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

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HM-60014
ARL
Series
CC-Link
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.

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  • Page 1 HM-60014 Series CC-Link 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: Table Of Contents

    Table of contents 7 Monitoring functions......35 1 Introduction ......... 3 7.1 First screen of the monitor mode... 35 2 Safety precautions ......5 7.2 Descriptions of monitor screens .... 36 3 Startup operation ........ 6 7.3 Monitor items ......... 37 3.1 Starting the teaching pendant ....

  • Page 3: Introduction

    1 Introduction 1 Introduction Before use Only qualified personnel should work with the product. Use the product correctly after thoroughly reading the section “2 Safety precautions” on p. 5. 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.
  • Page 4 1 Introduction Description of keys The keys on the teaching pendant are enclosed in Example: MODE ↑ ↓ −4−...

  • Page 5: 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.

  • Page 6: Startup Operation

    3 Startup operation 3 Startup operation This chapter describes the procedure to start the teaching pendant, representative screens of the teaching pendant, as well as the basic key operations using those screens. 3.1 Starting the teaching pendant Do not turn ON the ACL input via remote I/O while starting up the pendant. This will cause Note a communication error.

  • Page 7: Switching Between Languages

    3 Startup operation 3.2 Switching between languages To switch display languages, call up the first screen of the monitor mode and press the SHIFT continuously. After confirming that “Lang” is shown in the bottom right of the screen, press the F4 .
  • Page 8 3 Startup operation Program mode (PRG) It allows the user to create and edit the motor operating data. Driver ID Selected operating Data description data No. Press the [ENT] key to enter/change the data. Switch to the parameter mode. Switch to a screen in which you can confirm the clearing of data. Press the SHIFT and F2 at the same time to switch to the screen in which you can confirm the clearing of all data.

  • Page 9: Error Display

    3 Startup operation Test mode (TST) It allows the user to perform manual operation of the motor and check the I/O status. Driver ID Switch to the monitor mode. Switch to the I/O selection screen. Switch to a screen in which you can perform manual operation. Switch to a screen in which you can perform positioning operation.

  • Page 10: Setting Data

    4 Setting Data 4 Setting Data This chapter describes the procedures used to create operating data and start the operation of the motor via the teaching pendant. In this chapter the following operations are described in the sequence. Note that the explanation here assumes that the installation and wiring of the motor , driver and power supply are complete.

  • Page 11: Creating Operating Data

    4 Setting Data 4.3 Creating operating data Create operating data for positioning operations in the program mode. Starting speed, acceleration and deceleration are set in the parameter mode. Set the following items as operating data: • Positioning method • Position/direction •...
  • Page 12 4 Setting Data How to create the operating data In this example the following two operating data are created: Data No.01 Positioning method: absolute Position/direction: 4500 steps in CW direction Operating speed: 3000 Hz Operating function: single-motion Data No.02 Positioning method: inicremental Position/direction: 2400 steps in CCW direction Operating speed: 1500 Hz Operating function: single-motion...
  • Page 13 4 Setting Data Press the ENT . The positioning-method setting screen is displayed. Abs: absolute positioning Inc: incremental positioning Press the to select Inc and press the ← → ENT . The positioning method is confirmed and the position setting screen is displayed.

  • Page 14: Setting Parameters

    4 Setting Data 4.4 Setting parameters In this step you set common parameters for areas 1 and 2 in the parameter mode. With these settings the driver will switch ON the AREA when the motor rotates to a specified position. If area 1 >...

  • Page 15: Performing The Positioning Operation

    4 Setting Data 4.5 Performing the positioning operation In this step you perform the motor positioning operation in the test mode. The oprating data created in “4.3 Creating operating data” (see page 11) is called up and used to actually operate the motor.

  • Page 16: Creating And Editing Operating Data

    5 Creating and editing operating data 5 Creating and editing operating data This chapter explains the procedures involved in setting and modifying operating data. 5.1 Operating data An opration data consists of the values necessary for positioning operations, such as position, direction and speed of movement.

  • Page 17: Creating New Operating Data

    5 Creating and editing operating data F1 once in the monitor mode to switch to the first screen of the program mode. Press the The program mode has two first screens. Press the SHIFT repeatedly to toggle between the two screens. Press the SHIFT .

