then
press the [SET] key. Select the no. using the [Λ] / [V] keys, and then confirm the setting by pressing the
[SET] key to edit the item. The explanation below shows an example in which PA2_26 is changed to
“-200” from the initial value.
(1) Edit mode
(2) Parameter edit (5) The parameter data is loaded.
(3) The parameter 2 is selected. (6) Moved to the uppermost digit.
(4) The parameter no. is selected. (7) The sign is changed.
See the next page.
ESC SET
ESC SET
∨ ∧
P A E d i tP A 1 - 0 1P A 1 - 0 2P A 1 - 0 3P A 1 - 0 4 ▼
P A E d i tP A 2 - 0 1P A 2 - 0 2P A 2 - 0 3P A 2 - 0 4 ▼
P A E d i tP A 2 - 2 3P A 2 - 2 4P A 2 - 2 5P A 2 - 2 6 ▼
< >
P A E d i tP A 2 - 2 6
2 0 0 0 0 0 0 0 0 02 0 0 0 0 0 0 0 0 0
P A E d i tP A 2 - 2 6
2 0 0 0 0 0 0 0 0 02 0 0 0 0 0 0 0 0 0
P A E d i tP A 2 - 2 6- 2 0 0 0 0 0 0 0 0 0
2 0 0 0 0 0 0 0 0 0
∨ ∧
< >
< >
E d I t0 1 : P A C o p y0 2 : P O C o p y
CHAPTER 5 EDIT MODE
Editing Parameters 5-3
5
(8) change the upper digit.
(9) The upper digit is changed.
(10) Moved to the hundreds digit.
(11) The hundreds digit is changed.
(12) Registered
ESC SET
< >
P A E d i tP A 2 - 2 6- 2 0 0 0 0 0 0 0 0 0
2 0 0 0 0 0 0 0 0 0
∨ ∧
P A E d i tP A 2 - 2 6- 0 0 0 0 0 0 0 0 0 0
2 0 0 0 0 0 0 0 0 0
P A E d i tP A 2 - 2 6- 0 0 0 0 0 0 0 0 0 0
2 0 0 0 0 0 0 0 0 0
∧ ∨
P A E d i tP A 2 - 2 6- 0 0 0 0 0 0 0 2 0 0
2 0 0 0 0 0 0 0 0 0
P A E d i tP A 2 - 2 6- 2 0 0- 2 0 0
CHAPTER 5 EDIT MODE
5-4 Editing Positioning Data
5
5.2 Editing Positioning Data
Positioning data read and edit of the servo amplifier Select the edit mode using the [MODE] key. Move the cursor to the third line (02:PO Edit), and then
press the [SET] key. After the data has been loaded, select the no. using the [Λ] / [V] keys, and then
confirm the setting by pressing the [SET] key to edit the item. The explanation below shows an example
in which positioning data address no. 15 is changed to “-200” from the initial value.
(1) Edit mode
(2) Positioning data edit (5) Moved to the positioning data.
(3) The positioning data no. is selected. (6) The positioning data is changed.
(4) The positioning data is shown. (7) Moved to the hundreds digit.
See the next page.
ESC SET
∨ ∧
P O E d i tP O : 0 1P O : 0 2P O : 0 3P O : 0 4 ▼
P O E d i tP O : 1 2P O : 1 3P O : 1 4P O : 1 5 ▼
∨ ∧
ESC SET
P O E d i t 1 5C M D : I N CM o d e :P 0S P D : 0 . 0 1
P O E d i t 1 5C M D : I N CM o d e :P 0S P D : 0 . 0 1
P O E d i t 1 5C M D : I N CM o d e :P 0S P D : 0 . 0 1
ESC SET
P O E d i t 1 5C M D : I N CM o d e :P 0 0 0S P D : 0 . 0 1
< >
∧ ∨
E d I t0 1 : P A C o p y0 2 : P O C o p y
CHAPTER 5 EDIT MODE
Editing Positioning Data 5-5
5
(8) The hundreds digit is changed.
(9) Moved to the uppermost digit.
(10) The sign is changed.
(11) Registered
ESC SET
P O E d i t 1 5C M D : I N CM o d e :P 2 0 0S P D : 0 . 0 1
P O E d i t 1 5C M D : I N CM o d e :P 0 0 0 0 0 0 0 2 0 0S P D : 0 . 0 1
< >
∨ ∧
P O E d i t 1 5C M D : I N CM o d e :P - 0 0 0 0 0 0 0 2 0 0S P D : 0 . 0 1
P O E d i t 1 5C M D : I N CM o d e :P - 2 0 0S P D : 0 . 0 1
CHAPTER 5 EDIT MODE
5
5-6 Editing Positioning Data
CHAPTER 6 TEST OPERATION MODE
6.1 Manual Operation ·······························································································6-2 6.2 Position Preset····································································································6-4 6.3 Homing·················································································································6-5 6.4 Automatic operation···························································································6-6 6.5 Alarm Reset ·········································································································6-8 6.6 Initializing Alarm History··················································································6-10 6.7 Initializing Parameters······················································································6-11 6.8 Initializing Positioning Data·············································································6-12 6.9 Auto Offset Adjustment ···················································································6-13 6.10 Z-phase Offset Setting ···················································································6-14 6.11 Easy Tuning·····································································································6-15 6.12 Profile Operation·····························································································6-17 6.13 Sequence Test Mode ······················································································6-18 6.14 Teaching Mode································································································6-19 6.15 Command Cumulative Pulse Clear ·······························································6-20 6.16 Feedback Cumulative Pulse Clear ································································6-21 6.17 Communications Mode Check ······································································6-22 6.18 Alarm History ··································································································6-23 6.19 Changing Baud Rate ······················································································6-24 6.20 Adjusting Contrast ·························································································6-25
6
CHAPTER 6 TEST OPERATION MODE
6-2 Manual Operation
6
6 Test Operation Mode
The test operation mode allows rotation of the servomotor and resets of the servo amplifier by
using the servo operator keys.
6.1 Manual Operation
The servomotor is kept rotated while pressing the servo operator key. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "01: Jog", and
then press the [SET] key. Check the cursor if it is located at "Next", and then press the [SET] key. The
motor is rotated while pressing the [Λ] or [V] key. The motor speed follows the value of the servo
amplifier parameter (PA1_41). If the motor speed is changed, the parameter value changes
accordingly.
(1) Test operation mode
(2) Manual operation Manual operation
(3) Speed selection Speed selection
Being written.
ESC SET
∨ ∧
∨ ∧
ESC
SET
ESC
SET
SET
ESC
F n ▼0 1 : J o g0 2 : P r e s e t0 3 : H o m i n g
F n J o g N e x tP A 1 - 4 1- 6 0 0 0 . 0 0M N 1 : S P E E D f bM N 2 : S P E E D c m d
F n J o gF W D → ▲ R E V → ▼- 6 0 0 0 r/ min- 6 0 0 0 r/ min
F n J o g N e x tP A 1 - 4 1- 6 0 0 0 . 0 0M N 1 : S P E E D f bM N 2 : S P E E D c m d
F n J o gP A 1 - 4 1- 6 0 0 0 . 0 0- 6 0 0 0 . 0 0
F n J o g
W r i t i n g . . . . .
See the next page.
CHAPTER 6 TEST OPERATION MODE
Manual Operation 6-3
6
(4) The monitor 1 is selected. Monitor content is selected.
(5) The monitor 2 is selected.
