Oriental motor alphaSTEP ARL Series Setting Manual
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Oriental motor alphaSTEP ARL Series Setting Manual

Oriental motor alphaSTEP ARL Series Setting Manual

Built-in controller type
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ARL Series
TEACHING PENDANT SETTING MANUAL
Thank you for purchasing an Oriental Motor product.
This manual describes product handling procedures and safety precautions.
Please read it thoroughly to ensure safe operation.
•
•
Always keep the manual where it is readily available.

Table of contents

1 Introduction ......................................... 2
2 Safety precautions .............................. 4
3.4 Error display ............................................ 7
controller mode ................................... 8
4.1 Motion profile........................................... 8
4.4 Editing motion profiles ........................... 10
4.5 Remote teaching ................................... 12
4.6 Direct teaching ...................................... 12
mode................................................. 14
5.1 Parameters............................................ 14
5.2 Setting I/O parameters .......................... 15
5.3 Setting motor parameters...................... 16
5.4 Setting speed parameters ..................... 19
5.5 Setting home parameters ...................... 20
5.6 Setting common parameters ................. 21
5.7 Initializing parameters ........................... 22
mode................................................. 23
6.1 Monitor screen....................................... 23
6.2 I/O monitor............................................. 24
Built-In Controller Type
the controller mode ...........................25
7.1 Manual operation................................... 25
7.2 I/O checking........................................... 26
7.3 I/O checking items ................................. 27
8.4 Error display .......................................... 30
8.6 Monitoring functions .............................. 37
8.7 Manual operation................................... 38
8.8 I/O checking........................................... 39
9 Troubleshooting ................................40
9.1 Error messages ..................................... 40
9.2 Checking the alarm history.................... 40
9.3 Clearing the alarm history ..................... 40
9.4 Error lists ............................................... 41
10.1 MON (monitor) mode............................. 44
10.3 PAR (parameter) mode.......................... 48
10.4 TST (test) mode..................................... 52
[controller mode only] ............................ 46
HM-60011

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Summary of Contents for Oriental motor alphaSTEP ARL Series

  • Page 1: Table Of Contents

    HM-60011 ARL Series Built-In Controller Type TEACHING PENDANT SETTING MANUAL Thank you for purchasing an Oriental Motor product. This manual describes product handling procedures and safety precautions. Please read it thoroughly to ensure safe operation. • • Always keep the manual where it is readily available.

  • Page 2: Introduction

    The product described in this manual has been designed and manufactured for use in general industrial machinery, and must not be used for any other purpose. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure to observe this warning.
  • Page 3 When an EEPROM error occurs, all data that has been written to memory will be lost. If an EEPROM error occurs, “initialize all data” using the teaching pendant. If the error still persists, please contact the Oriental Motor branch or sales office from which you purchased the product. −3−...

  • Page 4: Safety Precautions

    2 Safety precautions 2 Safety precautions The precautions described below are intended to prevent danger or injury to the user and other personnel through safe, correct use of the product. Use the product only after carefully reading and fully understanding these instructions. Handling the product without observing the instructions that accompany a “Warning”...

  • Page 5: Basic Operation In Controller Mode

    3 Basic operation in controller mode 3 Basic operation in controller mode This chapter describes the representative screens of the teaching pendant displayed in the controller mode, as well as the basic key operations using those screens. 3.1 Starting the teaching pendant The power to the teaching pendant is supplied from the driver.

  • Page 6: Switching Between Operation Modes

    3 Basic operation in controller mode 3.3 Switching between operation modes Four modes are provided at the same hierarchy in controller mode. Press the in order to switch among these modes. Press to return to the previous screen. MON (monitor) mode PRG (program) mode PAR (parameter) mode TST (test) mode...

  • Page 7: Error Display

    3 Basic operation in controller mode TST (test) mode It allows the user to perform manual operation of the motor and check the I/O status. Driver ID Data description F4: Switch to a screen in which you can perform test operation. F3: Switch to a screen in which you can perform manual operation.

  • Page 8: Creating And Editing Motion Profiles In Controller Mode

    4 Creating and editing motion profiles in controller mode 4 Creating and editing motion profiles in controller mode This chapter explains the procedures involved in setting and modifying operation data. Operation data can be created only when the driver is in the controller mode. 4.1 Motion profile A motion profile consists of the values necessary for positioning operations, such as position, direction and speed of movement.

