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

40 CHAPTER 4 COPY MODE Copying positioning data(operator to Amp) Move the cursor to "02: PO COPY" using the [V] key, and then press the [] key. And, move the cursor to "02: Write" using the [V] key, and then press the [] key. Select the memory 2 using the [Λ] / [V] keys, and confirm the setting by pressing the [] key to copy the item. (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) Positioning data copy (6) Confirm copying. 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 P O 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 O C o p y P O 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 O W r i t e P O W r i t e 0 1 : : S a v e d C o m p l e t e E S C (5) The memory 2 is selected. (9) Memory is selected. P O W r i t e 0 1 : : S a v e d P O W r i t e 0 1 : : S a v e d 4-10 Copying Positioning Data

41 CHAPTER 4 COPY MODE Verifying positioning data (Operator and Amp, Operator and Operator) Move the cursor to "02: PO COPY" using the [V] key, and then press the [] key. And, move the cursor to "03: Verify" using the [V] key, and then press the [] 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 [] key to verify. (1) Copy mode (6) The memory 2 is selected. 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 V e r i f y 0 1 : : S a v e d 4 (2) Positioning data copy (7) Confirm verifying. 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 P O V e r i f y O K? Y e s S E T C a n c e l E S C (3) Verifying the positioning data (8) Being verified. P O C o p y P O 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) Selecting an item to be verified. (9) Verification result (match) P O V e r i f y P O 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 M a t c h e d E S C (5) Memory is selected. P O V e r i f y 0 1 : : S a v e d (9) Verification result (mismatch) P O V e r i f y U n m a t c h e d E S C P O : 0 1 P O : 0 2 P O : 3 0 (10) Memory is selected. P O V e r i f y 0 1 : : S a v e d Copying Positioning Data 4-11

42 CHAPTER 4 COPY MODE Changing the name of the servo operator memory (up to 10 characters, alpha-numeral, symbol, and space) Move the cursor to "02: PO COPY" using the [V] key, and then press the [] 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) Positioning data copy (5) The memory 2 is selected. 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 P O R e n a m e 0 1 : : S a v e d (3) Memory name change (6) Moving the cursor. 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 P O R e n a m e 0 2 : S a v e d 0 2 : S a v e d > < (4) Memory is selected. (7) Change the characters. P O R e n a m e 0 1 : : S a v e d P O R e n a m e 0 2 : S a v e d 0 2 : S a v e d See the next page Copying Positioning Data

43 CHAPTER 4 COPY MODE (8) Confirming the character. P O 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 O 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 O 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 O R e n a m e 0 2 : S m a r t : S a v e d (12) Confirming the character. P O R e n a m e 0 2 : S m a r t : S a v e d (13) Name has been changed. P O R e n a m e 0 1 : : S m a r t 1 P O R e n a m e 0 1 : : S a v e d Copying Positioning Data 4-13

44 CHAPTER 4 COPY MODE Checking positioning data (Operator) Move the cursor to "02: PO COPY" using the [V] key, and then press the [] key. Check the cursor if it is located at "05: Check", and press the [] key. After loading, select the memory 2 using the [Λ] / [V] keys, and then[] to confirm 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) Positioning data copy (6) Selecting a positioning data no. 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 P O C h e c k P O : 0 1 P O : 0 2 P O : 0 3 P O : 0 4 (3) Checking the memory contents. (7) Loading the positioning data. P O C o p y 0 2 : W r i 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 O C h e c k P O : 1 2 P O : 1 3 P O : 1 4 P O : 1 5 (4) Memory is selected. (8) Checking the contents. P O C h e c k 0 1 : : S a v e d P O C h e c k 1 5 C M D : I N C M o d e : P : S P D m : (5) The memory 2 is selected. (9) Checking the contents. P O C h e c k 0 1 : : S a v e d P O C h e c k 1 5 A c c : 0. 0 D e c : 0. 0 T I m g M C o d : 4-14 Copying Positioning Data

45 CHAPTER 4 COPY MODE 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 [] key. Check the cursor if it is located at the second line (01: Read&Save) and then press the [] key. Select the memory 1 using the [Λ] / [V] keys, and then confirm the setting by pressing the [] key to copy the item. 4 (1) 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 (2) Alarm history copy (5) Being copied. A L C o p y A L R e a d & S a v e 0 1 : R e a d & S a v e 0 2 : V e r i f y S a v i n g 0 3 : R e n a m e : C h e c k (3) Memory is selected. (6) Copied into the memory 1. A L R e a d & S a v e A L R e a d & S a v e 0 1 : C o m p l e t e E S C (4) Confirm copying. (7) Memory is selected. A L R e a d & S a v e A L R e a d & S a v e 0 1 : S a v e d O K? Y e s S E T C a n c e l E S C Copying Alarm History 4-15

46 CHAPTER 4 COPY MODE 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 [] key. Check the cursor again if it is located at "02: Verify", [and then press the [] key. Select the memory 1 using the [Λ] / [V] keys, and then confirm the setting by pressing the [] key to verify them with the servo amplifier. 4 (1) Copy mode (5) The memory 1 is selected. 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 A L V e r i f y 0 1 : S a v e d (2) Alarm history copy (6) Confirm verifying. 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 A L V e r i f y O K? Y e s S E T C a n c e l E S C (3) Verifying the alarm history (7) Being verified. A L C o p y A L V e r i f y 0 1 : R e a d & S a v e 0 2 : V e r i f y R e a d i n g 0 3 : R e n a m e : C h e c k (4) Selecting an item to be verified. (9) Complete successfully A L V e r i f y A L V e r i f y M E M O R Y A M P M a t c h e d E S C (10) Memory 1 is selected. A L V e r i f y 0 1 : S a v e d 4-16 Copying Alarm History

