CKD AX0180 User manual

SMB-66E
INSTRUCTION MANUAL
ABSODEX
TEACHING PENDANT
ＡＸ０１８０
TS/TH-Type Driver Common
zBefore operating the product, read this instruction
manual without fail.
zAmong all, carefully read the description related to
safety.
zKeep this instruction manual in a safe place so
that you can read it at any time when necessary.
3rd Edition
CKD Corporation

! For safety operation of product
Read before starting operation.
When designing or manufacturing equipment incorporating ABSODEX, check that the
mechanism of the equipment and the electric control for controlling the mechanism assure the
safety of the system, to manufacture safe equipment.
To operate our product safely, selection, operation and handling of the product as well as
adequate maintenance procedures are important.
Be sure to observe the description given under DANGER, WARNING and CAUTION to assure
safety of the equipment.
DANGER: Indicates an imminently hazardous situation which,
if not avoided, will result in death or serious injury.
WARNING: Indicates a potentially hazardous situation,
if not avoided, could result in death or serious injury.
CAUTION: Indicates a potentially hazardous situation,
if not avoided, may result in minor or moderate injury or
ABSODEX and its peripheral equipment damage.
!
!
!
The word or words that designate a degree or level of safety alerting.
SIGNAL WORD used in this manual is classified into the following three levels in accordance
with the degree of injury or equipment damage.
Utmost care is required for higher degree of SIGNAL WORD.
Even items described under "CAUTION" may cause serious results.
Observe without fail because these safety precautions are important.
The product specification of a custom product may differ from the description given in this
instruction manual.
Check the specification drawing or the like for each product.

zDO NOT TOUCH the terminal strip in the front panel of the
driver, as it is charged with high voltage, when power is
ON. Also do not touch the terminal for about 5 minutes
after power is turned off until the internal condenser
discharges high voltage.
zTURN OFF POWER before mounting or dismounting
connectors as equipment malfunction, damage, and
electrical shock can be caused.
zDo not operate in explosive or fire atmosphere.
DANGER:
！
zServo off including emergency stop and alarm and brake
off with rotational force is applied e.g. by gravity may cause
the actuator to rotate. Operate the actuator in the
balanced condition so that rotational force is not applied for
these operations after all safety aspects are confirmed.
zKeep hands away from the rotating part as sudden motion
may take place during gain adjustments or trial run.
Make sure of the safety in the full revolution of the actuator
before turning it on to adjust.
zWhen auto tuning is executed, the actuator rotates and the
load is estimated. Make sure that the safety is assured to
operate the actuator.
zMake sure that the safety is assured to operate the
actuator in case the unit is operated from the place unable
to confirm the motion.
zDO NOT TOUCH the actuator and the driver during
operation or just after stopped. There is a risk to get
burned. Keep away from actuators and drivers during
operation or immediately after operation is stopped.
Otherwise you may suffer from burns.
zDo not remove devices until the safety is confirmed.
WARNING :
！

zThe product is supplied for use by the persons who have
proper expertise in electrical or mechanical engineering.
CKD will not be liable for bodily injuries or accident caused
by the use by the people who has no or little knowledge in
electrical and mechanical fields, and by the people who is
not thoroughly trained for using ABSODEX.
zConnect Teaching Pendant to CN1 of ABSODEX Driver
before turning the power on.
zAfter connecting the CN1 terminal, tighten the screws
without fail to lock the connector.
If the connector is disconnected or ABSODEX is turned off
during program transmission, program failures and/or
malfunction will be caused.
zConnect Teaching Pendant with the driver only when it is
used. Leave it unconnected when it is not used.
zDo not give a large pressure or impact on the machine.
Otherwise failure will be caused.
zDo not press the displaying unit forcibly.
zKeep the product at a place where the temperature is low
and humidity is less with no direct sunshine.
zThis Teaching Pendant is for the TS, TH, GS, S, GH and H
type ABSODEX Drivers.
Some functions are unavailable if it is used for the C type
or earlier type drivers.
zSome communication codes are not supported with some
versions of ABSODEX Driver.
zTeaching Pendant, driver and actuator (except for AX8000
Series) are not water or oil proof.
Take measures against water and oil when using it in an
environment susceptible to water or oil splashes.
zExternal noise may distort the display. Please restart the
control power if the display becomes distorted.
CAUTION:
！

Terms of warranty
The warranty period and the scope of warranty are described below.
1) Period
The warranty period of the product is one year since the date of delivery. (However, the
period assumes eight hours of operation per day. As well, if the durability limit is reached
within one year, the period to the durability limit is the warranty period.)
2) Scope
If failure is caused in the above warranty period due to poor workmanship of our product,
we will repair the product without charge without delay.
However, the scope of warranty shall not cover the following cases.
➀Operation under the conditions or in the environment derailing from those
specified in the product specifications
➁Failure caused by lack of attention or erroneous control
➂Failure caused by other than the delivered product
➃Failure caused by operation derailing from the purposes for which the product is
designed
➄Failure caused by modification in the structure, performance, specification or other
features made by other than us after delivery, or failure caused by repairs done by
other than our designated contractor
➅Loss in our product assembled to your machine or equipment, which would be
avoided if your machine or equipment were provided with general functions,
structures or other features common in the industry
➆Failure caused by reason that is unforeseeable with technology put into practical
use at the time of delivery
➇Failure caused by fire, earthquake, flood, lightning, or other acts of God, earth
shock, pollution, salt hazard, gas intoxication, excessive voltage, or other external
causes
The warranty mentioned here covers the discrete delivered product.
Only the scope of warranty shall not cover losses induced by the failure of the delivered
product.
3) Warranty of product exported outside Japan
➀We will repair the product sent back to our factory or company or factory
designated by us. Work and cost necessary for transportation shall not be
compensated for.
➁The repaired product will be packed according to the domestic packing
specification and delivered to a designated site inside Japan.
4) Others
This warranty terms describe basic items. Priority will be given to specification drawings
and specification sheets if warranty description given on such specification drawings or
specification sheets is different from the warranty terms given herein.