  • Page 9: Creating New Motion Profiles

    4 Creating and editing motion profiles in controller mode 4.3 Creating new motion profiles How to create new operation data is explained below. It is possible to create up to 63 motion profiles from No.01 to No.63. Press the to select the data number for which ↑...

  • Page 10: Editing Motion Profiles

    4 Creating and editing motion profiles in controller mode 4.4 Editing motion profiles Do not disconnect the pendant cable or optional controller link cable (sold separately) while data Note is being cleared, inserted and deleted. Disconnecting the cable while data clear is still in progress may cause a memory error.
  • Page 11 4 Creating and editing motion profiles in controller mode Press the (Yes), and then press the ENT . The data is inserted and the subsequent data numbers are incremented by one. After the insertion, the display returns to the first screen of the PRG mode.

  • Page 12: Remote Teaching

    4 Creating and editing motion profiles in controller mode 4.5 Remote teaching In the remote teaching method, you operate the motor via the ↑ ↓ of the teaching pendant and enter the stopping position. Press the and switch to the first screen of the PRG mode. Select the data number for which you want to perform remote teaching.

  • Page 13: Setting Items Of Motion Profiles

    4 Creating and editing motion profiles in controller mode 4.7 Setting items of motion profiles The setting items in the PRG mode are listed below. Initial Item Display Description Setting range value Sets the positioning method. There are two positioning methods that can be used for positioning operation: absolute (Abs) and incremental (Inc).

  • Page 14: Setting Parameters In The Controller Mode

    5 Setting parameters in the controller mode 5 Setting parameters in the controller mode In order to operate the motor, it is necessary to set not only the motion profiles, but the data that defines the motor operating environment. Such data is referred to as parameters. This chapter explains how to set parameters when the driver is used in the controller mode.

  • Page 15: Setting I/O Parameters

    5 Setting parameters in the controller mode 5.2 Setting I/O parameters Press the and switch to the first screen of the PAR mode. Press the (I/O). The stop action setting screen is displayed. Press either the ← → to select a stop action, and press ENT .

  • Page 16: Setting Motor Parameters

    5 Setting parameters in the controller mode Press either the to select a SLIT input logic, and ← → press the ENT . The overtravel action setting screen is displayed. Press either the to select a overtravel action, and ← →...
  • Page 17 5 Setting parameters in the controller mode Enter the standstill current using the numerical keys, and press the ENT . The electronic gear A setting screen is displayed. Enter the electronic gear A using the numerical keys, and press the ENT .
  • Page 18 5 Setting parameters in the controller mode Enter the proportional gain using the numerical keys, and press the ENT . The integral gain setting screen is displayed. Enter the integral gain using the numerical keys, and press the ENT . The differential gain setting screen is displayed.

  • Page 19: Setting Speed Parameters

    5 Setting parameters in the controller mode 5.4 Setting speed parameters Press the and switch to the first screen of the PAR mode. Press the (Spd). The starting speed setting screen is displayed. Enter the starting speed using the numerical keys, and press the ENT .

  • Page 20: Setting Home Parameters

    5 Setting parameters in the controller mode 5.5 Setting home parameters Press the and switch to the first screen of the PAR mode. Hold down the SHIFT , and press the (Hmp). The return mode setting screen is displayed. Press either the ←...

  • Page 21: Setting Common Parameters

    5 Setting parameters in the controller mode 5.6 Setting common parameters Press the and switch to the first screen of the PAR mode. Hold down the SHIFT , and press the (Com). The soft limit enable/disable setting screen is displayed. Press either the ←...

  • Page 22: Initializing Parameters

    5 Setting parameters in the controller mode 5.7 Initializing parameters The following operation resets all parameters to their defaults. Press the and switch to the first screen of the PAR mode. Hold down the SHIFT , and press the (Ini). The message is displayed.

  • Page 23: Monitoring Functions In Controller Mode

    6 Monitoring functions in controller mode 6 Monitoring functions in controller mode This chapter describes the monitor functions of the MON mode. 6.1 Monitor screen The available monitoring functions include the operation data monitor, I/O monitor, alarm monitor and alarm-history clear function.