  • Page 18: Editing Operating Data

    5 Creating and editing operating data Press either the ← to select an operating function, and press the ENT . → SingleMotion: Single-motion operation LinkedMotion: Linked-motion operation PushMotion: Push-motion operation The operating function is confirmed and the first screen of the next data number is displayed. If you have selected push-motion operation, the push current setting screen is displayed.
  • Page 19 5 Creating and editing operating data Clearing data The following operation clears any operating data previously set and resets the settings to their defaults. Select the data number you want to clear in the first screen of the program mode. Use the ↑...
  • Page 20 5 Creating and editing operating data Deleting data The following operation deletes a data number previously set. The subsequent data numbers are automatically decremented by one. Select the data number you want to delete in the first screen of the program mode. Use the ↑...

  • Page 21: Remote Teaching

    5 Creating and editing operating data 5.6 Remote teaching You can move the motor by ↑ or ↓ and input the stopping position as operation data. Press the and switch to the first screen of the program mode. Select the data number for which you want to perform remote teaching.

  • Page 22: Direct Teaching

    5 Creating and editing operating data 5.7 Direct teaching You can move the motor by hand and input the stopping position as operating data. Press the and switch to the first screen of the program mode. Select the data number for which you want to perform direct teaching.

  • Page 23: Setting Range Of Operating Data

    5 Creating and editing operating data 5.8 Setting range of operating data The setting items in the program mode are listed below. Initial Item Display Description Setting range value Positioning Abs/Inc Sets the positioning method. method There are two positioning methods that can be used for positioning operation: absolute (Abs) and incremental (Inc).

  • Page 24: Setting Parameters

    6 Setting parameters 6 Setting parameters In order to operate the motor, it is necessary to set not only the operating data, but the data that defines the motor operating environment. Such data is referred to as parameters. This chapter explains how to set parameters. 6.1 Parameters There are 5 types of parameters: •...

  • Page 25: Setting I/O Parameters

    6 Setting parameters First screen ot the parameter mode Press the F1 twice in the monitor mode to switch to the first screen of the parameter mode. The parameter mode has two first screens. Press the SHIFT repeatedly to toggle between the two screens. Press the SHIFT Releaase the SHIFT...
  • Page 26 6 Setting parameters Press either the ← to select a HOME or → PRESET, and press the ENT . The preset position setting screen is displayed. Enter the preset position using the numerical keys, and press the ENT . The minimum ON time of MOVE setting screen is displayed. Enter the minimum ON time of MOVE using the numerical keys, and press the ENT .
  • Page 27 6 Setting parameters I/O parameters setting items In the table, RIO indicates a remote I/O, while DIO indicates a Sensor/User I/O. Item Display Description Setting range Initial value START input START Sets the START input mode. ∗1 mode DIO stop input STOP Sets whether to enable or disable the ∗1...

  • Page 28: Setting Motor Parameters

    6 Setting parameters 6.3 Setting motor parameters Press the (Mtr) in the first screen of the parameter mode. The operating current setting screen is displayed. Enter the operating current using the numerical keys, and press the ENT . The standstill current setting screen is displayed. Decrease the operating current and standstill current when there is an allowance in Note the motor torque and you wish to reduce vibration during operation or suppress heat...
  • Page 29 6 Setting parameters Enter the overload time using the numerical keys, and press ENT . The overflow rotation setting screen is displayed. Enter the overflow rotation using the numerical keys, and press the ENT . The END signal range setting screen is displayed. Enter the END signal range using the numerical keys, and press the ENT .
  • Page 30 6 Setting parameters 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 Sets the electronic gear A.

  • Page 31: Setting Speed Parameters

    6 Setting parameters 6.4 Setting speed parameters Press the (Spd) in the first screen of the parameter mode. The starting speed setting screen is displayed. Enter the starting speed using the numerical keys, and press the ENT . The acceleration setting screen is displayed. Enter the acceleration using the numerical keys, and press ENT .

  • Page 32: Setting Home Parameters

    6 Setting parameters 6.5 Setting home parameters Hold down the SHIFT , and press the (Hmp) in the first screen of the parameter mode. The return mode setting screen is displayed. 2........2-sensor mode 2 + TIM ......2-sensor mode + Timing signal 2 + SLT......

