How To Set Up A Servo Amplifier

Transcription

1 SERVO OPERATOR

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3 CHAPTER 0 INTRODUCTION 0 CHAPTER 1 INSTALLATION 1 CHAPTER 2 SEQUENCE MODE 2 CHAPTER 3 MONITOR MODE 3 CHAPTER 4 COPY MODE 4 CHAPTER 5 EDIT MODE 5 CHAPTER 6 TEST OPERATION MODE 6 CHAPTER 7 ERROR MESSAGE 7 APPENDIX A

4 Contents CHAPTER 0 INTRODUCTION Preface 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 Names and Functions of Parts Specifications Connection Display in Operator Mode Mode Mode Selection Functions List 1-10 CHAPTER 2 SEQUENCE MODE Sequence Mode 2-2 CHAPTER 3 MONITOR MODE Monitor Changing Monitoring Contents 3-3 CHAPTER 4 COPY MODE Copying Parameters Copying Positioning Data Copying Alarm History 4-15 CHAPTER 5 EDIT MODE Editing Parameters Editing Positioning Data 5-4 CHAPTER 6 TEST OPERATION MODE Manual Operation Position Preset Homing Automatic operation Alarm Reset 6-8

5 6.6 Initializing Alarm History Initializing Parameters Initializing Positioning Data Auto Offset Adjustment Z-phase Offset Setting Easy Tuning Profile Operation Sequence Test Mode Teaching Mode Command Cumulative Pulse Clear Feedback Cumulative Pulse Clear Communications Mode Check Alarm History Changing Baud Rate Adjusting Contrast 6-25 CHAPTER 7 ERROR MESSAGE When Connected to Amplifier Monitor Parameter Copy Positioning Data Copy 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

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7 0 CHAPTER 0 INTRODUCTION 0.1 Preface Safety Precautions 0-3

8 CHAPTER 0 INTRODUCTION 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. 0-2 Preface

9 CHAPTER 0 INTRODUCTION 0.2 Safety Precautions 0 (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 WARNING CAUTION Meaning Negligence of description will cause danger in which deaths or serious injuries may be caused. 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 Meaning symbol Do not touch Graphic symbol Meaning Make sure to make grounding Do not disassemble Notice of general prohibition Safety Precautions 0-3

10 CHAPTER 0 INTRODUCTION 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. 0-4 Safety Precautions

11 CHAPTER 0 INTRODUCTION Precautions on disposal CAUTION 0 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. Safety Precautions 0-5

12 CHAPTER 0 INTRODUCTION Safety Precautions

13 1 CHAPTER 1 INSTALLATION 1.1 Names and Functions of Parts Specifications Connection Display in Operator Mode Mode Mode Selection Functions List 1-10

14 CHAPTER 1 INSTALLATION Names and Functions of Parts RJ 45 (CN1) Connect a cable to the servo amplifier. USB Type B (CN2) Connect a cable to the PC. USB Type Mini B (CN3) Connect a cable to the PC. LCD display Indicators MODE key Press this key to select the operation mode. key Press this key to confirm settings. key Press this key to release the currently active operation mode. ALM RE key Press this key to release the alarm being raised. Arrow keys < / > / Λ / V Use these keys to move the cursor, and to increase or decrease figures. 1-2 Names and Functions of Parts

15 CHAPTER 1 INSTALLATION 1.2 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 Feedback speed, command speed, command torque, motor current, peak torque, effective torque, feedback position, command position, position deviation, command pulse frequency, feedback cumulative Monitor mode 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 Parameter (4 pcs.), positioning data (2 pcs.), alarm history (1 pc.) Function ( ) : no. of stored data Edit mode Parameter, positioning data Manual operation, position preset, homing, automatic operation, alarm reset, alarm history initialization, parameter initialization, Test operation mode 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 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 RS485 Transmission method Four-line half-duplex communications port baud rate 9,600, 19600, 38400, [bps] (CN1) Cable Straight LAN cable (commercial item ) Communications 1: 1 format 1 Specifications 1-3