  • Page 24: I/O Monitor

    6 Monitoring functions in controller mode 6.2 I/O monitor Press the and switch to the first screen of the MON mode. Press the (I/O). The I/O status screen appears. Press the ↑ ↓ to switch the I/O status screen. Monitor items If the signal logic is normally closed, a “/”...

  • Page 25: Manual Operation And I/O Checking In The Controller Mode

    7 Manual operation and I/O checking in the controller mode 7 Manual operation and I/O checking in the controller mode This chapter explains how to perform manual operation of the motor and check the driver’s I/O status. 7.1 Manual operation There are two types of manual operations: manual operation performed by pressing the ←...

  • Page 26: I/O Checking

    7 Manual operation and I/O checking in the controller mode Test operation Press the and switch to the first screen of the TST mode. Press the (Opr). The test operation execution screen is displayed. Select the operation data number you want to use for the test operation. Use the , or directly enter the data number using the numerical keys.

  • Page 27: I/O Checking Items

    7 Manual operation and I/O checking in the controller mode 7.3 I/O checking items If the signal logic is normally closed, a “/” is displayed at the beginning of the signal name. Display Display Description range START ∗ is displayed if the input is ON. ∗...

  • Page 28: Operation In The Driver Mode

    8 Operation in the driver mode 8 Operation in the driver mode This chapter explains how to start the driver, set the parameters and operate the monitor functions when the driver is used in the driver mode. In the driver mode, the motor is operated in accordance with the pulse train inputs from the user controller, so operation data is not required.

  • Page 29: Switching Between Languages

    8 Operation in the driver mode 8.2 Switching between languages To switch display languages, call up the first screen of the MON mode and press the SHIFT continuously. After confirming that “Lang” is shown in the bottom right of the screen, press the F4 .

  • Page 30: Error Display

    8 Operation in the driver mode TST (test) mode It allows the user to perform manual operation of the motor and check the I/O status. Driver ID Data description F3: Switch to a screen in which you can perform manual operation. F2: Switch to the I/O setting screen.
  • Page 31 8 Operation in the driver mode Setting I/O parameters Press the and switch to the first screen of the PAR mode. Press the (I/O). The C.OFF input logic setting screen is displayed. Press either the to select a C.OFF input logic, and ←...
  • Page 32 8 Operation in the driver mode Setting motor parameters Press the and switch to the first screen of the PAR mode. Press the (Mtr). The operating current setting screen is displayed. Enter the operating current using the numerical keys, and press the ENT .
  • Page 33 8 Operation in the driver mode Press either the to select the direction to be applied ← → when the is pressed, and press the ENT . ← +Dir: Pressing the will turn the motor in the CW direction. ← −Dir: Pressing the ←...
  • Page 34 8 Operation in the driver mode Motor parameters setting items Item Display Description Setting range Initial value Operating current Run Cur. Sets the operating current of the motor. 0 to 100% Standstill current Stop Cur Sets the standstill current of the motor. 0 to 50% Electronic gear A Gear A...
  • Page 35 8 Operation in the driver mode Setting speed parameters Press the and switch to the first screen of the PAR mode. Press the (Spd). The starting speed setting screen is displayed. Enter the starting speed using the numerical keys, and press the ENT .
  • Page 36 8 Operation in the driver mode Setting common parameters Press the and switch to the first screen of the PAR mode. Hold down the SHIFT , and press the (Com). The soft limit enable/disable setting screen is displayed. Press either the to select a soft limit enable/disable, ←...

  • Page 37: Monitoring Functions

    8 Operation in the driver mode Initializing parameters The following operation resets all parameters to their defaults. Press the and switch to the first screen of the PAR mode. Hold down the SHIFT , and press the (Ini). The message is displayed. Press the (Yes), and then press the ENT .

  • Page 38: Manual Operation

    8 Operation in the driver mode I/O monitor items If the signal logic is normally closed, a “/” is displayed at the beginning of the signal name. Display Monitor item Display Description range ACL (CK) FREE C.OFF PRESET ∗ is displayed if the input is ON. ∗...

  • Page 39: I/O Checking

    8 Operation in the driver mode 8.8 I/O checking The I/O checking function is used to confirm the connection status of the user I/O or sensor I/O via the teaching pendant. Connection with the user controller and the operation status can be checked. The “∗”...