47 CHAPTER 4 COPY MODE Changing the name of the servo operator memory (up to 10 characters, alpha-numeral, symbol, and space) Move the cursor to the fourth line (03: AL Copy) using the [V] key, and then press the [] 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 [] key to confirm the change. (1) 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 4 (2) Alarm history copy 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 (3) Memory name change (5) Moving the cursor. A L C o p y A L R e n a m e 0 1 : R e a d & S a v e 0 2 : V e r i f y 0 1 : S a v e d 0 3 : R e n a m e 0 1 : S a v e d 0 4 : C h e c k > < (4) Memory is selected. (6) Change the characters. A L R e n a m e A L R e n a m e 0 1 : S a v e d 0 1 : S a v e d 0 1 : S a v e d See the next page. Copying Alarm History 4-17

48 CHAPTER 4 COPY MODE (7) Confirming the character. A L R e n a m e 0 1 : S m v e d 0 1 : S a v e d 4 (8) Moving the cursor. A L R e n a m e 0 1 : S m a r t 0 1 : S a v e d MODE (9) Selecting a character type. A L R e n a m e 0 1 : S m a r t A 0 1 : S a v e d MODE (10) Selecting a figure. A L R e n a m e 0 1 : S m a r t : S a v e d (11) Confirming the character. A L R e n a m e 0 1 : S m a r t : S a v e d (12) Name has been changed. A L R e n a m e 0 1 : S m a r t 1 A L R e n a m e 0 1 : S a v e d 4-18 Copying Alarm History

49 CHAPTER 4 COPY MODE Checking alarm history Move the cursor to the fourth line (03: AL COPY) using the [V] key, and then press the [] key. Check the cursor if it is located at the fifth line (04: Check), and then press the [] key. After loading, select the memory using the [>] / [<] keys, and then press the [] key to check the contents. In addition, by pressing the [] key, status information for each alarm is shown. (1) Copy mode (6) History 2 is selected. 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 A L C h e c k 0 1 : O C : O C : O S 0 4 : L V C 4 (2) Alarm history copy (7) History 20 is selected. 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 A L C h e c k 1 7 : O F : O H : O F : O C 1 (3) Alarm history check (8) Checking the supplementary info. 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 e A L C h e c k 2 0 A l m : O C 1 P o n : h C o n : h M o t : 5 9 m 5 9 s (4) Memory is selected. (9) Checking the info. for history 20. A L C h e c k 0 1 : S a v e d A L C h e c k 2 0 E C : P u C m d : S p e e d M o d : U n d e r V L T (5) Checking the contents. (10) Alarm history contents checked. A L C h e c k 0 1 : O C : O C : O S 0 4 : L V C A L C h e c k 1 7 : O F : O H : O F : O C 1 Copying Alarm History 4-19

50 CHAPTER 4 COPY MODE Display data list 4 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: r/min Feedback speed Sf5: r/min Feedback speed: less than 5ms Scm: r/min Command speed Tcm: 300% Command torque Crt: 300% Motor current Ter: 300% Effective torque Vdc: 300V DC link voltage EC : EC error count P u 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 ) 4-20 Copying Alarm History

51 CHAPTER 5 EDIT MODE 5 CHAPTER 5 EDIT MODE 5.1 Editing Parameters Editing Positioning Data 5-4

52 CHAPTER 5 EDIT MODE 5 Edit Mode The edit mode allows editing data including parameters and positioning data. 5.1 Editing Parameters 5 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 [] key. Select the no. using the [Λ] / [V] keys, and then confirm the setting by pressing the [] 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 E d I t 0 1 : P A C o p y 0 2 : P O C o p y (2) Parameter edit (5) The parameter data is loaded. P A E d i t P A E d i t P A P A P A P A P A > < < > (3) The parameter 2 is selected. (6) Moved to the uppermost digit. P A E d i t P A E d i t P A P A P A P A P A (4) The parameter no. is selected. (7) The sign is changed. P A E d i t P A E d i t P A P A P A P A P A > < See the next page. 5-2 Editing Parameters

53 CHAPTER 5 EDIT MODE (8) change the upper digit. P A E d i t P A (9) The upper digit is changed. P A E d i t P A > < (10) Moved to the hundreds digit. P A E d i t P A (11) The hundreds digit is changed. P A E d i t P A (12) Registered P A E d i t P A Editing Parameters 5-3

54 CHAPTER 5 EDIT MODE 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 [] key. After the data has been loaded, select the no. using the [Λ] / [V] keys, and then confirm the setting by pressing the [] 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 5 E d I t 0 1 : P A C o p y 0 2 : P O C o p y (2) Positioning data edit (5) Moved to the positioning data. P O E d i t P O : 0 1 P O : 0 2 P O : 0 3 P O : 0 4 P O E d i t 1 5 C M D : I N C M o d e : P 0 S P D : (3) The positioning data no. is selected. (6) The positioning data is changed. P O E d i t P O : 1 2 P O : 1 3 P O : 1 4 P O : 1 5 P O E d i t 1 5 C M D : I N C M o d e : P 0 S P D : < > (4) The positioning data is shown. (7) Moved to the hundreds digit. P O E d i t 1 5 C M D : I N C M o d e : P 0 S P D : P O E d i t 1 5 C M D : I N C M o d e : P S P D : See the next page. 5-4 Editing Positioning Data

55 CHAPTER 5 EDIT MODE (8) The hundreds digit is changed. P O E d i t 1 5 C M D : I N C M o d e : P S P D : < > (9) Moved to the uppermost digit. P O E d i t 1 5 C M D : I N C M o d e : P S P D : (10) The sign is changed. P O E d i t 1 5 C M D : I N C M o d e : P S P D : (11) Registered P O E d i t 1 5 C M D : I N C M o d e : P S P D : Editing Positioning Data 5-5

56 CHAPTER 5 EDIT MODE Editing Positioning Data

57 6 CHAPTER 6 TEST OPERATION MODE 6.1 Manual Operation Position Preset Homing Automatic operation Alarm Reset 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