16 CHAPTER 1 INSTALLATION Item Contents 1 USB port (CN2/ CN3) Operation 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) Communications 1: 1 format 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 environment 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) 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. 1-4 Specifications

17 CHAPTER 1 INSTALLATION 1.3 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. 1 RJ-45 (CN1) 10 BASE-T cable or similar item (EIA568-compliant item) IN port (CN3A) Internal wiring diagram: Servo operator 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 Connection 1-5

18 CHAPTER 1 INSTALLATION Connection with the PC loader (memory mode) 1 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. USB (A) - USB (mini-b) cable or USB (A) - USB (B) cable USB type-b (CN2) USB type mini-b (CN3) Display during communications M e m o r y M o d e C o m m u n i c a t i n g (The last line blinks.) Menu window of PC loader (Wizard Menu) 1-6 Connection

19 CHAPTER 1 INSTALLATION 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. 1 USB (A) USB (B) cable or USB (A) USB (mini-b) cable RJ-45 (CN1) USB type B (CN2) or USB type mini-b (CN3) 10 BASE-T cable or similar item (EIA568-compliant item) IN port (CN3A) OUT port (CN3B) Display during communications U S B - R S C o n v e r s i o n M o d e Communications setup for PC loader (PC LOADER for ALPHA5 and ALPHA5 Smart) C o n v e r t i n g (The last line blinks.) Connection 1-7

20 CHAPTER 1 INSTALLATION 1.4 Display in Operator Mode 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. 1-8 Display in Operator Mode

21 CHAPTER 1 INSTALLATION Mode Selection Select each mode using the [MODE]/[] keys. Turn on the power. 1 Being initialized. L O A D I N G... When the normal communication is successful: Sequence mode S n P o s i t i o n C t r l S e r v o O n [MODE] [] Monitor mode O n S t a r t M N 1 : S P E E D f b M N 2 : S P E E D c m d M N 3 : T O R Q c m d [MODE] [] Copy mode C o p y 0 1 : P A C o p y 0 2 : P O C o p y 0 3 : A L C o p y [MODE] [] Edit mode E d i t 0 1 : P A E d i t 0 2 : P O E d i t [MODE] [] Test operation mode F n 0 1 : J o g 0 2 : P r e s e t 0 3 : H o m i n g [MODE] [] Display in Operator Mode 1-9

22 CHAPTER 1 INSTALLATION Functions List 1 Mode Sub mode Display Sequence mode Sequence mode S n P o s i t i o n C t r l S e r v o O n Monitor mode Feedback speed Command speed Command torque, etc. O n S t a r t M N 1 : S P E E D f b M N 2 : S P E E D c m d M N 3 : T O R Q c m d Copy mode Parameter copy Read/write Transfer Verify Name change Data check P A C o p y 0 1 : R e a d & S a v e 0 2 : W r i t e 0 3 : V e r i f y 0 4 : R e n a m e Positioning data copy Read/write Transfer Verify Name change Data check P O C o p y 0 1 : R e a d & S a v e 0 2 : W r i t e 0 3 : V e r i f y 0 4 : R e n a m e alarm history copy Read/write Verify Name change Data check A L C o p y 0 1 : R e a d & S a v e 0 2 : V e r i f y 0 3 : R e n a m e 0 4 : C h e c k 1-10 Display in Operator Mode

23 CHAPTER 1 INSTALLATION Mode Sub mode Display Edit mode Parameter edit P A E d i t P A Test operation mode Positioning data edit Manual operation Position preset Homing Automatic operation Alarm reset P O E d i t 1 5 C M D : I N C M o d e : P 0 S P D : F n J o g N e x t P A M N 1 : S P E E D f b M N 2 : S P E E D c m d F n P r e s e t G O S E T C a n c e l E S C F n H o m i n g G O S E T C a n c e l E S C F n A u t o S t a r t P O : 0 1 M N 1 : S P E E D f b M N 2 : S P E E D c m d F n A L M R e s e t G O S E T C a n c e l E S C Alarm history initialization F n A L M I N I T G O S E T C a n c e l E S C Parameter initialization F n P A I N I T G O S E T C a n c e l E S C Positioning data initialization F n P O I N I T G O S E T C a n c e l E S C Auto offset adjustment F n A / D O f f s e t G O S E T C a n c e l E S C Display in Operator Mode 1-11