∨ ∧ ESC
SET
ESC
SET
F n J o g N e x tP A 1 - 4 1- 6 0 0 0 . 0 0M N 1 : S P E E D f bM N 2 : S P E E D c m d
F n J o g N e x tP A 1 - 4 1- 6 0 0 0 . 0 0M N 1 : S P E E D f bM N 2 : S P E E D c m d
F n J o g0 1 : S P E E D f b0 2 : S P E E D c m d0 3 : T O R Q c m d ▼
F n J o g0 1 : S P E E D f b0 2 : S P E E D c m d0 3 : T O R Q c m d ▼
CHAPTER 6 TEST OPERATION MODE
6-4 Position Preset
6
6.2 Position Preset
Set the command current position and the feedback current position of the servomotor to the
PA2_19 preset position (default: 0). Select the test operation mode using the [MODE] key. Check the cursor if it is located at "02: Preset",
and then press the [SET] key. Press the [SET] key to complete the position preset.
(1) Position preset
(2) Operation selection
The last line shows the feedback current position.
(3) Position preset is complete.
The last line shows the feedback current position.
ESC SET
ESC SET
F n P r e s e tG O → S E TC a n c e l → E S C
+ 0 1 2 3 4 5 6 7 8 9 。 u
F n P r e s e tC o m p l e t e → E S C
+ 0 1 2 3 4 5 6 7 8 9 。 u
F n ▼0 1 : J o g0 2 : P r e s e t0 3 : H o m i n g
CHAPTER 6 TEST OPERATION MODE
Homing 6-5
6
6.3 Homing
Perform homing using the servo operator keys. The homing operation follows the data the
parameters from PA2_06 to PA2_18. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "03: Homing",
and then press the [SET] key. Press the [SET] key to complete the homing operation.
(1) Homing
(2) Operation selection
(3) Homing being executed.
(4) Homing is complete.
The last line shows the feedback current position.
ESC SET
ESC SET
ESC SET
ESC
SET
ESC
F n ▼0 1 : J o g0 2 : P r e s e t0 3 : H o m i n g
F n H o m i n gG O → S E TC a n c e l → E S C
+ 0 1 2 3 4 5 6 7 8 9 。 u
F n H o m i n gG O → S E TC a n c e l → E S C
+ 0 1 2 3 4 5 6 7 8 9 。 u
F n H o m i n g
C a n c e l → E S C+ 0 1 2 3 4 5 6 7 8 9 。 u
F n H o m i n gC o m p l e t e → E S C
+ 0 1 2 3 4 5 6 7 8 9 。 u
CHAPTER 6 TEST OPERATION MODE
6-6 Automatic operation
6
6.4 Automatic operation
Perform automatic operation using the servo operator keys. The positioning operation follows
the registered positioning data. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "04: Auto"
using the [V] key, and then press the [SET] key. Press the [Start] key to execute automatic operation.
(1) Automatic operation (4) Automatic operation is complete.
(2) Automatic operation start (3) Automatic operation being executed.
See the next page. (5) Automatic operation stop
ESC SET
SET
F n ▲▼
0 2 : P r e s e t0 3 : H o m i n g0 4 : A u t o
F n A u t o S t a r tP O : 0 1M N 1 : S P E E D f bM N 2 : S P E E D c m d
C a n c e l0 1 A B S- 6 0 0 0 r/ min- 6 0 0 0 r/ min
F n A u t o S t a r tP O : 0 1M N 1 : S P E E D f bM N 2 : S P E E D c m d
C o m p l e t e0 1 A B S- 6 0 0 0 r/ min- 6 0 0 0 r/ min
SET
SET SET ∨ ∧
CHAPTER 6 TEST OPERATION MODE
Automatic operation 6-7
6
(6) Address selection
(7) The monitor 1 is selected.
(8) The monitor 2 is selected.
F n A u t o S t a r tP O : 0 1M N 1 : S P E E D f bM N 2 : S P E E D c m d
∨ ∧
F n A u t o S t a r tP O : 0 1M N 1 : S P E E D f bM N 2 : S P E E D c m d
∨ ∧
F n A u t o S t a r tP O : 0 1M N 1 : S P E E D f bM N 2 : S P E E D c m d
F n A u t o0 1 : S P E E D f b0 2 : S P E E D c m d0 3 : T O R Q c m d ▼
F n A u t o0 1 : S P E E D f b0 2 : S P E E D c m d0 3 : T O R Q c m d ▼
ESC
SET
ESC
SET
ESC
SET
F n A u t oP O : 0 1 ▲M N 1 : S P E E D f bM N 2 : S P E E D c m d
CHAPTER 6 TEST OPERATION MODE
6-8 Alarm Reset
6
6.5 Alarm Reset
Reset the alarm being detected by the servo amplifier. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "05: ALM
Reset" using the [V] key, and then press the [SET] key. Press the [SET] key to complete the alarm
reset.
(1) Alarm reset
(2) Operation selection
(3) The alarm has been reset.
ESC SET
F n A L M R e s e tG O → S E TC a n c e l → E S C
ESC SET
F n A L M R e s e tC o m p l e t e → E S C
F n ▲▼
0 3 : H o m i n g0 4 : A u t o0 5 : A L M R e s e t
CHAPTER 6 TEST OPERATION MODE
Alarm Reset 6-9
6
・Some alarms cannot be released by the alarm reset. Cycle the power to reset those alarms.
Display Name Display Name
OC1 Overcurrent 1 ET1 Encoder trouble 1
OC2 Overcurrent 2 ET2 Encoder trouble 2
OS Overspeed CT Circuit trouble
HV Overvoltage DE Memory error
TH Braking transistor
overheat FB Fuse broken
EC Encoder communication
error CE Motor combination error
OL1 Overload1 CTE Cont (control signal)
error
OL2 Overload2
RH3 Braking transistor error
LVP Main power
undervoltage
RH4
Inrush current
suppression circuit
trouble
RH1 Internal braking resistor
overheat DL1 Absolute data Lost 1
RH2 External braking resistor
overheat DL2 Absolute data Lost 2
OF Deviation overflow DL3 Absolute data Lost 3
AH Amplifier overheat AF Multi-turn data over flow
EH Encoder overheat
IE Initial error
■ Alarms that are released
by the alarm reset
■ Alarms that cannot be
released by the alarm reset
CHAPTER 6 TEST OPERATION MODE
6-10 Initializing Alarm History
6
6.6 Initializing Alarm History
Erase the alarm detection history that the servo amplifier has recorded. The alarm history can
be displayed by executing the alarm history copy in the copy mode. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "06: ALM INIT"
using the [V] key, and then press the [SET] key. Press the [SET] key to initialize the alarm history.
(1) Alarm history initialization
(2) Operation selection
(3) The alarm history has been initialized.
ESC SET
F n A L M I N I TG O → S E TC a n c e l → E S C
ESC SET
F n A L M I N I TC o m p l e t e → E S C
F n ▲▼
0 4 : A u t o0 5 : A L M R e s e t0 6 : A L M I N I T
CHAPTER 6 TEST OPERATION MODE
Initializing Parameters 6-11
6
6.7 Initializing Parameters
Initialize the parameters of the servo amplifier. Make sure to cycle the power after initialization. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "07: PA INIT"
using the [V] key, and then press the [SET] key. Press the [SET] key to initialize the parameters.
(1) Parameter initialization
(2) Operation selection
(3) The parameter has been initialized.
ESC SET
ESC SET
F n P A I N I TG O → S E TC a n c e l → E S C
F n P A I N I TC o m p l e t e → E S C
F n ▲▼
0 5 : A L M R e s e t0 6 : A L M I N I T0 7 : P A I N I T
CHAPTER 6 TEST OPERATION MODE
6-12 Initializing Positioning Data
6
6.8 Initializing Positioning Data
Set all the positioning data of the servo amplifier to the default value. Make sure to cycle the
power after initialization. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "08: PO INIT"
using the [V] key, and then press the [SET] key. Press the [SET] key to initialize the positioning data.