58 CHAPTER 6 TEST OPERATION MODE 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 6 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 [] key. Check the cursor if it is located at "Next", and then press the [] 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 F n 0 1 : J o g 0 2 : P r e s e t 0 3 : H o m i n g (2) Manual operation F n J o g N e x t Manual operation P A F n J o g F W D R E V M N 1 : S P E E D f b r/ min M N 2 : S P E E D c m d r/ min (3) Speed selection Speed selection F n J o g N e x t F n J o g P A P A M N 1 : S P E E D f b M N 2 : S P E E D c m d See the next page. F n J o g Being written. W r i t i n g Manual Operation

59 CHAPTER 6 TEST OPERATION MODE (4) The monitor 1 is selected. Monitor content is selected. F n J o g N e x t F n J o g P A : S P E E D f b : S P E E D c m d M N 1 : S P E E D f b 0 3 : T O R Q c m d M N 2 : S P E E D c m d (5) The monitor 2 is selected. 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 J o g 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 6 Manual Operation 6-3

60 CHAPTER 6 TEST OPERATION MODE 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 [] key. Press the [] key to complete the position preset. (1) Position preset F n 0 1 : J o g 0 2 : P r e s e t 0 3 : H o m i n g 6 (2) Operation selection F n P r e s e t G O S E T C a n c e l E S C u The last line shows the feedback current position. (3) Position preset is complete. F n P r e s e t C o m p l e t e E S C u The last line shows the feedback current position. 6-4 Position Preset

61 CHAPTER 6 TEST OPERATION MODE 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 [] key. Press the [] key to complete the homing operation. (1) Homing F n 0 1 : J o g 0 2 : P r e s e t 0 3 : H o m i n g (2) Operation selection F n H o m i n g G O S E T C a n c e l E S C u 6 (3) Homing being executed. F n H o m i n g C a n c e l E S C u F n H o m i n g G O S E T C a n c e l E S C u (4) Homing is complete. F n H o m i n g C o m p l e t e E S C u The last line shows the feedback current position. Homing 6-5

62 CHAPTER 6 TEST OPERATION MODE 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 [] key. Press the [Start] key to execute automatic operation. (1) Automatic operation (4) Automatic operation is complete. F n 0 2 : P r e s e t 0 3 : H o m i n g 0 4 : A u t o C o m p l e t e 0 1 A B S r/ min r/ min 6 (2) Automatic operation start (3) Automatic operation being executed. 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 C a n c e l 0 1 A B S r/ min r/ min See the next page. (5) Automatic operation stop 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 6-6 Automatic operation

63 CHAPTER 6 TEST OPERATION MODE (6) Address selection 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 u t o 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 (7) The monitor 1 is selected. 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 u t o 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 (8) The monitor 2 is selected. 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 u t o 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 6 Automatic operation 6-7

64 CHAPTER 6 TEST OPERATION MODE 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 [] key. Press the [] key to complete the alarm reset. (1) Alarm reset F n 0 3 : H o m i n g 0 4 : A u t o 0 5 : A L M R e s e t 6 (2) Operation selection F n A L M R e s e t G O S E T C a n c e l E S C (3) The alarm has been reset. F n A L M R e s e t C o m p l e t e E S C 6-8 Alarm Reset

65 CHAPTER 6 TEST OPERATION MODE Some alarms cannot be released by the alarm reset. Cycle the power to reset those alarms. Alarms that are released by the alarm reset Alarms that cannot be released by the alarm reset 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 EC Encoder communication error CE OL1 Overload1 CTE Fuse broken Motor combination error Cont (control signal) error 6 OL2 Overload2 RH3 Braking transistor error LVP RH1 RH2 Main power undervoltage Internal braking resistor overheat External braking resistor overheat Inrush current RH4 suppression circuit trouble DL1 Absolute data Lost 1 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 Alarm Reset 6-9

66 CHAPTER 6 TEST OPERATION MODE 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 [] key. Press the [] key to initialize the alarm history. (1) Alarm history initialization F n 0 4 : A u t o 0 5 : A L M R e s e t 0 6 : A L M I N I T 6 (2) Operation selection F n A L M I N I T G O S E T C a n c e l E S C (3) The alarm history has been initialized. F n A L M I N I T C o m p l e t e E S C 6-10 Initializing Alarm History

67 CHAPTER 6 TEST OPERATION MODE 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 [] key. Press the [] key to initialize the parameters. (1) Parameter initialization F n 0 5 : A L M R e s e t 0 6 : A L M I N I T 0 7 : P A I N I T (2) Operation selection F n P A I N I T G O S E T C a n c e l E S C 6 (3) The parameter has been initialized. F n P A I N I T C o m p l e t e E S C Initializing Parameters 6-11

68 CHAPTER 6 TEST OPERATION MODE 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 [] key. Press the [] key to initialize the positioning data. (1) Positioning data initialization F n 0 6 : A L M I N I T 0 7 : P A I N I T 0 8 : P O I N I T 6 (2) Operation selection F n P O I N I T G O S E T C a n c e l E S C (3) The positioning data has been initialized. F n P O I N I T C o m p l e t e E S C 6-12 Initializing Positioning Data

69 CHAPTER 6 TEST OPERATION MODE 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 [] key. Press the [] key to execute the auto offset adjustment. (1) Auto offset adjustment. F n 0 7 : P A I N I T 0 8 : P O I N I T 0 9 : A / D O f f s e t (2) Operation selection 6 F n A / D O f f s e t G O S E T C a n c e l E S C (3) The auto offset adjustment is complete. F n A / D O f f s e t C o m p l e t e E S C 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. Auto Offset Adjustment 6-13

70 CHAPTER 6 TEST OPERATION MODE 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 [] key. Press the [] key to set the Z-phase offset. (1) Z-phase offset setting F n 0 8 : P O I N I T 0 9 : A / D O f f s e t 1 0 : Z O f f s e t 6 (2) Operation selection F n Z O f f s e t G O S E T C a n c e l E S C (3) The Z-phase offset has been set. F n Z O f f s e t C o m p l e t e E S C 6-14 Z-phase Offset Setting