24 CHAPTER 1 INSTALLATION Mode Sub mode Display 1 Test operation mode Z-phase offset adjustment F n Z O f f s e t G O S E T C a n c e l E S C Easy tuning S t a r t M N 1 : S P E E D f b M N 2 : S P E E D c m d Profile operation S t a r t M N 1 : S P E E D f b M N 2 : S P E E D c m d Sequence test mode F n S E Q T e s t G O S E T C a n c e l E S C Teaching mode F n T e a c h i n g P O : 0 1 T e a c h i n g S E T u Command cumulative pulse clear F n C M D P L S C L R G O S E T C a n c e l E S C Feedback cumulative pulse clear F n F B P L S C L R G O S E T C a n c e l E S C Communications mode check Alarm history F n C O M C h e c k A d d r e s s : 0 1 G O S E T C a n c e l E S C F n A L M H I S T P r e s e n t O C 1 H i s t 0 1 : O C : O S 0 3 : L V C Servo operator baud rate change F n B a u d R a t e b p s b p s b p s b p s 1-12 Display in Operator Mode

25 2 CHAPTER 2 SEQUENCE MODE 2.1 Sequence Mode 2-2

26 CHAPTER 2 SEQUENCE MODE 2 Sequence Mode The sequence mode shows the servo amplifier status Sequence Mode This mode shows the operation status of the servo amplifier. Select the sequence mode using the [MODE] key. Sequence mode S n P o s i t i o n C t r l S e r v o O n 1st line 2nd line 3rd line Display list 1st line Sequence mode Sn 2nd line 3rd line Control mode Position control Speed control Torque control Sequence mode Servo off Servo on Zero speed stop Manual operation Pulse operation +OT -OT In LV Positioning Homing Interrupt positioning LCD display Position Ctrl Speed Ctrl Torque Ctrl LCD display Servo Off Servo On Zero Speed Manual Feed Pulse/POS + OT - OT Under Voltage Positioning Homing Interrupt Pos 2-2 Sequence Mode

27 3 CHAPTER 3 MONITOR MODE 3.1 Monitor Changing Monitoring Contents 3-3

28 CHAPTER 3 MONITOR MODE 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 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 [] key. Sequence mode S n P o s i t i o n C t r l S e r v o O n MODE Monitor mode O n S t a r t M N 1 : S P E E D f b M N 2 : S P E E D c m d M N 3 : T O R Q c m d Monitor O n r /m in r /m in + 0 % 3-2 Monitor

29 CHAPTER 3 MONITOR MODE 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 [] key. Select the item to be displayed using the [Λ] / [V] keys, and then confirm the setting by pressing the [] key. Monitor mode O n S t a r t M N 1 : S P E E D f b M N 2 : S P E E D c m d M N 3 : T O R Q c m d 3 Selecting the monitor 1 O n S t a r t M N 1 : S P E E D f b M N 2 : S P E E D c m d M N 3 : T O R Q c m d The monitor 1-01 is being selected. O n 0 1 : S P E E D f b 0 2 : S P E E D c m d 0 3 : T O R Q c m d Selecting the monitor 2 The monitor 1-02 is being selected. O n S t a r t M N 1 : S P E E D f b M N 2 : S P E E D c m d M N 3 : T O R Q c m d O n 0 1 : S P E E D f b 0 2 : S P E E D c m d 0 3 : T O R Q c m d Selecting the monitor 3 The monitor 1-28 is being selected. O n S t a r t M N 1 : S P E E D f b M N 2 : S P E E D c m d M N 3 : T O R Q c m d O n 2 6 : S t l g T I M E 2 7 : R e s F R Q : R e s F R Q 2 Changing Monitoring Contents 3-3