(1) Positioning data initialization
(2) Operation selection
(3) The positioning data has been initialized.
ESC SET
ESC SET
F n P O I N I TG O → S E TC a n c e l → E S C
F n P O I N I TC o m p l e t e → E S C
F n ▲▼
0 6 : A L M I N I T0 7 : P A I N I T0 8 : P O I N I T
CHAPTER 6 TEST OPERATION MODE
Auto Offset Adjustment 6-13
6
6.9 Auto Offset Adjustment
Set the current input voltage at the analog speed and torque command voltage input terminals
[VREF] / [TREF] to 0 [V]. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "09: A/D
Offset" using the [V] key, and then press the [SET] key. Press the [SET] key to execute the auto offset
adjustment.
(1) Auto offset adjustment.
(2) Operation selection
(3) The auto offset adjustment is complete.
• The adjustment result is stored to the parameter PA3_32.
• Offset adjustment may also be required due to the environmental variation around the
servo amplifier. However, do not select that when controlling the servo amplifier using
the speed command voltage and the frequency dividing output pulse (feedback) in the
host controller.
ESC SET
ESC SET
F n A / D O f f s e tG O → S E TC a n c e l → E S C
F n A / D O f f s e tC o m p l e t e → E S C
F n ▲▼
0 7 : P A I N I T0 8 : P O I N I T0 9 : A / D O f f s e t
CHAPTER 6 TEST OPERATION MODE
6-14 Z-phase Offset Setting
6
6.10 Z-phase Offset Setting
The current position is set to Z-phase. By setting the Z-phase offset, the distance between
current position and the Z-phase will be automatically set to the parameter PA1_12: Z-phase
offset. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "10:Z Offset"
using the [V] key, and then press the [SET] key. Press the [SET] key to set the Z-phase offset.
(1) Z-phase offset setting
(2) Operation selection
(3) The Z-phase offset has been set.
ESC SET
ESC SET
F n Z O f f s e tG O → S E TC a n c e l → E S C
F n Z O f f s e tC o m p l e t e → E S C
F n ▲▼
0 8 : P O I N I T0 9 : A / D O f f s e t1 0 : Z O f f s e t
CHAPTER 6 TEST OPERATION MODE
Easy Tuning 6-15
6
6.11 Easy Tuning
By operating the servomotor automatically, the auto tuning gain is automatically adjusted. Even
if not connected to a host device, optimal adjustment is enabled.
There are two types of operation pattern: slow running and easy tuning. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "11: Easy
TUNE" using the [V] key, and then press the [SET] key. Select the operation profile and the parameters.
Press the [SET] key to execute the easy tuning.
The parameters which can be edited for slow running and easy tuning are as follows:
Direction Pattern name Distance No. of times Acc. time Dec. time Speed Timer FWD REV
Slow running PA1_20 Once PA1_37 PA1_38 10 r/min PA1_22 PA1_23 Easy tuning PA1_20 Max. 50 Auto Auto PA1_21 PA1_22 PA1_23
CHAPTER 6 TEST OPERATION MODE
6-16 Easy Tuning
6
(1) Easy tuning
(2) Operation selection
(3) Parameter setting
(4) Tuning start Tuning being suspended
(5) Being tuned. (6) Tuning is complete.
ESC SET
ESC SET
F n E a s y T U N E1 : S l o w R u n2 : E a s y T U N E
F n E a s y T U N E1 : S l o w R u n2 : E a s y T U N E
N E X TP A 1 - 2 0P A 1 - 2 2P A 1 - 2 3P A 1 - 3 7 ▼
ESC SET
S t a r tG a i n : 4 0M N 1 : S P E E D f bM N 1 : S P E E D c m d
C a n c e lG a i n : 4 0- 6 0 0 0 . 0 0- 3 0 0 . 0 0
ESC SET
G a i n : 1 2
C o m p l e t e → E S C
G a i n : 4 0R e s t a r t → S E TC a n c e l → E S C
∨
∧
F n ▲
▼
0 9 : A / D O f f s e t1 0 : Z O f f s e t1 1 : E a s y T U N E
CHAPTER 6 TEST OPERATION MODE
Profile Operation 6-17
6
6.12 Profile Operation
The servomotor can be operated continuously. Once started, the operation is continuously
carried out in forward and reverse direction (according to the parameter PA1_23) until the
operation is stopped.
Continuous operation can be carried out even if a servo amplifier does not connected to a host
controller. Thus it is useful to check the effective torque. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "12: PTN OPE"
using the [V] key, and then press the [SET] key. Set the parameters and press the [SET] key to execute
the profile operation.
The parameters which can be edited for slow-run and easy-tuning are as follows:
(1) Profile operation (4) The profile operation being carried out.
(2) Parameter setting (5) The profile operation being suspended.
(3) The profile operation start
ESC SET
ESC SET
ESC SET
N E X TP A 1 - 2 0P A 1 - 2 2P A 1 - 2 3P A 1 - 3 7 ▼
S t a r tG a i n : 4 0M N 1 : S P E E D f bM N 1 : S P E E D c m d
C a n c e lG a i n : 4 0- 6 0 0 0 . 0 0- 3 0 0 . 0 0
G a i n : 1 2R e s t a r t → S E TC a n c e l → E S C
Direction Profile name Distance No. of times Acc. time Dec. time Speed Timer FWD REVProfile
operation PA1_20 Infinite PA1_37 PA1_38 PA1_21 PA1_22 PA1_23
ESC SET
F n ▲
▼
1 0 : Z O f f s e t1 1 : E a s y T U N E1 2 : P T N O P E
CHAPTER 6 TEST OPERATION MODE
6-18 Sequence Test Mode
6
6.13 Sequence Test Mode
The sequence test mode can be used to issue the sequence output signals and display status
without connecting the servomotor as if the servomotor is actually roatating in response input
signals.
The mode is also used for programs (sequence check) of host controllers. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "13: SEQ Test"
using the [V] key, and then press the [SET] key. Select the encoder type, and press the [SET] key to
execute the sequence test mode.
(1) Sequence test mode
(2) Encoder type selection
(3) Starting the sequence test mode
(4) During the sequence test mode
• Display during the sequence
test mode will be followings
1) ALPHA5 Smart
The four-digit seven-segment
characters blink at intervals of a
few seconds on the keypad. The
display does not blink during
operating keys and editing
parameters.
2) ALPHA5
The status indicator LED (orange)
blinks.
Interval :
lit for 0.95 sec → off for 1.2 sec
• The sequence test mode cannot
be turned off if switched from
“SEQ Test” display to another
mode. To end the operation of
the mode, cycle the main
power.
When the parameter PA2_89 is
set to “1”, change the parameter
to “0”and cycle the main power.
ESC SET
ESC SET
F n ▲
▼
1 1 : E a s y T U N E1 2 : P T N O P E1 3 : S E Q T e s t
F n S E Q T e s tE n c o d e r 2 0 b i t
1 8 b i t1 7 b i t
F n S E Q T e s tG O → S E TC a n c e l → E S C
F n S E Q T e s t
C o m p l e t e→ E S C
ESC SET
CHAPTER 6 TEST OPERATION MODE
Teaching Mode 6-19
6
6.14 Teaching Mode
After operating the servomotor in manual operation or pulse operation, the stop position is
written to a specified address as the positioning data.
The data to be written is stop position only. Other positioning data need to be set separately. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "14: Teaching"
using the [V] key, and then press the [SET] key. Select the address and press the [SET] key to execute
teaching (writing).
(1) Teaching mode
(2) The address 1 is selected.
(3) The address 2 is selected.
(4) The address 15 is selected. (5) Data have been written.