71 CHAPTER 6 TEST OPERATION MODE 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 [] key. Select the operation profile and the parameters. Press the [] key to execute the easy tuning. The parameters which can be edited for slow running and easy tuning are as follows: Pattern Direction Distance No. of times Acc. time Dec. time Speed Timer name 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 Easy Tuning 6-15

72 CHAPTER 6 TEST OPERATION MODE (1) Easy tuning F n 0 9 : A / D O f f s e t 1 0 : Z O f f s e t 1 1 : E a s y T U N E (2) Operation selection F n E a s y T U N E 1 : S l o w R u n 2 : E a s y T U N E F n E a s y T U N E 1 : S l o w R u n 2 : E a s y T U N E 6 (3) Parameter setting N E X T P A P A P A P A (4) Tuning start Tuning being suspended S t a r t G a i n : 4 0 M N 1 : S P E E D f b M N 1 : S P E E D c m d G a i n : 4 0 R e s t a r t S E T C a n c e l E S C (5) Being tuned. (6) Tuning is complete. C a n c e l G a i n : G a i n : 1 2 C o m p l e t e E S C 6-16 Easy Tuning

73 CHAPTER 6 TEST OPERATION MODE 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 [] key. Set the parameters and press the [] key to execute the profile operation. The parameters which can be edited for slow-run and easy-tuning are as follows: Profile Direction Distance No. of times Acc. time Dec. time Speed Timer name FWD REV Profile PA1_20 Infinite PA1_37 PA1_38 PA1_21 PA1_22 PA1_23 operation 6 (1) Profile operation (4) The profile operation being carried out. F n 1 0 : Z O f f s e t 1 1 : E a s y T U N E 1 2 : P T N O P E C a n c e l G a i n : (2) Parameter setting (5) The profile operation being suspended. N E X T P A P A P A P A G a i n : 1 2 R e s t a r t S E T C a n c e l E S C (3) The profile operation start S t a r t G a i n : 4 0 M N 1 : S P E E D f b M N 1 : S P E E D c m d Profile Operation 6-17

74 CHAPTER 6 TEST OPERATION MODE 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 [] key. Select the encoder type, and press the [] key to execute the sequence test mode. (1) Sequence test mode 6 F n 1 1 : E a s y T U N E 1 2 : P T N O P E 1 3 : S E Q T e s t (2) Encoder type selection F n S E Q T e s t E n c o d e r 2 0 b i t 1 8 b i t 1 7 b i t (3) Starting the 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 (4) During the sequence test mode F n S E Q T e s t C o m p l e t e E S C 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 Sequence Test Mode

75 CHAPTER 6 TEST OPERATION MODE 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 [] key. Select the address and press the [] key to execute teaching (writing). (1) Teaching mode F n 1 2 : P T N O P E 1 3 : S E Q T e s t 1 4 : T e a c h i n g (2) The address 1 is selected. F n T e a c h i n g P O : T e a c h i n g S E T 6 (3) The address 2 is selected. F n T e a c h i n g P O : T e a c h i n g S E T (4) The address 15 is selected. (5) Data have been written. F n T e a c h i n g P O : T e a c h i n g S E T F n T e a c h i n g C o m p l e t e E S C u Teaching Mode 6-19

76 CHAPTER 6 TEST OPERATION MODE 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 [] key. Press the [] key to clear the command cumulative pulse. (1) Command cumulative pulse clear F n 1 3 : S E Q T e s t 1 4 : T e a c h i n g 1 5 : C M D P L S C L R 6 (2) Operation selection 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 (3) The command cumulative pulse has been cleared. F n C M D P L S C L R C o m p l e t e E S C 6-20 Command Cumulative Pulse Clear

77 CHAPTER 6 TEST OPERATION MODE 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 [] key. Press the [] key to clear the feedback cumulative pulse. (1) Feedback cumulative pulse clear F n 1 4 : T e a c h i n g 1 5 : C M D P L S C L R 1 6 : F B P L S C L R (2) Operation selection F n F B P L S C L R G O S E T C a n c e l E S C 6 (3) The feedback cumulative pulse has been cleared. F n F B P L S C L R C o m p l e t e E S C Feedback Cumulative Pulse Clear 6-21

78 CHAPTER 6 TEST OPERATION MODE 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 [] key. Press the [] key to check the communications status and show the result. (1) Communications mode check (3) Communications mode check being executed F n 1 4 : C M D P L S C L R 1 5 : F B P L S C L R 1 6 : C O M C h e c k F n C O M C h e c k C h e c k i n g... 6 (2) Station no. selection (4) Communications mode check completion 1 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 C O M C h e c k P R T C L : P C B a u d : P a r i t y : O D D (4) Communications mode check completion 2 F n C O M C h e c k B a u d : P a r i t y : O D D S T O P : 1 o r 2 Display list Item LCD display Content Communications protocol Communications baud rate Parity bit Stop bit PRTCL:PC PRTCL:Modbus Baud: Baud:38400 Baud:19200 Baud:9600 PARITY:ODD PARITY:EVEN STOP:1 STOP:1or2 PC loader protocol Modbus protocol bps 38400bps 19200bps 9600bps Odd parity Even parity 1bit 1bit or 2bit 6-22 Communications Mode Check

79 CHAPTER 6 TEST OPERATION MODE 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 [] key. Select the desired alarm using the [Λ] / [V] keys to show the status information of the alarm history. (1) Alarm history F n 1 6 : C O M C h e c k 1 7 : C O M C h e c k 1 8 : A L M H I S T (2) Alarm history display 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 6 (3) History 2 is selected. Alarm status information F n A L M H I S T F n A L M H I S T 0 2 P r e s e n t O C 1 A l m : O C 1 H i s t 0 1 : O C 2 P o n : h 0 2 : O S C o n : h 0 3 : L V C M o t : 5 9 m 5 9 s (4) History 20 is selected. Operation mode F n A L M H I S T P r e s e n t O C 1 H i s t 1 8 : O H 1 9 : O F 2 0 : O C 1 F n A L M H I S T 0 2 E C : P u C m d : S p e e d M o d : U n d e r V L T Alarm History 6-23