30 CHAPTER 3 MONITOR MODE Display list LCD display Contents 3 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 Changing Monitoring Contents

31 4 CHAPTER 4 COPY MODE 4.1 Copying Parameters Copying Positioning Data Copying Alarm History 4-15

32 CHAPTER 4 COPY MODE 4 Copy Mode 4 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 [] key. And, check the cursor again if it is located at "01: Read & Save", and then press the [] key. Select the memory 2 using the [Λ] / [V] keys, and then confirm the setting by pressing the [] key to copy the item. (1) Copy mode (3) Select a memory. C o p y 0 1 : P A C o p y 0 2 : P O C o p y 0 3 : A L C o p y P A R e a d & S a v e 0 1 : : : : (2) Parameter copy (4) The memory 2 is selected. P A C o p y 0 1 : R e a d & S a v e 0 2 : W r i t e 0 3 : V e r i f y 0 4 : R e n a m e P A R e a d & S a v e 0 1 : : : : See the next page. 4-2 Copying Parameters

33 CHAPTER 4 COPY MODE (5) Confirm copying. P A R e a d & S a v e O K? Y e s S E T C a n c e l E S C (6) Being copied. P A R e a d & S a v e S a v i n g (7) Copied into the memory 2. P A R e a d & S a v e C o m p l e t e E S C (8) Memory is selected. P A R e a d & S a v e 0 1 : : S a v e d 0 3 : : Copying Parameters 4-3

34 CHAPTER 4 COPY MODE 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 [] key. And, check the cursor again if it is located at "02: Write", and then press the [] key. Select the memory 2 using the [Λ] / [V] keys, and press the [] key to copy the item to the servo amplifier. (1) Copy mode 4 C o p y 0 1 : P A C o p y 0 2 : P O C o p y 0 3 : A L C o p y (2) Parameter copy (6) Confirm copying. P A C o p y 0 1 : R e a d & S a v e 0 2 : W r i t e 0 3 : V e r i f y 0 4 : R e n a m e P A W r i t e O K? Y e s S E T C a n c e l E S C (3) Copying to the servo amplifier (7) Being copied P A C o p y P A W r i t e 0 1 : R e a d & S a v e 0 2 : W r i t e W r i t i n g 0 3 : V e r i f y 0 4 : R e n a m e..... (4) Select a memory. (8) Copied into the servo amplifier. P A W r i t e P A W r i t e 0 1 : : S a v e d C o m p l e t e 0 3 : : E S C (5) The memory 2 is selected. (9) Memory is selected. P A W r i t e 0 1 : : S a v e d 0 3 : : P A W r i t e 0 1 : : S a v e d 0 3 : : Copying Parameters

35 CHAPTER 4 COPY MODE 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 [] key. And, check the cursor again if it is located at "03: Verify", and then press the [] 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 [] key to verify the memory with the target item. (1) Copy mode (6) The memory 2 is selected. P A V e r i f y C o p y 0 1 : : P A C o p y 0 2 : S a v e d 0 2 : P O C o p y 0 3 : : A L C o p y 0 4 : (2) Parameter copy (7) Confirm verifying. P A C o p y P A V e r i f y 0 1 : R e a d & S a v e 0 2 : W r i t e O K? 0 3 : V e r i f y Y e s S E T 0 4 : R e n a m e C a n c e l E S C (3) Parameter verification (8) Being verified. P A C o p y P A V e r i f y 0 1 : R e a d & S a v e 0 2 : W r i t e R e a d i n g 0 3 : V e r i f y : R e n a m e (4) Select the item to be verified. P A V e r i f y M E M O R Y A M P M E M O R Y M E M O R Y (5) Select a memory. P A V e r i f y 0 1 : : S a v e d 0 3 : : (9) Verification result (match) P A V e r i f y M a t c h e d E S C (9) Verification result (mismatch) P A V e r i f y U n m a t c h e d E S C P A P A P A (10) Memory is selected. P A V e r i f y 0 1 : : S a v e d 0 3 : : Copying Parameters 4-5