ESC SET
F n T e a c h i n gP O : 0 1 ▲- 1 2 3 4 5 6 7 8 9 0 .T e a c h i n g → S E T
∨ ∧
F n T e a c h i n gP O : 0 2 ▲ ▼- 1 2 3 4 5 6 7 8 9 0 .T e a c h i n g → S E T
F n T e a c h i n gP O : 1 5 ▼- 1 2 3 4 5 6 7 8 9 0 .T e a c h i n g → S E T
∨ ∧
F n ▲
▼
1 2 : P T N O P E1 3 : S E Q T e s t1 4 : T e a c h i n g
ESC
SET
F n T e a c h i n gC o m p l e t e → E S C
- 1 2 3 4 5 6 7 8 9 0 . u
CHAPTER 6 TEST OPERATION MODE
6-20 Command Cumulative Pulse Clear
6
6.15 Command Cumulative Pulse Clear
This function can be used to reset the command cumulative pulse of the servomotor. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "15: CMD
PLSCLR" using the [V] key, and then press the [SET] key. Press the [SET] key to clear the command
cumulative pulse.
(1) Command cumulative pulse clear
(2) Operation selection
(3) The command cumulative pulse has been cleared.
ESC SET
F n C M D P L S C L RG O → S E TC a n c e l → E S C
ESC SET
F n C M D P L S C L RC o m p l e t e → E S C
F n ▲
▼
1 3 : S E Q T e s t1 4 : T e a c h i n g1 5 : C M D P L S C L R
CHAPTER 6 TEST OPERATION MODE
Feedback Cumulative Pulse Clear 6-21
6
6.16 Feedback Cumulative Pulse Clear
This function can be used to reset the feedback cumulative pulse of the servomotor. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "16: FB
PLSCLR" using the [V] key, and then press the [SET] key. Press the [SET] key to clear the feedback
cumulative pulse.
(1) Feedback cumulative pulse clear
(2) Operation selection
(3) The feedback cumulative pulse has been cleared.
ESC SET
ESC SET
F n ▲
▼
1 4 : T e a c h i n g1 5 : C M D P L S C L R1 6 : F B P L S C L R
F n F B P L S C L RG O → S E TC a n c e l → E S C
F n F B P L S C L R
C o m p l e t e→ E S C
CHAPTER 6 TEST OPERATION MODE
6-22 Communications Mode Check
6
6.17 Communications Mode Check
Use this function to check the communication setting of the servo amplifier. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "17: COM
Check" using the [V] key, and then press the [SET] key. Press the [SET] key to check the
communications status and show the result.
(1) Communications mode check (3) Communications mode check being executed
(2) Station no. selection (4) Communications mode check completion 1
(4) Communications mode check completion 2
Display list
Item LCD display Content
PRTCL:PC PC loader protocol
Communications protocol
PRTCL:Modbus Modbus protocol
Baud:115200 115200bps
Baud:38400 38400bps
Baud:19200 19200bps
Communications baud rate
Baud:9600 9600bps
PARITY:ODD Odd parity Parity bit
PARITY:EVEN Even parity
STOP:1 1bit Stop bit
STOP:1or2 1bit or 2bit
ESC SET
F n ▲
▼
1 4 : C M D P L S C L R1 5 : F B P L S C L R1 6 : C O M C h e c k
F n C O M C h e c kA d d r e s s : 0 1 ▲
G O → S E TC a n c e l → E S C
F n C O M C h e c k
C h e c k i n g . . .
ESC SET
F n C O M C h e c k ▼P R T C L : P CB a u d : 3 8 4 0 0P a r i t y : O D D
F n C O M C h e c k ▲B a u d : 3 8 4 0 0P a r i t y : O D DS T O P : 1 o r 2
∨ ∧
CHAPTER 6 TEST OPERATION MODE
Alarm History 6-23
6
6.18 Alarm History
Alarm history can be displayed for last twenty alarms. Select the test operation mode using the [MODE] key. Check the cursor if it is located at the fourth line
(18: ALM HIST) using the [V] key, and then press the [SET] key. Select the desired alarm using the [Λ] /
[V] keys to show the status information of the alarm history.
(1) Alarm history
(2) Alarm history display
(3) History 2 is selected. Alarm status information
(4) History 20 is selected. Operation mode
ESC SET
∨ ∧
∨ ∧
F n ▲
▼
1 6 : C O M C h e c k1 7 : C O M C h e c k1 8 : A L M H I S T
F n A L M H I S TP r e s e n t O C 1H i s t 0 1 : O C 2
0 2 : O S0 3 : L V C ▼
F n A L M H I S TP r e s e n t O C 1H i s t 0 1 : O C 2
0 2 : O S0 3 : L V C ▼
F n A L M H I S TP r e s e n t O C 1H i s t 1 8 : O H ▲
1 9 : O F2 0 : O C 1
ESC
SETF n A L M H I S T 0 2A l m : O C 1P o n : 6 5 5 3 5 hC o n : 6 5 5 3 5 hM o t : 5 9 m 5 9 s
F n A L M H I S T 0 2E C : 6 5 5 3 5P - 2 1 4 7 4 8 3 6 4 7 uC m d : S p e e dM o d : U n d e r V L T
∨ ∧
CHAPTER 6 TEST OPERATION MODE
6-24 Changing Baud Rate
6
6.19 Changing Baud Rate
The baud rate of the servo operator can be changed. Select the test operation mode using the [MODE] key. Check the cursor if it is located at "19: Baud
Rate" using the [V] key, and then press the [SET] key. Press the [SET] key to check the baud rate.
(1) Baud rate change
(2) Displaying baud rate selection
(3) Operation selection
(4) The baud rate has been changed.
ESC SET
F n ▲
1 7 : C O M C h e c k1 8 : A L M H I S T1 9 : B a u d R a t e
F n B a u d R a t e3 8 4 0 0 b p s1 9 2 0 0 b p s
9 6 0 0 b p s1 1 5 2 0 0 b p s
F n B a u d R a t eG O → S E TC a n c e l → E S C
ESC SET
ESC SET
F n B a u d R a t eC o m p l r t e → E S C
CHAPTER 6 TEST OPERATION MODE
Adjusting Contrast 6-25
6
6.20 Adjusting Contrast
The contrast of the LCD for the servo operator can be adjusted. Select the test operation mode using the [MODE] key. Check the cursor if it is located at (20: Contrast)
by using the [V] key, and then press the [SET] key. Adjust the contrast of the LCD by using the [Λ] or [V]
key, and then press the [SET] key to confirm. The default value is set to “0”, and the setting range is
from “-10” to “10”. The contrast increases as the setting value is increased and decreases as it is
decreased.
(1) Contrast adjustment
(2) Contrast selection
ESC SET
∨ ∧
∨ ∧
F n ▲
1 8 : A L M H I S T1 9 : B a u d R a t e2 0 : C o n t r a s t
F n C o n t r a s t ▲
- 1 0 ▲
▼
G O → S E T
F n C o n t r a s t ▲
+ 0 0 ▲
▼
G O → S E T
F n C o n t r a s t ▲
+ 1 0 ▼G O → S E T
CHAPTER 6 TEST OPERATION MODE
6
6-26 Changing Baud Rate
CHAPTER 7 ERROR MESSAGE
7.1 When Connected to Amplifier ···········································································7-2 7.2 Monitor·················································································································7-2 7.3 Parameter Copy ··································································································7-2 7.4 Positioning Data Copy ·······················································································7-4 7.5 Alarm History ······································································································7-5
7
CHAPTER 7 ERROR MESSAGE
7-2 When Connected to Amplifier
7
7 Error Message
If an error message is displayed remove the cause of the error by referring to this chapter.