80 CHAPTER 6 TEST OPERATION MODE 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 [] key. Press the [] key to check the baud rate. (1) Baud rate change F n 1 7 : C O M C h e c k 1 8 : A L M H I S T 1 9 : B a u d R a t e 6 (2) Displaying baud rate selection F n B a u d R a t e b p s b p s b p s b p s (3) Operation selection F n B a u d R a t e G O S E T C a n c e l E S C (4) The baud rate has been changed. F n B a u d R a t e C o m p l r t e E S C 6-24 Changing Baud Rate

81 CHAPTER 6 TEST OPERATION MODE 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 [] key. Adjust the contrast of the LCD by using the [Λ] or [V] key, and then press the [] 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 F n 1 8 : A L M H I S T 1 9 : B a u d R a t e 2 0 : C o n t r a s t (2) Contrast selection 6 F n C o n t r a s t G O S E T F n C o n t r a s t G O S E T F n C o n t r a s t G O S E T Adjusting Contrast 6-25

82 CHAPTER 6 TEST OPERATION MODE Changing Baud Rate

83 7 CHAPTER 7 ERROR MESSAGE 7.1 When Connected to Amplifier Monitor Parameter Copy Positioning Data Copy Alarm History 7-5

84 CHAPTER 7 ERROR MESSAGE 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 C o m m u n i c a t i o n E r r o r (1) Hardware reason (2) Mismatch in baud rate 7.2 Monitor 7 Monitor Communications error C o m m u n i c a t i o n E r r o r (1) Hardware reason (2) Mismatch in baud rate 7.3 Parameter Copy Loading and writing parameters Communications error C o m m u n i c a t i o n E r r o r (1) Hardware reason (2) Mismatch in baud rate Setting error P A R e a d & S a v e E R R O R 2 D a t a E r r o r Input error or similar reason E S C EEPROM writing error P A R e a d & S a v e E R R O R 3 E E P R O M E r r o r E S C (1) Parts fault in the servo operator (2) EEPROM built in the servo operator has been overwritten more than 100,000 times. 7-2 When Connected to Amplifier

85 CHAPTER 7 ERROR MESSAGE Parameter copy Communications error P A W r i t e E R R O R 1 T i m e O u t (1) Hardware reason (2) Mismatch in baud rate E S C Setting error P A W r i t e E R R O R 2 D a t a E r r o r Input error or similar reason E S C Writing error P A W r i t e E R R O R 4 W r i t e E r r o r Writing is attempted when writing is not enabled. E S C Parameter verification Communications error P A W r i t e E R R O R 1 T i m e O u t (1) Hardware reason (2) Mismatch in baud rate 7 E S C Setting error P A V e r i f y E R R O R 2 D a t a E r r o r Input error or similar reason E S C Parameter Copy 7-3

86 CHAPTER 7 ERROR MESSAGE 7.4 Positioning Data Copy Loading and writing positioning data Communications error P O R e a d & S a v e (1) Hardware reason E R R O R 1 T i m e O u t (2) Mismatch in baud rate E S C Setting error P O R e a d & S a v e E R R O R 2 D a t a E r r o r Input error or similar reason E S C 7 EEPROM writing error P O R e a d & S a v e E R R O R 3 E E P R O M E r r o r Positioning data copy Communications error P O W r i t e E R R O R 1 T i m e O u t E S C E S C (1) Parts fault in the servo operator (2) EEPROM built in the servo operator has been overwritten more than 100,000 times. (1) Hardware reason (2) Mismatch in baud rate Setting error P O W r i t e E R R O R 2 D a t a E r r o r E S C Input error or similar reason Writing error P O W r i t e E R R O R 4 W r i t e E r r o r E S C Writing is attempted when writing is not enabled. 7-4 Positioning Data Copy

87 CHAPTER 7 ERROR MESSAGE Positioning data verification Communications error P A W r i t e E R R O R 1 T i m e O u t (1) Hardware reason (2) Mismatch in baud rate E S C Setting error P O V e r i f y E R R O R 2 D a t a E r r o r Input error or similar reason E S C 7.5 Alarm History Alarm history Communications error A L R e a d & S a v e E R R O R 1 T i m e O u t E S C (1) Hardware reason (2) Mismatch in baud rate 7 Setting error A L R e a d & S a v e E R R O R 2 D a t a E r r o r E S C Input error or similar reason EEPROM writing error A L R e a d & S a v e E R R O R 3 E E P R O M E r r o r E S C (1) Parts fault in the servo operator (2) EEPROM built in the servo operator has been overwritten more than 100,000 times. Alarm History 7-5

88 CHAPTER 7 ERROR MESSAGE Alarm History

89 A 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

90 APPENDIX 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_ ) A No. PA1_ 01 Control mode selection 02 INC/ABS system selection 03 Command pulse form selection 04 Rotation direction selection Name Setting range Default Power Number of command input pulses per revolution Numerator 0 of electronic gear Denominator of electronic gear Number of output pulses per revolution Numerator of electric gear for output pulses Denominator of electric gear for output pulses Output pulse phase selection at CCW rotation 12 Z-phase position offset 0: Position 1: Speed 2: Torque 3: Position speed 4: Position torque 5: Speed torque 6: Extension mode 7: Positioning operation 0: INC 1: ABS 2: Non-overflow absolute system (not detect the multi-turn overflow) 0: Command pulse/direction 1: Forward/reverse pulse 2: A / B phase pulse 0: CCW rotation at forward command 1: CW rotation at forward command 0: Electronic gear ( PA1_06/07) is enabled 64 to [pluse]: This parameter setting is enabled to to : Electronic gear (PA1_09/10) is enabled. 16 to [pulse]: This parameter setting is enabled to to : B-phase pulse lead at CCW rotation 1: A-phase pulse lead at CCW rotation 20 bit PG: 0 to [pulse] 18 bit PG: 0 to [pulse] 0 0 Record of reference value A-2 Basic Setting Parameter