  • Page 33: Setting Common Parameters

    6 Setting parameters Home parameters setting items Item Display Description Setting range Initial value Return mode Home Set the mode of return-to-home operation and whether or not other 2 + TIM signals are used. 2 + SLT 2 + TIM + SLT 3 + TIM 3 + SLT 3 + TIM + SLT...

  • Page 34: Initializing Parameters

    6 Setting parameters Enter the area 2 using the numerical keys, and press the ENT . The absolute function enable/disable setting screen is displayed. Press either the ← → to select a absolute function enable/disable, and press the ENT . The display will return to the soft limit enable/disable setting screen.

  • Page 35: Monitoring Functions

    7 Monitoring functions 7 Monitoring functions This chapter describes the monitor functions of the monitor mode. 7.1 First screen of the monitor mode The available monitoring functions include the operation data monitor, I/O monitor, alarm monitor and alarm-history clear function. You can move to each monitor item from the first screen of the MON mode. •...

  • Page 36: Descriptions Of Monitor Screens

    7 Monitoring functions • Upon an error occurrence The color of the screen changes from green to red Alarm code and error description Switch to the first screen of the monitor mode. The backlight color will also remain red. Cancel the alarm. 7.2 Descriptions of monitor screens Examples of monitor screens are shown below.

  • Page 37: Monitor Items

    7 Monitoring functions • Alarm monitor It is possible to check the current alarm message and display the alarm history, as well as to reaset alarms and clear the alarm history. The color of the screen changes from green to red if an alarm occurs. Alarm code Switch to the alarm-history clear confirmation screen.
  • Page 38 7 Monitoring functions Monitor item Display Description Display range ∗ ALL1 The status of all RIOs can be checked. ∗ is displayed if the signal is ON. • • is displayed if the signal is OFF. The RY are, from the left, START, STOP, FREE, HOME/PRESET, FWD, RVS, ACL, M5, M4, M3, M2, M1 and M0.
  • Page 39 7 Monitoring functions Monitor item Display Description Display range Data (Data2) (Func) The operating function and operating speed SingleMotion (Spd) corresponding to the data number selected by M0 to LinkedMotion M5 are displayed. PushMotion SingleMotion: Single-motion positioning operation 1 to 500,000 Hz LinkedMotion: Linked-motion positioning operation PushMotion: Push-motion operation (Data2)
  • Page 40 7 Monitoring functions Monitor item Display Description Display range ∗ ALL1 The status of all RIOs can be checked. ∗ is displayed if the signal is ON. • • is displayed if the signal is OFF. The RY are, from the left, START, STOP, FREE, HOME/PRESET, FWD, RVS, ACL, M5, M4, M3, M2, M1 and M0.
  • Page 41 7 Monitoring functions Monitor item Display Description Display range Data Data Push Cur. The push current is displayed. 0 to 50% ”− −” is displayed during single-motion or linked-motion operation. (Data2) (Abs/Inc) The data number selected by M0 to M5 are (Pos) displayed.

  • Page 42: Manual Operation And I/O Checking

    8 Manual operation and I/O checking 8 Manual operation and I/O checking This chapter explains how to perform manual operation of the motor and check the driver’s I/O status. 8.1 Manual operation There are two types of manual operations: manual operation performed by pressing the arrow keys, and positioning operation using the operating data set via the teaching pendant.
  • Page 43 8 Manual operation and I/O checking Positioning operation Press the (Opr) in the first screen of the test mode. The positioning operation execution screen is displayed. Press the (PRE) to set the current position in the preset memory. Selecting preset sets the current position to the position set by the I/O parameter Note “PRESET position”.

  • Page 44: I/O Checking

    8 Manual operation and I/O checking 8.2 I/O checking The I/O checking function is used to confirm the connection status of the driver’s remote I/O, Sensor/User I/O and remote register via the teaching pendant. Connection with the user controller and the operation status can be checked.
  • Page 45 8 Manual operation and I/O checking To check the remote I/Os, press the F3 (RIO) on the screen displayed in step 2. The screen for selecting signal is displayed. Check the RY signals (sent from the master to the driver). Check the RX signals (sent from the driver to the master).