7.1 When Connected to Amplifier
Communications error (1) Hardware reason (2) Mismatch in baud rate
7.2 Monitor
Monitor
Communications error (1) Hardware reason (2) Mismatch in baud rate
7.3 Parameter Copy
Loading and writing parameters
Communications error (1) Hardware reason (2) Mismatch in baud rate
Setting error
Input error or similar reason
EEPROM writing error
(1) Parts fault in the servo operator (2) EEPROM built in the servo operator has been overwritten
more than 100,000 times.
C o m m u n i c a t i o nE r r o r
P A R e a d & S a v eE R R O R 2D a t a E r r o r
→ E S C
P A R e a d & S a v eE R R O R 3E E P R O M E r r o r
→ E S C
C o m m u n i c a t i o nE r r o r
C o m m u n i c a t i o nE r r o r
CHAPTER 7 ERROR MESSAGE
Parameter Copy 7-3
7
Parameter copy Communications error
(1) Hardware reason (2) Mismatch in baud rate
Setting error
Input error or similar reason
Writing error
Writing is attempted when writing is not enabled.
Parameter verification Communications error
(1) Hardware reason (2) Mismatch in baud rate
Setting error
Input error or similar reason
P A W r i t eE R R O R 1T i m e O u t
→ E S C
P A W r i t eE R R O R 2D a t a E r r o r
→ E S C
P A W r i t eE R R O R 4W r i t e E r r o r
→ E S C
P A V e r i f yE R R O R 2D a t a E r r o r
→ E S C
P A W r i t eE R R O R 1T i m e O u t
→ E S C
CHAPTER 7 ERROR MESSAGE
7-4 Positioning Data Copy
7
7.4 Positioning Data Copy
Loading and writing positioning data Communications error
(1) Hardware reason (2) Mismatch in baud rate
Setting error
Input error or similar reason
EEPROM writing error
(1) Parts fault in the servo operator
(2) EEPROM built in the servo operator has been overwritten more than 100,000 times.
Positioning data copy Communications error
(1) Hardware reason (2) Mismatch in baud rate
Setting error
Input error or similar reason
Writing error
Writing is attempted when writing is not enabled.
P O R e a d & S a v eE R R O R 1T i m e O u t
→ E S C
P O R e a d & S a v eE R R O R 2D a t a E r r o r
→ E S C
P O R e a d & S a v eE R R O R 3E E P R O M E r r o r
→ E S C
P O W r i t eE R R O R 1T i m e O u t
→ E S C
P O W r i t eE R R O R 2D a t a E r r o r
→ E S C
P O W r i t eE R R O R 4W r i t e E r r o r
→ E S C
CHAPTER 7 ERROR MESSAGE
Alarm History 7-5
7
Positioning data verification
Communications error
(1) Hardware reason (2) Mismatch in baud rate
Setting error
Input error or similar reason
7.5 Alarm History
Alarm history Communications error
(1) Hardware reason (2) Mismatch in baud rate
Setting error
Input error or similar reason
EEPROM writing error
(1) Parts fault in the servo operator
(2) EEPROM built in the servo operator has been overwritten more than 100,000 times.
P O V e r i f yE R R O R 2D a t a E r r o r
→ E S C
A L R e a d & S a v eE R R O R 1T i m e O u t
→ E S C
A L R e a d & S a v eE R R O R 2D a t a E r r o r
→ E S C
A L R e a d & S a v eE R R O R 3E E P R O M E r r o r
→ E S C
P A W r i t eE R R O R 1T i m e O u t
→ E S C
CHAPTER 7 ERROR MESSAGE
7-6 Alarm History
7
APPENDIX ■Parameter List
Basic Setting Parameter ························································································· A-2 Control Gain and Filter Setting Parameter···························································· A-5 Automatic Operation Setting Parameter ······························································· A-8 Extended Function Setting Parameter ································································ A-10 Input Terminal Function Setting Parameter························································ A-13 Output Terminal Function Setting Parameter····················································· A-15 Revision History····································································································· A-17
Product Warranty ····································································································· A-18 Service Network ······································································································· A-19
A
APPENDIX
A-2 Basic Setting Parameter
A
Basic Setting Parameter
For the parameters for which “power” is described as “〇” in the following tables, cycle the power once to enable the parameter setting. (Check if the keypad display(7-segment) is off after the power is turned off.)
Parameter List (PA1_□□)
No. PA1_ Name Setting range Default Power
Record of reference
value
01 Control mode selection
0: Position 1: Speed 2: Torque 3: Position ⇔ speed 4: Position ⇔ torque 5: Speed ⇔ torque 6: Extension mode 7: Positioning operation
0 ○
02 INC/ABS system selection 0: INC 1: ABS 2: Non-overflow absolute system (not detect the multi-turn overflow)
0 ○
03 Command pulse form selection
0: Command pulse/direction 1: Forward/reverse pulse 2: A / B phase pulse
1 ○
04 Rotation direction selection
0: CCW rotation at forward command 1: CW rotation at forward command
0 ○
05 Number of command input pulses per revolution
0: Electronic gear ( PA1_06/07) is enabled 64 to 1048576 [pluse]: This parameter setting is enabled.
0 ○
06 Numerator 0 of electronic gear 1 to 4194304 16 -
07 Denominator of electronic gear 1 to 4194304 1 -
08 Number of output pulses per revolution
0: Electronic gear (PA1_09/10) is enabled. 16 to 262144[pulse]: This parameter setting is enabled.
2048 ○
09 Numerator of electric gear for output pulses 1 to 4194304 1 ○
10 Denominator of electric gear for output pulses 1 to 4194304 16 ○
11 Output pulse phase selection at CCW rotation
0: B-phase pulse lead at CCW rotation 1: A-phase pulse lead at CCW rotation
0 ○
12 Z-phase position offset 20 bit PG: 0 to 1048575 [pulse] 18 bit PG: 0 to 262143 [pulse] 0 ○
APPENDIX
Basic Setting Parameter A-3
A
No. PA1_ Name Setting range Default Power
Record of reference
value
13 Tuning mode selection
10: Auto tuning 11: Semi-auto tuning 12: Manual tuning 13: Interpolation operation mode 14: Trace operation mode 15: Shorter cycle time operation mode
10 -
14 Load inertia ratio
GYS, GYC 750W or less: 0.0 to 300.0 [times] GYS, GYC 1kW or more: 0.0 to 100.0 [times] GYG: 0.0 to 30.0 [times]
1.0 -
15 Auto tuning gain 1 1 to 40 12 -
16 Auto tuning gain 2 1 to 12 4 -
20 Easy tuning: stroke setting 0.01 to 200.00 [rev] 2.00 -
21 Easy tuning: speed setting 10.00 to max. rotation speed [r/min] 500.00 -
22 Easy tuning: timer setting 0.000 to 5.000 [s] 1.500 -
23 Easy tuning: direction selection
0: Forward ⇔ reverse rotation 1: Forward rotation only 2: Reverse rotation only
0 -
25 Max. rotation speed (for position and speed control)
-
26 Max. rotation speed (for torque control)
GYS, GYC750W or less: 0.01 to 6000 [r/min] GYS, GYC1kW or less: 0.01 to 5000 [r/min] GYG: 0.01 to 3000 [r/min]
6000,00 (GYS, GYC 750W or less) 5000,00 (GYS, GYC 1kW or less) 3000,00 (GYG)
-
27 Forward rotation torque limit 0 to 300 [%] 300 -
28 Reverse rotation torque limit 0 to 300 [%] 300 -
29 Speed coincidence range 10 to max. rotation speed [r/min] 50 -
30 Zero speed range 10 to max. rotation speed [r/min] 50 -
31 Deviation unit selection 0: Unit 1: Pulse 0 -
32 Zero deviation range /In-position range 0 to 200000 [pulse] or [units] 100 -
33 In-position output format 0: Level 1: Single shot 0 ○
APPENDIX
A-4 Basic Setting Parameter
A
No. PA1_ Name Setting range Default Power
Record of reference
value
34 In-position minimum OFF time/ Single shot ON time 1 to 1000 [ms] 20 -
35 In-position judgment time 0 to 1000 [ms] 0 -
36 Acceleration / deceleration selection at speed control 0: Disable 1: Enable 0 -
37 Acceleration time 1 100.0
38 Deceleration time 1 100.0
39 Acceleration time 2 500.0
40 Deceleration time 2
0.0 to 99999.9 [ms]
500.0
-
41
Manual feed speed 1 for position and speed control/ speed limit 1 for torque control
100.00
42
Manual feed speed 2 for position and speed control/ speed limit 2 for torque control
500.00
43
Manual feed speed 3 for position and speed control/ speed limit 3 for torque control
1000.00
44
Manual feed speed 4 for position and speed control/ speed limit 4 for torque control
100.00
45
Manual feed speed 5 for position and speed control/ speed limit 5 for torque control
100.00
46
Manual feed speed 6 for position and speed control/ speed limit 6 for torque control
100.00
47
Manual feed speed 7 for position and speed control/ speed limit 7 for torque control
0.01 to max. rotation speed [r/min]
100.00
-
APPENDIX
Control Gain and Filter Setting Parameter A-5
A
Control Gain and Filter Setting Parameter
For the parameters for which “power” is described as “〇” in the following tables, cycle the power once to enable the parameter setting. (Check if the keypad display (7-segment) is off after the power is turned off.)