91 APPENDIX No. PA1_ Name Setting range Default Power Record of reference value 13 Tuning mode selection 14 Load inertia ratio 10: Auto tuning 11: Semi-auto tuning 12: Manual tuning 13: Interpolation operation mode 14: Trace operation mode 15: Shorter cycle time operation mode GYS, GYC 750W or less: 0.0 to [times] GYS, GYC 1kW or more: 0.0 to [times] GYG: 0.0 to 30.0 [times] Auto tuning gain 1 1 to Auto tuning gain 2 1 to Easy tuning: stroke setting 0.01 to [rev] Easy tuning: speed setting to max. rotation speed [r/min] Easy tuning: timer setting to [s] Easy tuning: direction selection Max. rotation speed (for position and speed control) Max. rotation speed (for torque control) 0: Forward reverse rotation 1: Forward rotation only 2: Reverse rotation only 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] ,00 (GYS, GYC 750W or less) 5000,00 (GYS, GYC 1kW or less) 3000,00 (GYG) 27 Forward rotation torque limit 0 to 300 [%] Reverse rotation torque limit 0 to 300 [%] Speed coincidence range 10 to max. rotation speed [r/min] A 30 Zero speed range 10 to max. rotation speed [r/min] Deviation unit selection 32 Zero deviation range /In-position range 0: Unit 1: Pulse 0-0 to [pulse] or [units] In-position output format 0: Level 1: Single shot 0 Basic Setting Parameter A-3

92 APPENDIX No. PA1_ Name Setting range Default Power Record of reference value A 34 In-position minimum OFF time/ Single shot ON time 1 to 1000 [ms] In-position judgment time 0 to 1000 [ms] 0-36 Acceleration / deceleration selection at speed control 0: Disable 1: Enable 0-37 Acceleration time Deceleration time to [ms] Acceleration time Deceleration time Manual feed speed 1 for position and speed control/ speed limit 1 for torque control Manual feed speed 2 for position and speed control/ speed limit 2 for torque control Manual feed speed 3 for position and speed control/ speed limit 3 for torque control Manual feed speed 4 for position and speed control/ speed limit 4 for torque control Manual feed speed 5 for position and speed control/ speed limit 5 for torque control Manual feed speed 6 for position and speed control/ speed limit 6 for torque control Manual feed speed 7 for position and speed control/ speed limit 7 for torque control 0.01 to max. rotation speed [r/min] A-4 Basic Setting Parameter

93 APPENDIX Control Gain and Filter Setting Parameter For the parameters for which power is described as 〇 in the following tables, cycle the power once to enable the parameter setting. (Check if the keypad display (7-segment) is off after the power is turned off.) Parameter List (PA1_ ) Default: *** Determined with the auto tuning. No. PA1_ Name Setting range Default Power Record of reference value Moving average S-curve time Low-pass filter (for S-curve) time constant Command pulse smoothing function Position command response time constant 0, 2 to 500( [ms]) *** to [ms] 0.0-0: Disable 1: Enable to [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 to [ms] *** - 58 Feed forward gain to Torque filter time constant for position and speed control Torque filter time constant for torque control 61 Gain changing factor 0.00 to [ms] *** to [ms] : Position deviation (x10) 1: Feedback speed 2: Command speed 3: External switch (CONT signal switch) 1-62 Gain changing level 1 to Gain changing time constant 0 to 100 [ms] 1-64 Position loop gain 2 30 to 200 [%] A 65 Speed loop gain 2 30 to 200 [%] Speed loop integration time constant 2 30 to 200 [%] Feed forward gain 2 30 to 200 [%] Acceleration compensation gain for position control Automatic notch filter selection 0 to 200 [%] 0-0: Disable 1: Enable 2: Enable (notch filter 1 only) 1-71 Notch filter 1 frequency 10 to 4000 [Hz] Notch filter 1 attenuation 0 to 40 [db] 0 - Control Gain and Filter Setting Parameter A-5

94 APPENDIX No. PA1_ Name Setting range Default Power Record of reference value 73 Notch filter 1 width 0 to Notch filter 2 frequency 10 to 4000 [Hz] Notch filter 2 attenuation 0 to 40 [db] 0-76 Notch filter 2 width 0 to A Automatic vibration suppressing selection Vibration suppressing anti resonance frequency 0 Vibration suppressing workpiece inertia ratio (vibration suppressing resonance frequency) 0 Vibration suppressing anti resonance frequency 1 Vibration suppressing workpiece inertia ratio (vibration suppressing resonance frequency) 1 Vibration suppressing anti resonance frequency 2 Vibration suppressing workpiece inertia ratio (vibration suppressing resonance frequency) 2 Vibration suppressing anti resonance frequency 3 Vibration suppressing workpiece inertia ratio (vibration suppressing resonance frequency) 3 Vibration suppressing damping coefficient Model torque filter time constant Position loop integration time constant Position loop integration limiter 0: Disable 1: Enable 2: Communications setting to [Hz] to 80 [%] to [Hz] to 80 [%] to [Hz] to 80 [%] to [Hz] to 80 [%] to to [ms] *** to [ms] *** - 0 to max. rotation speed [r/min] 0-90 Load torque observer 0: Disable 1: Enable P/PI automatic change selection Speed range for friction compensation Coulomb friction torque for friction compensation 0: Disable 1: Enable to 20.0 [r/min] to 50 [%] 0 - A-6 Control Gain and Filter Setting Parameter

95 APPENDIX No. PA1_ Name Setting range Default Power Record of reference value Setting value PA1_59 PA1_ Torque filter setting mode Set Set 1-1 automatically. automatically. 2 3 Do not set automatically. Do not set automatically. Set automatically. Set automatically. Do not set automatically. Do not set automatically. 95 Model torque calculation selection, speed observer selection Setting Model torque calculation Speed observer 0 Disable Disable 1 Enable Disable 3-2 Disable Enable 3 Enable Enable 96 Speed limit gain for torque control 0.0 to A Control Gain and Filter Setting Parameter A-7