  • Page 46: I/O Checking Items

    8 Manual operation and I/O checking 8.3 I/O checking items In the table, a remote I/O is referred to as “RIO” and an input/output signal from a Sensor/User I/O, as “DIO.” The items in parentheses are displayed only in the ADVANCED mode. All other items are common to the BASIC mode and ADVANCED mode.
  • Page 47 8 Manual operation and I/O checking Monitor item Display Description Display range ∗ It is possible to switch each signal between ON and OFF state by pressing the specified numerical key. • • BASIC mode from the left, (9) MOVE, (8) END, (7) T-UP, (6) /ALM, (5) AREA, (4) CRD and (3) TIM.
  • Page 48 8 Manual operation and I/O checking 2 stations occupied Monitor item Display Description Display range START ∗ is displayed if the signal is ON. ∗ • is displayed if the signal is OFF. • STOP FREE ∗1 HOME/PRESET ∗ is displayed if the signal is ON. ∗...
  • Page 49 8 Manual operation and I/O checking Monitor item Display Description Display range RX8 (RX13) (TW-END) Press the F4 to change the status of TW-END to ∗ F4: ON/OFF ON or OFF. • ∗ RX9 (RX14) Press the F4 to change the status of CRD to ON •...

  • Page 50: 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.

  • Page 51: Error Lists

    9 Troubleshooting 9.3 Error lists Teaching pendant errors No. of Alarm Error Motor action Cause Remedial action code blinks The motor Check the connection with the None − No ID There was no response continues to driver as well as the driver ID, and Connected from any driver during ID −...
  • Page 52 9 Troubleshooting No. of Alarm Motor action Cause Remedial action Display code blinks EMG Error Motor free The emergency stop Reset the emergency stop input was detected. button on the teaching MBC output not be pendant. used Low Battery The motor stops. The battery voltage Charge the battery.
  • Page 53 9 Troubleshooting No. of Alarm Motor action Cause Remedial action Display code blinks No TIM/SLIT The motor stops. The TIM. output or SLIT • Adjust the connection input is not detected position of motor output shaft during return-to-home and load shaft or the operation.
  • Page 54 9 Troubleshooting No. of Alarm Motor action Cause Remedial action Display code blinks Sub System Motor free An error occurred during Turn off the power, and then Error communication between cycle the power. After the MBC output not be the main and sub CPUs. power is turned on, be sure to used perform return-to-home...

  • Page 55: Pendant Screen Transitions

    10 Pendant screen transitions 10 Pendant screen transitions 10.1 Monitor mode (MON) Display of current position, for return-to-home operation, push-motion operation and error occurrence changes with the conditions. [ ] indicates the name of a key. −55−...
  • Page 56 10 Pendant screen transitions −56−...
  • Page 57 10 Pendant screen transitions −57−...
  • Page 58 10 Pendant screen transitions −58−...
  • Page 59 10 Pendant screen transitions −59−...

  • Page 60: Program Mode (Prg)

    10 Pendant screen transitions 10.2 Program mode (PRG) In this mode it is possible to enter and edit operating data, and to clear all operating data. [ ] indicates the name of a key. −60−...
  • Page 61 10 Pendant screen transitions −61−...

  • Page 62: Parameter Mode (Par)

    10 Pendant screen transitions 10.3 Parameter mode (PAR) It is possible to set and edit parameters, and to initialize all data. [ ] indicates the name of a key. −62−...
  • Page 63 10 Pendant screen transitions −63−...
  • Page 64 10 Pendant screen transitions −64−...

  • Page 65: Test Mode (Tst)

    10 Pendant screen transitions 10.4 Test mode (TST) [ ] indicates the name of a key. −65−...
  • Page 66 10 Pendant screen transitions −66−...
  • Page 67 10 Pendant screen transitions −67−...
  • Page 68 10 Pendant screen transitions −68−...
  • Page 69 10 Pendant screen transitions −69−...
  • Page 70 5:00 , P.S.T. (M-F) Tel:0211-52067-00 Fax:0211-52067-099 A.M. P.M. 7:30 to 5:00 , C.S.T. (M-F) Munich Office A.M. P.M. Tel:(6745)7344 Fax:(6745)9405 E-mail: techsupport@orientalmotor.com Tel:089-3181225-00 Fax:089-3181225-25 www.orientalmotor.com Hamburg Office Tel:(03)22875778 Fax:(03)22875528 Tel:040-76910443 Fax:040-76910445 Tel:66-2-254-6113 Fax:66-2-254-6114 Tel:01256-347090 Fax:01256-347099 KOREA Tel:01 47 86 97 50...

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