Parameter List (PA1_□□)
Default: *** Determined with the auto tuning.
No. PA1_ Name Setting range Default Power
Record of reference
value
51 Moving average S-curve time 0, 2 to 500(×0.125 [ms]) *** -
52 Low-pass filter (for S-curve) time constant 0.0 to 1000.0 [ms] 0.0 -
53 Command pulse smoothing function 0: Disable 1: Enable 0 -
54 Position command response time constant 0.00 to 250.00 [ms] *** -
55 Position loop gain 1 1 to 2000 [rad/s] *** -
56 Speed loop gain 1 1 to 2000 [Hz] *** -
57 Speed loop integration time constant 1 0.5 to 1000.0 [ms] *** -
58 Feed forward gain 1 0.000 to 1.500 0.000 -
59 Torque filter time constant for position and speed control
0.00 to 20.00 [ms] *** -
60 Torque filter time constant for torque control 0.00 to 20.00 [ms] 0.00 -
61 Gain changing factor
0: Position deviation (x10) 1: Feedback speed 2: Command speed 3: External switch (CONT signal switch)
1 -
62 Gain changing level 1 to 1000 50 -
63 Gain changing time constant 0 to 100 [ms] 1 -
64 Position loop gain 2 30 to 200 [%] 100 -
65 Speed loop gain 2 30 to 200 [%] 100 -
66 Speed loop integration time constant 2 30 to 200 [%] 100 -
67 Feed forward gain 2 30 to 200 [%] 100 -
68 Acceleration compensation gain for position control 0 to 200 [%] 0 -
70 Automatic notch filter selection
0: Disable 1: Enable 2: Enable (notch filter 1 only) 1 -
71 Notch filter 1 frequency 10 to 4000 [Hz] 4000 -
72 Notch filter 1 attenuation 0 to 40 [dB] 0 -
APPENDIX
A-6 Control Gain and Filter Setting Parameter
A
No. PA1_ Name Setting range Default Power
Record of reference
value
73 Notch filter 1 width 0 to 3 2 -
74 Notch filter 2 frequency 10 to 4000 [Hz] 4000 -
75 Notch filter 2 attenuation 0 to 40 [dB] 0 -
76 Notch filter 2 width 0 to 3 2 -
77 Automatic vibration suppressing selection
0: Disable 1: Enable 2: Communications setting 0 -
78 Vibration suppressing anti resonance frequency 0 1.0 to 300.0 [Hz] 300.0 -
79
Vibration suppressing workpiece inertia ratio (vibration suppressing resonance frequency) 0
0 to 80 [%] 0 -
80 Vibration suppressing anti resonance frequency 1 1.0 to 300.0 [Hz] 300.0 -
81
Vibration suppressing workpiece inertia ratio (vibration suppressing resonance frequency) 1
0 to 80 [%] 0 -
82 Vibration suppressing anti resonance frequency 2 1.0 to 300.0 [Hz] 300.0 -
83
Vibration suppressing workpiece inertia ratio (vibration suppressing resonance frequency) 2
0 to 80 [%] 0 -
84 Vibration suppressing anti resonance frequency 3 1.0 to 300.0 [Hz] 300.0 -
85
Vibration suppressing workpiece inertia ratio (vibration suppressing resonance frequency) 3
0 to 80 [%] 0 -
86 Vibration suppressing damping coefficient 0.0000 to 0.1000 0.0000 -
87 Model torque filter time constant 0.00 to 20.00 [ms] *** -
88 Position loop integration time constant 1.0 to 1000.0 [ms] *** -
89 Position loop integration limiter 0 to max. rotation speed [r/min] 0 -
90 Load torque observer 0: Disable 1: Enable 0 -
91 P/PI automatic change selection 0: Disable 1: Enable 0 -
92 Speed range for friction compensation 0.1 to 20.0 [r/min] 10.0 -
93 Coulomb friction torque for friction compensation 0 to 50 [%] 0 -
APPENDIX
Control Gain and Filter Setting Parameter A-7
A
No. PA1_ Name Setting range Default Power
Record of reference
value
94 Torque filter setting mode
1 -
95 Model torque calculation selection, speed observer selection
3 -
96 Speed limit gain for torque control 0.0 to 50.0 10.0 -
Set
ting
valu
e
PA1_59 PA1_87
0 Do not set automatically.
Set automatically.
1 Set automatically.
Set automatically.
2 Do not set automatically.
Do not set automatically.
3 Set automatically.
Do not set automatically.
S
ettin
g
Model torque calculation
Speed observer
0 Disable Disable
1 Enable Disable
2 Disable Enable
3 Enable Enable
APPENDIX
A-8 Automatic Operation Setting Parameter
A
Automatic Operation Setting Parameter
For the parameters for which “power” is described as “〇” in the following tables, cycle the power once to enable the parameter setting. (Check if the keypad display (7-segment) is off after the power is turned off.)