96 APPENDIX Automatic Operation Setting Parameter For the parameters for which power is described as 〇 in the following tables, cycle the power once to enable the parameter setting. (Check if the keypad display (7-segment) is off after the power is turned off.) Parameter List (PA2_ ) No. PA2_ Name Setting range Default Power Record of reference value A 01 Decimal point position of positioning data 06 Homing speed 07 Creep speed for homing 08 Starting direction for homing Reverse traveling unit amount for homing Homing direction after reference signal detection Reference signal for shift operation Reference signal for homing (Deceleration starting signal) Home position LS signal edge selection Home position shift unit amount Deceleration operation for creep speed Home position after homing completion Home position detection range Deceleration time at OT during homing 19 Preset position Interrupt traveling unit amount Detection time for contact-stopper Torque limit for contact-stopper Selection of operation at OT during homing 0:0 1:0.1 2:0.01 3: : : [r/min] to max. rotation speed [r/min] 0.01 [r/min] to max. rotation speed [r/min] 0: Forward rotation 1: Reserve rotation 2: Condition judgment start to [units] 0-0: Forward rotation 1: Reverse rotation 0: Home position LS 1: Encoder Z-phase 2: +OT 3:-OT 4: Interrupt input 5: Stopper 0: Home position LS 1:+OT 2:-OT 0: Rising edge 1: Trailing edge to [units] : Reverse rotation is disabled 1: Reverse rotation is enabled to [units] 0: Always ON after homing completion 1 to [units] to [ms] to [units] 0-1 to [units] to [ms] 0-0 to 100 [%] 0-0: Reverse rotation 1: Stop and cancel the homing 0 A-8 Automatic Operation Setting Parameter

97 APPENDIX No. PA2_ Software OT selection (PA1_01=1 to 6) Name Setting range Default Power Positioning operation type (PA1_01=7) Positive software OT detection position Negative software OT detection position Positive limiter detection position Negative limiter detection position Point detection, area detection Point detection, area detection position 1 Point detection, area detection position 2 0: Disable 1: Enable 0: Normal PTP 1: Positioning start with zero position preset to [units] to [units] to [units] to [units] 0: Point detection 1: ON for positive side 2: ON for negative side to [units] to [units] Point detection range 0 to [units] Override Override 2 0 to 150 [%] Override Override 8 40 Internal positioning data selection 41 Sequential start selection Decimal point position of stand still timer Output selection at M code OFF Positioning extended function 80-0: Disable 1: Enable 0-0: Disable 1: Enable 2: Homing 3: Immediate value data operation 0 0:0.01 1: :00 H 1:FF H 1 0: Internal command completion 1: Internal feedback completion 0 Record of reference value A Automatic Operation Setting Parameter A-9

98 APPENDIX Extended Function Setting Parameter For the parameters for which power is described as 〇 in the following tables, cycle the power once to enable the parameter setting. (Check if the keypad display (7-segment) is off after the power is turned off.) List (PA2_ ) No. PA2_ Name Setting range Default Power Record of reference value A 51 Numerator 1 of electronic gear 52 Numerator 2 of electronic gear 1 to Numerator 3 of electronic gear 54 Command pulse ratio to Command pulse ratio Speed limit selection at torque control 57 Torque limit selection 0: Parameter (PA1_26) 1: As per multi-step speed selection inc. VREF terminal voltage 0: As per CONT signal torque limit 0/1 1:TREF terminal voltage Second torque limit 0 to 300 [%] 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 [%] Action sequence at servo-on OFF 61 3: Free-run at deceleration, 5 62 Action sequence at alarm free-run at stop 5: Emergency stop at 5 deceleration / free-run at stop 64 Action sequence at main power shutoff Torque keeping time to holding brake 65 Braking resistor selection 66 Flying start at speed control Alarm detection at undervoltage Deviation detection overflow value to 9.99 [s] : None 1: Internal resistor 2: External resistor 0: No flying start 1: Flying start 0: No detection 1: Detection to [rev] Overload warning value 10 to 100 [%] Station number for communications Station No.: 1 to 31 1 (RS485) A-10 Extended Function Setting Parameter

99 APPENDIX No. PA2_ Name Setting range Default Power Record of reference value 73 Communication baud rate (RS-485) 0: [bps] 1: [bps] 2: 9600 [bps] 3: [bps] 0 74 Parameter write protection 0: Write enable 1: Write protect 0-75 Positioning data write protection 77 Initial display of the keypad 78 Display transition at warning detection 80 Parameter in RAM 1 81 Parameter in RAM 2 82 Parameter in RAM 3 83 Parameter in RAM 4 84 Parameter in RAM 5 85 Parameter in RAM 6 0: Write enable 1: Write protect 0-0: 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: No transition 1: Transition to warning display 0 : No setting 1 to 99 :PA1 1 to to 199: PA2 1 to to 299: PA3 1 to A Extended Function Setting Parameter A-11

100 APPENDIX No. PA2_ Name Setting range Default Power Record of reference value A 86 Positioning data in RAM 1 87 Positioning data in RAM 2 88 Positioning data in RAM Sequence test mode: Mode selection Sequence test mode: Encoder selection Parity/stop bit selection (for Modbus) Response time (for Modbus) Communication time over time (for Modbus) Communication protocol selection GY******2-T2*-* motor type setting 99 Encoder selection 0 : No setting 1 to 15: Positioning data No. 0: Normal mode 1: Sequence test mode 0 0 0: 20 bits 1: 18 bits 2: 17 bits 0 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 to 1.00 [s] [s]: No detection 0.01 to 9.99 [s] 0: PC Loader protocol 1: Modbus RTU 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: 20 bits or 18 bits 1: 17 bits A-12 Extended Function Setting Parameter