  • Page 40: Troubleshooting

    9 Troubleshooting 9 Troubleshooting Should any problem occur during use of the teaching pendant, perform troubleshooting with reference to the information provided in this section. If the device does not operate normally after the appropriate action has been taken, call our Technical Support Line. 9.1 Error messages A message may be displayed in the display while using the teaching pendant.

  • Page 41: Error Lists

    9 Troubleshooting 9.4 Error lists Teaching pendant errors No. of Alarm Error Motor action Cause Remedial action code input blinks There was no response Check the connection with the driver and No ID connected from any driver during ID ID address of the driver, and then press checking.
  • Page 42 9 Troubleshooting No. of Alarm Motor action Cause Remedial action Display code input blinks Low Battery The battery voltage dropped Error (absolute to or below the specified Charge the battery. type only) value. Power was turned on for • the first time after the Reset the alarm using ACL input, •...
  • Page 43 Stored data for the driver parameters using the teaching was damaged. pendant. Memory Error Rewrite life of the NV Call our Technical Support Line or memory (approx. 100,000 contact your nearest Oriental Motor writes) was reached. branch or sales office. −43−...

  • Page 44: Table Of Operation Switching

    10 Table of operation switching 10 Table of operation switching 10.1 MON (monitor) mode Display of current position and for return-to-home operation, push-motion operation and error occurrence changes with the conditions. [ ] indicates the name of a key. indicates directions of screen transition effected by the ↑ ↓...
  • Page 45 10 Table of operation switching Alarm monitor Language setting Data check Current alarm information [F1] [F2] [F3] [F4] [F1] to the PRG mode Cancel alarm to the PAR mode To the alarm history [ESC] to the first screen To clear alarm history to the PRG mode to the PAR mode [ESC] to the first screen...

  • Page 46: Prg (Program) Mode [Controller Mode Only]

    10 Table of operation switching 10.2 PRG (program) mode [controller mode only] [ ] indicates the name of a key. indicates directions of screen transition effected by the ↑ ↓ First screen Data creation Select item 1 Select data No. [F1] [F2] [F3]...
  • Page 47 10 Table of operation switching Data clear, insertion and deletion All operation data clear Data clear All operation data clear [F1] [F3] [F4] [F1] [F3] [F4] To the first screen To the PAR To the first screen mode To the first screen after clear To the PAR mode Screen displayed during the processing [ESC] to the first screen...

  • Page 48: Par (Parameter) Mode

    10 Table of operation switching 10.3 PAR (parameter) mode [ ] indicates the name of a key. indicates directions of screen transition effected by the ↑ ↓ ● ● The controller mode and driver mode are indicated by “ ” and “ ,”...
  • Page 49 10 Table of operation switching Motor parameter Operating current key direction Standstill current Integrative gain Overload time Electronic gear A Differential gain Overflow rotation Electronic gear B END signal range Speed filter Servo control current ratio Switching motor operating direction Proportional gain In any screen, [F1] to the TST mode [ESC] to the first screen...
  • Page 50 10 Table of operation switching Initialize parameters Home parameter Speed parameter Initialize parameters Return mode Starting speed [F1] [F3] [F4] to the TST To the first screen mode Acceleration Starting speed of return Screen displayed during the processing To the first screen after completion. Operating speed of return Deceleration Return direction...
  • Page 51 10 Table of operation switching Common parameter Soft limit enable/disable Upper soft limit Lower soft limit Area 1 Area 2 Absolute function enable/disable In any screen, [F1] to the TST mode [ESC] to the first screen −51−...

  • Page 52: Tst (Test) Mode

    10 Table of operation switching 10.4 TST (test) mode [ ] indicates the name of a key. indicates directions of screen transition effected by the ↑ ↓ ● ● The controller mode and driver mode are indicated by “ ” and “ ,”...
  • Page 53 10 Table of operation switching I/O checking Manual operation I/O selection [F1] [F3] [F4] [F1] [F2] [F3] [F4] Execute return-to- home operation To the encoder pulse output check Execute preset operation To the output check To the MON mode To the input check [ESC] to the first screen To the MON mode [ESC] to the first screen...
  • Page 56 • Unauthorized reproduction or copying of all or part of this manual is prohibited. If a new copy is required to replace an original manual that has been damaged or lost, please contact your nearest Oriental Motor branch or sales office.

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