Parameter List (PA2_□□)
No. PA2_ Name Setting range Default Power
Record of reference
value
01 Decimal point position of positioning data
0:0 1:0.1 2:0.01 3:0.001 4:0.0001 5:0.00001 0 -
06 Homing speed 0.01 [r/min] to max. rotation speed [r/min] 500.00 -
07 Creep speed for homing 0.01 [r/min] to max. rotation speed [r/min] 50.00 -
08 Starting direction for homing 0: Forward rotation 1: Reserve rotation 2: Condition judgment start
0 ○
09 Reverse traveling unit amount for homing 0 to 2000000000 [units] 0 -
10 Homing direction after reference signal detection
0: Forward rotation 1: Reverse rotation 0 ○
11 Reference signal for shift operation
0: Home position LS 1: Encoder Z-phase 2: +OT 3:-OT 4: Interrupt input5: Stopper
1 ○
12 Reference signal for homing (Deceleration starting signal)
0: Home position LS 1:+OT 2:-OT 0 ○
13 Home position LS signal edge selection
0: Rising edge 1: Trailing edge 0 ○
14 Home position shift unit amount 0 to 2000000000 [units] 1000 -
15 Deceleration operation for creep speed
0: Reverse rotation is disabled 1: Reverse rotation is enabled 0 ○
16 Home position after homing completion
-2000000000 to 2000000000 [units] 0 -
17 Home position detection range
0: Always ON after homing completion 1 to 2000000000 [units]
0 -
18 Deceleration time at OT during homing 0.0 to 99999.9 [ms] 100.0 -
19 Preset position -2000000000 to 2000000000 [units] 0 -
20 Interrupt traveling unit amount 1 to 2000000000[units] 100000 -
22 Detection time for contact-stopper 0 to 10000 [ms] 0 -
23 Torque limit for contact-stopper 0 to 100 [%] 0 -
24 Selection of operation at OT during homing
0: Reverse rotation 1: Stop and cancel the homing 0 ○
APPENDIX
Automatic Operation Setting Parameter A-9
A
No. PA2_ Name Setting range Default Power
Record of reference
value Software OT selection (PA1_01=1 to 6) 0: Disable 1: Enable
25 Positioning operation type (PA1_01=7)
0: Normal PTP 1: Positioning start with zero position preset
0 ○
26 Positive software OT detection position
-2000000000 to 2000000000[units] 2000000000 -
27 Negative software OT detection position
-2000000000 to 2000000000[units] -2000000000 -
28 Positive limiter detection position
-2000000000 to 2000000000[units] 2000000000 -
29 Negative limiter detection position
-2000000000 to 2000000000[units] -2000000000 -
31 Point detection, area detection
0: Point detection 1: ON for positive side 2: ON for negative side
0 -
32 Point detection, area detection position 1
-2000000000 to 2000000000[units] 0 -
33 Point detection, area detection position 2
-2000000000 to 2000000000[units] 0 -
34 Point detection range 0 to 2000000000[units] 100 -
36 Override 1 10 -
37 Override 2 20 -
38 Override 4 40 -
39 Override 8
0 to 150 [%]
80 -
40 Internal positioning data selection 0: Disable 1: Enable 0 -
41 Sequential start selection 0: Disable 1: Enable 2: Homing 3: Immediate value data operation
0 ○
42 Decimal point position of stand still timer 0:0.01 1:0.001 0 -
43 Output selection at M code OFF 0:00‘H 1:FF’H 1 ○
44 Positioning extended function
0: Internal command completion 1: Internal feedback completion 0 ○
APPENDIX
A-10 Extended Function Setting Parameter
A
Extended Function Setting Parameter
For the parameters for which “power” is described as “〇” in the following tables, cycle the power once to enable the parameter setting. (Check if the keypad display (7-segment) is off after the power is turned off.)
List (PA2_ )
No. PA2_ Name Setting range Default Power
Record of reference
value
51 Numerator 1 of electronic gear
52 Numerator 2 of electronic gear
53 Numerator 3 of electronic gear
1 to 4194304 1 -
54 Command pulse ratio 1 1.00 -
55 Command pulse ratio 2 0.01 to 100.00
10.00 -
56 Speed limit selection at torque control
0: Parameter (PA1_26) 1: As per multi-step speed selection inc. VREF terminal voltage
0 ○
57 Torque limit selection 0: As per CONT signal torque limit 0/1 1:TREF terminal voltage
0 ○
58 Second torque limit 0 to 300 [%] 300 -
59 Deviation hold selection at torque limit
0: No deviation hold 1: Deviation hold at second torque limit 2: TREF terminal voltage
0 ○
60 Third torque limit 0 to 300 [%] 300 -
61 Action sequence at servo-on OFF 5 ○
62 Action sequence at alarm 5 ○
63 Action sequence at main power shutoff
3: Free-run at deceleration, free-run at stop 5: Emergency stop at deceleration / free-run at stop 5 ○
64 Torque keeping time to holding brake 0.00 to 9.99 [s] 0.00 -
65 Braking resistor selection 0: None 1: Internal resistor 2: External resistor
1 ○
66 Flying start at speed control 0: No flying start 1: Flying start 0 ○
67 Alarm detection at undervoltage
0: No detection 1: Detection 1 ○
69 Deviation detection overflow value 0.1 to 100.0 [rev] 15.0 -
70 Overload warning value 10 to 100 [%] 50 -
72 Station number for communications Station No.: 1 to 31 1 (RS485) ○
APPENDIX
Extended Function Setting Parameter A-11
A
No. PA2_ Name Setting range Default Power
Record of reference
value
73 Communication baud rate (RS-485)
0: 38400 [bps] 1: 19200 [bps] 2: 9600 [bps] 3: 115200 [bps] 0 ○
74 Parameter write protection 0: Write enable 1: Write protect 0 -
75 Positioning data write protection 0: Write enable 1: Write protect 0 -
77 Initial display of the keypad
0: Sequence mode 1: Feedback speed 2: Command speed 3: Command torque 4: Motor current 5: Peak torque 6: Effective torque 7: Feedback position 8: Command position 9: Position deviation 10: Command pulse frequency 11: Feedback cumulative pulse 12: Command cumulative pulse 13: LS-Z pulse 14: Load inertia ratio 15: DC link voltage (max.) 16: DC link voltage (min.) 17: VREF input voltage 18: TREF input voltage 19: Input signals 20: Output signals 21: OL thermal value 22: Braking resistor thermal value 23: Power (W) 24: Motor temperature 25: Overshoot unit amount 26: Settling time 27: Resonance frequency 1 28: Resonance frequency 2 40: Station number 41: Alarm at present 42: Alarm history 43: Warning at present 44: Total time - main power supply 46: Motor running time
0 ○
78 Display transition at warning detection
0: No transition 1: Transition to warning display 0 ○
80 Parameter in RAM 1
81 Parameter in RAM 2
82 Parameter in RAM 3
83 Parameter in RAM 4
84 Parameter in RAM 5
85 Parameter in RAM 6
0 : No setting 1 to 99 :PA1 1 to 99 101 to 199: PA2 1 to 99 201 to 299: PA3 1 to 99
0 ○
APPENDIX
A-12 Extended Function Setting Parameter
A
No. PA2_ Name Setting range Default Power
Record of reference
value
86 Positioning data in RAM 1
87 Positioning data in RAM 2
88 Positioning data in RAM 3
0 : No setting 1 to 15: Positioning data No. 0 ○
89 Sequence test mode: Mode selection
0: Normal mode 1: Sequence test mode 0 ○
90 Sequence test mode: Encoder selection 0: 20 bits 1: 18 bits 2: 17 bits 0 ○
93 Parity/stop bit selection (for Modbus)
0: Even parity with 1 stop bit 1: Odd parity with 1 stop bit 2: No parity with 1 stop bit 3: Even parity with 2 stop bits 4: Odd parity with 2 stop bits 5: No parity with 2 stop bits
0 ○
94 Response time (for Modbus) 0.00 to 1.00 [s] 0.00 -
95 Communication time over time (for Modbus)
0.00 [s]: No detection 0.01 to 9.99 [s] 0 -
97 Communication protocol selection
0: PC Loader protocol 1: Modbus RTU 0 ○
98 GY******2-T2*-* motor type setting
0: Not set 1:GYS500DC2-T2*-* 2:GYS101DC2-T2*-* 3:GYS201DC2-T2*-* 4:GYS401DC2-T2*-* 5:GYS751DC2-T2*-* 6:GYG501CC2-T2*-* 7:GYG751CC2-T2*-* 8:GYG102CC2-T2*-* 9:GYG152CC2-T2*-* 10:GYG202CC2-T2*-* 11:GYG501BC2-T2*-* 12:GYG851BC2-T2*-* 13:GYG132BC2-T2*-* 14:GYG182BC2-T2*-* 15:GYG292BC2-T2*-*
0 ○
99 Encoder selection 0: 20 bits or 18 bits 1: 17 bits 0 ○
APPENDIX
Input Terminal Function Setting Parameter A-13
A
Input Terminal Function Setting Parameter
For the parameters for which “power” is described as “〇” in the following tables, cycle the power once to enable the parameter setting. (Check if the keypad display (7-segment) is off after the power is turned off.)