101 APPENDIX Input Terminal Function Setting Parameter For the parameters for which power is described as 〇 in the following tables, cycle the power once to enable the parameter setting. (Check if the keypad display (7-segment) is off after the power is turned off.) List (PA3_ ) No. PA3_ Name Setting range Default Power Record of reference value 01 CONT1 signal assignment 1: Servo-on [S-ON] 2: Forward command [FWD] 1 02 CONT2 signal assignment 3: Reverse command [REV] 4: Start positioning [START] CONT3 signal assignment 5: Homing [ORG] 0 04 CONT4 signal assignment 6: Home position LS [LS] 7: +OT 8: -OT 0 05 CONT5 signal assignment 10: Forced stop [EMG] 11: Alarm reset [RST] 0 06 Unused 14: ACC0 16: Position preset 17: Gain switch 07 Unused 19, 20: Torque limit 0,1 22: Immediate value continuation 08 Unused 23: Immediate value change 24: Electronic gear numerator 09 CONT9 signal assignment selection 0 25: Electronic gear numerator 0 10 CONT10 signal assignment selection 1 26: Command pulse inhibit 0 11 CONT11 signal assignment 27,28: Command pulse ratio 1,2 29: Proportional control 31: Pause 0 12 CONT12 signal assignment 32: Positioning cancel 34: External braking resistor overheat 0 13 CONT13 signal assignment 35: Teaching 0 14 CONT14 signal assignment 36: Control mode selection 37: Position control 0 15 CONT15 signal assignment 38: Torque control 43: Override enable 0 16 CONT16 signal assignment 44: Override 1 45: Override CONT17 signal assignment 46: Override 4 47: Override CONT18 signal assignment 48: Interrupt input enable 49: Interrupt input 0 19 CONT19 signal assignment 50: Deviation clear 51 to 53: Multi-step speed selection 0 20 CONT20 signal assignment 1,2,3 54: Free-run 55: Edit permission 0 21 CONT21 signal assignment 57: Anti resonance frequency selection CONT22 signal assignment 58: Anti resonance frequency selection CONT23 signal assignment 60 to 63: AD0 to CONT24 signal assignment 77: Positioning data selection 78: Broadcast cancel 0 A Input Terminal Function Setting Parameter A-13

102 APPENDIX No. PA3_ Name Setting range Default Power Record of reference value 26 CONT always ON 1 0 to CONT always ON 2 [Setting disabled] 10: Forced stop [EMG] 0 28 CONT always ON 3 11: Alarm reset [RST] 34: External braking resistor overheat 0 29 CONT always ON 4 50: Deviation clear 0 30 CONT always ON 5 54: Free-run 0 31 Speed command scale ±1.0/ to ±100.0 [V]/ Rated rotation speed Speed command offset to 2000 [mv] Factory setting - 33 Torque command scale ±1.0 to ±10.0 [V]/Rated torque Torque command offset 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 to Torque command fine adjustment gain to A A-14 Input Terminal Function Setting Parameter

103 APPENDIX Output Terminal Function Setting Parameter For the parameters for which power is described as 〇 in the following tables, cycle the power once to enable the parameter setting. (Check if the keypad display (7-segment) is off after the power is turned off.) List (PA3_ ) No. PA3_ Name Setting range Default Power Record of reference value 51 OUT1 signal assignment 1 52 OUT2 signal assignment 1: Ready for servo-on [RDY] 2: In-position [INP] 2 53 OUT3 signal assignment 11: Speed limit detection 13: Over write completion Unused 14: Brake timing 16: Alarm detection (normally open 55 Unused contact) 17,18: Point detection, area 1,2 56 OUT6 signal assignment 19: Limiter detection 20: OT detection 21: Cycle end detection 0 57 OUT7 signal assignment 22: Homing completion 23: Zero deviation 24: Zero speed 0 58 OUT8 signal assignment 25: Speed coincidence 26: Torque limit detection 0 59 OUT9 signal assignment 27: Overload warning 28: Servo control ready [S-RDY] 0 60 OUT10 signal assignment 29: Edit permission response 30: Data error 0 61 OUT11 signal assignment 31: Address error 32 to 36: Alarm code 0 to OUT12 signal assignment 38:+OT detection 39:-OT detection 40: Home position LS detection 0 63 OUT13 signal assignment 41: Forced stop detection 45: Battery warning 46: Life warning 0 64 OUT14 signal assignment 60 to 67: MD0 to 7 75: Position preset completion 0 76: Alarm detection (normally closed 65 OUT15 signal assignment contact) 0 79: Immediate value continuation 66 OUT16 signal assignment permission 0 80: Immediate value continuation 67 OUT17 signal assignment completion 0 81: Immediate value change 68 OUT18 signal assignment completion 0 82: Command position completion 69 OUT19 signal assignment 83,84: Range position 1,2 0 85: Interrupt positioning detection 70 OUT20 signal assignment 91 to 95: CONT a to e through 0 A 71 OUT21 signal assignment 0 Output Terminal Function Setting Parameter A-15

104 APPENDIX No. PA3_ Name Setting range Default Power Record of reference value A 81 Monitor 1 signal assignment 1: Command speed. 2: Feedback speed. 3: Torque command. 4: Position deviation [unit/pulse]. 5: Position deviation 1/10 [units/pulse]. 2-6: 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. 82 Monitor 2 signal assignment 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] Monitor 1 offset -50 to Monitor 2 scale ±2.0 to ±100.0 [V] Monitor 2 offset -50 to Monitor 1/2 output format Command pulse frequency sampling time for monitor Feedback speed sampling time for monitor Range 1 of position: Setting 1 Range 1 of position: Setting 2 Range 2 of position: Setting 1 Range 2 of position: Setting 2 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) 0:62.5[µs] 1:125[µs] 2:250[µs] 3:500[µs] 4:1[ms] 5:2[ms] 6:4[ms] 7:8[ms] 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] to [units] to [units] to [units] to [units] A-16 Output Terminal Function Setting Parameter

105 APPENDIX Revision History Date of printing Index Description of revision June 2010 None First version A Revision History A-17

106 APPENDIX Product Warranty A A-18 Product Warranty

107 APPENDIX Service Network A Service Network A-19

108