SERVO OPERATOR - raadiran.com operator.pdf · CHAPTER 0 INTRODUCTION 0-1 0.1 Preface

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


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.


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


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.


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.


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


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)


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


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.


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)


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)

ＭｅｍｏｒｙＭｏｄｅ

Ｃｏｍｍｕｎｉｃａｔｉｎｇ


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


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.


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



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



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


Display in Operator Mode 1-11

1


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



1


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


CHAPTER 3 MONITOR MODE

3.1 Monitor·················································································································3-2 3.2 Changing Monitoring Contents ·········································································3-3

3


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


S n

P o s i t i o n C t r lS e r v o O n


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



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 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.



SET

SET




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


P A R e a d & S a v e0 1 ： - - - - - - - - - -0 2 ： - - - - - - - - - -0 3 ： - - - - - - - - - -0 4 ： - - - - - - - - - -


∨ ∧

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．．．．．


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 ： - - - - - - - - - -


O K ?Y e s → S E T

C a n c e l → E S C

ESC SET

CHAPTER 4 COPY MODE


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



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




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


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.


ESC SET

∨ ∧

ESC SET

ESC SET

ESC SET

ESC

∨ ∧

P A V e r i f y



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




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

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

∧ ∨




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


4

(8) Confirming the character.

(9) Moving the cursor.

(10) Selecting a character type.

(11) Selecting a figure.


(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

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 ▼


ESC SET

＜＞

∨ ∧


P A C h e c kP A 2 - 2 2

0



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.


ESC SET

∨ ∧

ESC SET ESC SET

ESC SET

ESC

P O R e a d & S a v e




S a v i n g．．．．．


C o m p l e t e

→ E S C



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.


ESC SET

∨ ∧

ESC SET

ESC SET

ESC SET

ESC

∨ ∧

P O W r i t e



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




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


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.


(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)



ESC SET

∨ ∧

ESC SET

ESC SET

ESC SET

ESC

∨ ∧

P O V e r i f y



P O V e r i f y

R e a d i n g．．．．．

P O V e r i f y





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


(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.


(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




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


4







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

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



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




S a v i n g．．．．．


C o m p l e t e→ E S C


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


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.


(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



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


A L V e r i f y0 1 ： S a v e d


CHAPTER 4 COPY MODE


4


(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


(4) Memory is selected. (6) Change the characters.

See the next page.

ESC SET

∨ ∧

ESC SET ＜＞

∧ ∨ ∨ ∧


A L R e n a m e0 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 R e n a m e

0 1 ： S a v e d0 1 ： S a v e d


CHAPTER 4 COPY MODE


4







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


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

∨ ∧


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 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

・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




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


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 J o gF W D → ▲ R E V → ▼- 6 0 0 0 r/ min- 6 0 0 0 r/ min


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.


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 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 ▼


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.


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



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


(3) Homing being executed.

(4) Homing is complete.


ESC SET

ESC SET

ESC SET

ESC

SET

ESC



+ 0 1 2 3 4 5 6 7 8 9 。 u


+ 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


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


C a n c e l0 1 A B S- 6 0 0 0 r/ min- 6 0 0 0 r/ min


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 ∨ ∧


Automatic operation 6-7

6

(6) Address selection




∨ ∧


∨ ∧


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


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


(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


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


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


(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


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


(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


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


(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


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.


(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


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


(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


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


6-16 Easy Tuning

6

(1) Easy tuning


(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


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


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


ESC SET


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


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


(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


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


(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



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

∨ ∧


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


0 2 ： O S0 3 ： L V C ▼


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

∨ ∧


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


(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


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


+ 0 0 ▲

▼

G O → S E T


+ 1 0 ▼G O → S E T


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


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


7.3 Parameter Copy

Loading and writing parameters


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




Parameter Copy 7-3

7

Parameter copy Communications error

(1) Hardware reason (2) Mismatch in baud rate

Setting error


Writing error

Writing is attempted when writing is not enabled.

Parameter verification Communications error


Setting error


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


→ E S C


7-4 Positioning Data Copy

7

7.4 Positioning Data Copy

Loading and writing positioning data Communications error


Setting 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


Setting error


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


Alarm History 7-5

7

Positioning data verification

Communications error


Setting error


7.5 Alarm History

Alarm history Communications error


Setting 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


→ E S C


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


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


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


500.00

43


1000.00

44


100.00

45


100.00

46


100.00

47


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.)


Default: *** Determined with the auto tuning.


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


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 －


81


0 to 80 [%] 0 －


83


0 to 80 [%] 0 －


85


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


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




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


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 －



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


List (PA2_ )


Record of reference

value

51 Numerator 1 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


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






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


Record of reference

value

86 Positioning data in RAM 1



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


List (PA3_ )


Record of reference

value

01 CONT1 signal assignment 1





06 Unused

07 Unused

08 Unused
















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


Record of reference

value

26 CONT always ON 1 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


List (PA3_ )


Record of reference

value

51 OUT1 signal assignment 1



54 Unused

55 Unused
















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


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 －


-2000000000 to 2000000000 [units] 0 －


-2000000000 to 2000000000 [units] 0 －


-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

Documents

SERVO OPERATOR - raadiran.com operator.pdf · CHAPTER 0 INTRODUCTION 0-1 0.1 Preface