List (PA3_ )
No. PA3_ Name Setting range Default Power
Record of reference
value
01 CONT1 signal assignment 1
02 CONT2 signal assignment 11
03 CONT3 signal assignment 0
04 CONT4 signal assignment 0
05 CONT5 signal assignment 0
06 Unused
07 Unused
08 Unused
09 CONT9 signal assignment 0
10 CONT10 signal assignment 0
11 CONT11 signal assignment 0
12 CONT12 signal assignment 0
13 CONT13 signal assignment 0
14 CONT14 signal assignment 0
15 CONT15 signal assignment 0
16 CONT16 signal assignment 0
17 CONT17 signal assignment 0
18 CONT18 signal assignment 0
19 CONT19 signal assignment 0
20 CONT20 signal assignment 0
21 CONT21 signal assignment 0
22 CONT22 signal assignment 0
23 CONT23 signal assignment 0
24 CONT24 signal assignment
1: Servo-on [S-ON] 2: Forward command [FWD] 3: Reverse command [REV] 4: Start positioning [START] 5: Homing [ORG] 6: Home position LS [LS] 7: +OT 8: -OT 10: Forced stop [EMG] 11: Alarm reset [RST] 14: ACC0 16: Position preset 17: Gain switch 19, 20: Torque limit 0,1 22: Immediate value continuation 23: Immediate value change 24: Electronic gear numerator selection 0 25: Electronic gear numerator selection 1 26: Command pulse inhibit 27,28: Command pulse ratio 1,2 29: Proportional control 31: Pause 32: Positioning cancel 34: External braking resistor overheat35: Teaching 36: Control mode selection 37: Position control 38: Torque control 43: Override enable 44: Override 1 45: Override 2 46: Override 4 47: Override 8 48: Interrupt input enable 49: Interrupt input 50: Deviation clear 51 to 53: Multi-step speed selection 1,2,3 54: Free-run 55: Edit permission 57: Anti resonance frequency selection 0 58: Anti resonance frequency selection 1 60 to 63: AD0 to 3 77: Positioning data selection 78: Broadcast cancel 0
○
APPENDIX
A-14 Input Terminal Function Setting Parameter
A
No. PA3_ Name Setting range Default Power
Record of reference
value
26 CONT always ON 1 0
27 CONT always ON 2 0
28 CONT always ON 3 0
29 CONT always ON 4 0
30 CONT always ON 5
0 to 78 [Setting disabled] 10: Forced stop [EMG] 11: Alarm reset [RST] 34: External braking resistor overheat50: Deviation clear 54: Free-run
0
○
31 Speed command scale ±1.0/ to ±100.0 [V]/ Rated rotation speed 5.0 -
32 Speed command offset -2000 to 2000 [mV] Factory setting -
33 Torque command scale ±1.0 to ±10.0 [V]/Rated torque 3.0 -
34 Torque command offset -200×10 to 200 [×10mV] Factory setting -
35 Zero clamp level 0 to 500 [r/min] 0 -
36 Deviation clear input form 0: Edge 1: Level 0 ○
39 Speed command fine adjustment gain 0.8000 to 1.2000 1.0000 -
40 Torque command fine adjustment gain 0.8000 to 1.2000 1.0000 -
APPENDIX
Output Terminal Function Setting Parameter A-15
A
Output Terminal Function Setting Parameter
For the parameters for which “power” is described as “〇” in the following tables, cycle the power once to enable the parameter setting. (Check if the keypad display (7-segment) is off after the power is turned off.)
List (PA3_ )
No. PA3_ Name Setting range Default Power
Record of reference
value
51 OUT1 signal assignment 1
52 OUT2 signal assignment 2
53 OUT3 signal assignment 76
54 Unused
55 Unused
56 OUT6 signal assignment 0
57 OUT7 signal assignment 0
58 OUT8 signal assignment 0
59 OUT9 signal assignment 0
60 OUT10 signal assignment 0
61 OUT11 signal assignment 0
62 OUT12 signal assignment 0
63 OUT13 signal assignment 0
64 OUT14 signal assignment 0
65 OUT15 signal assignment 0
66 OUT16 signal assignment 0
67 OUT17 signal assignment 0
68 OUT18 signal assignment 0
69 OUT19 signal assignment 0
70 OUT20 signal assignment 0
71 OUT21 signal assignment
1: Ready for servo-on [RDY] 2: In-position [INP] 11: Speed limit detection 13: Over write completion 14: Brake timing 16: Alarm detection (normally open contact) 17,18: Point detection, area 1,2 19: Limiter detection 20: OT detection21: Cycle end detection 22: Homing completion 23: Zero deviation 24: Zero speed 25: Speed coincidence 26: Torque limit detection 27: Overload warning 28: Servo control ready [S-RDY] 29: Edit permission response 30: Data error 31: Address error 32 to 36: Alarm code 0 to 4 38:+OT detection 39:-OT detection 40: Home position LS detection 41: Forced stop detection 45: Battery warning 46: Life warning 60 to 67: MD0 to 7 75: Position preset completion 76: Alarm detection (normally closed contact) 79: Immediate value continuation permission 80: Immediate value continuation completion 81: Immediate value change completion 82: Command position completion 83,84: Range position 1,2 85: Interrupt positioning detection 91 to 95: CONT a to e through
0
○
APPENDIX
A-16 Output Terminal Function Setting Parameter
A
No. PA3_ Name Setting range Default Power
Record of reference
value
81 Monitor 1 signal assignment 2 -
82 Monitor 2 signal assignment
1: Command speed. 2: Feedback speed. 3: Torque command. 4: Position deviation [unit/pulse]. 5: Position deviation 1/10 [units/pulse]. 6: Position deviation 1/100 [units/pulse]. 7: Command pulse frequency. 8: Speed deviation. 9: Motor current. 10: Effective torque. 11: DC link voltage. 12: OL thermal value. 13: Braking resistor thermal value. 14: Power (W). 15: Motor temperature. 16: Command speed (filtered)
3 -
83 Monitor 1 scale ±2.0 to ±100.0 [V] 7.0 -
84 Monitor 1 offset -50 to 50 0 -
85 Monitor 2 scale ±2.0 to ±100.0 [V] 6.0 -
86 Monitor 2 offset -50 to 50 0 -
87 Monitor 1/2 output format
0:Monitor 1 (both voltage output) / 2 (both voltage output) 1:Monitor 1 (single voltage output) / Monitor 2 (both voltage output) 2:Monitor 1 (both voltage output) / Monitor 2 (single voltage output) 3:Monitor 1 (single voltage output) / Monitor 2 (single voltage output)
0 -
88 Command pulse frequency sampling time for monitor
0:62.5[µs] 1:125[µs] 2:250[µs] 3:500[µs] 4:1[ms] 5:2[ms] 6:4[ms] 7:8[ms]
3 -
89 Feedback speed sampling time for monitor
0:62.5[µs] 1:125[µs] 2:250[µs] 3:500[µs] 4:1[ms] 5:2[ms] 6:4[ms] 7:8[ms]
1 -
92 Range 1 of position: Setting 1
-2000000000 to 2000000000 [units] 0 -
93 Range 1 of position: Setting 2
-2000000000 to 2000000000 [units] 0 -
94 Range 2 of position: Setting 1
-2000000000 to 2000000000 [units] 0 -
95 Range 2 of position: Setting 2
-2000000000 to 2000000000 [units] 0 -
APPENDIX
Revision History A-17
A
Revision History
Date of printing Index Description of revision
June 2010
None
First version
APPENDIX
A-18 Product Warranty
A
Product Warranty
APPENDIX
Service Network A-19
A
Service Network