36 CHAPTER 4 COPY MODE 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 [] 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 [] key to confirm the change. (1) Copy mode 4 C o p y 0 1 : P A C o p y 0 2 : P O C o p y 0 3 : A L C o p y (2) Parameter copy (5) The memory 2 is selected. P A C o p y 0 1 : R e a d & S a v e 0 2 : W r i t e 0 3 : V e r i f y 0 4 : R e n a m e P A R e n a m e 0 1 : : S a v e d 0 3 : : (3) Memory name change (6) Moving the cursor. P A C o p y 0 1 : R e a d & S a v e 0 2 : W r i t e 0 3 : V e r i f y 0 4 : R e n a m e P A R e n a m e 0 2 : S a v e d 0 2 : S a v e d > < (4) Select a memory. (7) Change the characters. P A R e n a m e 0 1 : : S a v e d 0 3 : : P A R e n a m e 0 2 : S a v e d 0 2 : S a v e d See the next page. 4-6 Copying Parameters

37 CHAPTER 4 COPY MODE (8) Confirming the character. P A R e n a m e 0 2 : S m v e d 0 2 : S a v e d (9) Moving the cursor. P A R e n a m e 0 2 : S m a r t 0 2 : S a v e d MODE 4 (10) Selecting a character type. P A R e n a m e 0 2 : S m a r t A 0 2 : S a v e d MODE (11) Selecting a figure. P A R e n a m e 0 2 : S m a r t : S a v e d (12) Confirming the character. P A R e n a m e 0 2 : S m a r t : S a v e d (13) Name has been changed. P A R e n a m e 0 1 : : S m a r t : : P A R e n a m e 0 1 : : S a v e d 0 3 : : Copying Parameters 4-7

38 CHAPTER 4 COPY MODE 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 [] key. And, check the cursor again if it is located at "05: Check", and then press the [] key. Select the memory 2 using the [Λ] / [V] keys. Press the [] key to check the contents. (1) Copy mode 4 C o p y 0 1 : P A C o p y 0 2 : P O C o p y 0 3 : A L C o p y (2) Parameter copy (6) Parameter 1 is loaded. P A C o p y 0 1 : R e a d & S a v e 0 2 : W r i t e 0 3 : V e r i f y 0 4 : R e n a m e P A C h e c k P A P A P A P A > < (3) Memory contents check (7) Parameter 2 is loaded. P A C o p y 0 2 : W r a t e 0 3 : V e r i f y 0 4 : R e n a m e 0 5 : C h e c k P A C h e c k P A P A P A P A (4) Select a memory. (8) Select the number. P A C h e c k 0 1 : : S a v e d 0 3 : : P A C h e c k P A P A P A P A (5) The memory 2 is selected. (9) Checking the contents. P A C h e c k 0 1 : : S a v e d 0 3 : : P A C h e c k P A Copying Parameters

39 CHAPTER 4 COPY MODE 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 [] key. Check the cursor if it is located at "01: Read & Save", and then press the [] key. Select the memory 2 using the [Λ] / [V] keys, and then confirm the setting by pressing the [] key to copy the item. (1) Copy mode (5) Confirm copying. C o p y 0 1 : P A C o p y 0 2 : P O C o p y 0 3 : A L C o p y P O R e a d & S a v e O K? Y e s S E T C a n c e l E S C 4 (2) Positioning data copy (6) Being copied. P O C o p y P O R e a d & S a v e 0 1 : R e a d & S a v e 0 2 : W r i t e S a v i n g 0 3 : V e r i f y : R e n a m e (3) Select a memory. (7) Copied into the memory 2. P O R e a d & S a v e P O R e a d & S a v e 0 1 : : C o m p l e t e E S C (4) The memory 2 is selected. (8) Memory is selected. P A R e a d & S a v e 0 1 : : P A R e a d & S a v e 0 1 : : S a v e d Copying Positioning Data 4-9