Contents
ABSODEX Teaching pendant
AX0180 Instruction Manual No. SMB-66E
1. TOPICS RELATED TO PRODUCT
1.1 Features............................................................................................................... 1
1.2 Specifications....................................................................................................... 2
1.2.1 Major operations ....................................................................................... 2
1.2.2 Hardware................................................................................................... 2
1.2.3 Environment.............................................................................................. 2
2. TOPICS RELATED TO OPERATION
2.1 Name and Function of Displaying and Operation Sections.................................3
2.2 How to Enter the Letter or Symbol Character...................................................... 4
2.3 Selecting the Mode.............................................................................................. 4
2.3.1 Mode selection procedure......................................................................... 4
2.4 Edit Mode............................................................................................................. 5
2.4.1 Creation procedure of equal segment action program.............................. 5
2.4.2 NC program creation procedure................................................................ 9
2.4.2.1 Key operation for NC program entry....................................................10
2.4.3 Procedure for loading programs from ABSODEX driver ..........................11
2.4.4 Program editing continuation procedure ................................................. 12
2.4.5 Procedure for storing the editing program to the ABSODEX driver......... 13
2.4.5.1 If a program error is caused when the program is stored.................... 14
2.4.6 Program number list displaying procedure.............................................. 15
2.4.7 Edit program number changing procedure.............................................. 16
2.4.8 ABSODEX driver program number changing procedure......................... 17
2.4.9 Program number deletion procedure....................................................... 18
2.4.10 Sample program execution procedure.................................................... 19
2.5 Display Mode..................................................................................................... 21
2.5.1 I/O status displaying procedure............................................................... 21
2.5.1.1 Program number selection display....................................................... 21
2.5.2 Actuator position displaying procedure ................................................... 22
2.5.3 Alarm displaying procedure..................................................................... 22
2.5.4 ABSODEX information displaying procedure.......................................... 23
2.5.4.1 Actuator information displaying procedure........................................... 23
2.5.4.2 Driver information displaying procedure.............................................. 24
2.5.4.3 Teaching pendant displaying procedure.............................................. 24

2.6 Parameter Mode................................................................................................ 25
2.6.1 Parameter data changing procedure....................................................... 25
2.6.1.1 Changing the displayed paraｓmeter to another parameter.................. 26
2.6.1.2 Changing the input unit of parameter 3, 8, 9, 16, 19, 37, 45, 46.......... 26
2.6.1.3 Changing the parameter data .............................................................. 27
2.6.1.4 Checking the setting range of the parameter....................................... 28
2.6.1.5 Canceling entered data........................................................................ 28
2.6.1.6 After changing parameter data............................................................. 28
2.6.2 Parameter data storage procedure ......................................................... 29
2.6.3 Parameter data initialization procedure................................................... 30
2.6.4 RAM data changing procedure................................................................31
2.6.5 Station number setup procedure............................................................. 32
2.6.5.1 CC-Link specific case .......................................................................... 32
2.6.5.2 PROFIBUS-DP specific case............................................................... 33
2.6.5.3 DeviceNet specific case....................................................................... 34
2.7 Motion Mode...................................................................................................... 35
2.7.1 Program starting procedure.....................................................................35
2.7.2 Program stopping procedure................................................................... 35
2.7.3 Execution program selection procedure.................................................. 36
2.7.4 Alarm resetting procedure....................................................................... 36
2.7.5 Single block program operation procedure ............................................. 37
2.7.6 Manual data input (MDI) mode execution procedure.............................. 37
2.7.7 Brake application procedure ...................................................................37
2.7.8 Brake releasing procedure......................................................................37
2.7.9 Servo activation procedure .....................................................................37
2.7.10 Servo deactivation procedure .................................................................38
2.7.11 Home position offset entry procedure ..................................................... 38
2.7.12 Offset zeroing procedure......................................................................... 39
2.7.13 Terminal operation procedure .................................................................40
2.7.13.1 Communication data............................................................................ 40
2.7.13.2 Reception data..................................................................................... 41
2.7.13.3 Parameter entry method in terminal mode........................................... 42
2.7.14 Home return procedure........................................................................... 43
2.7.15 Jogging procedure .................................................................................. 44
2.7.15.1 Confirmation before starting jog operation........................................... 44
2.7.15.2 Motion mode check.............................................................................. 44
2.7.15.3 Jogging method ................................................................................... 44

Created on Dec. 2010
Revised on Jul. 2011
2.8 Copy Mode ........................................................................................................ 45
2.8.1 Procedure for loading from ABSODEX driver to Teaching pendant........ 45
2.8.2 Procedure for storing from Teaching pendant to ABSODEX driver......... 46
2.9 Tuning Mode...................................................................................................... 47
2.9.1 Tuning procedure.................................................................................... 48
2.9.2 Gain Adjustments procedure................................................................... 50
2.9.3 Test Operation procedure........................................................................ 51
3. PROGRAM
3.1 Program Format................................................................................................. 53
3.2 Cautionary Items................................................................................................ 53
3.3 Code List............................................................................................................ 55
3.4 Sample Programs.............................................................................................. 59
3.5 Error Code List................................................................................................... 62
4. PARAMETER
4.1 Parameters and Contents.................................................................................. 63
5. ALARMS
5.1 Alarm Display and Description........................................................................... 71
6. COMMUNICATION FUNCTIONS
6.1 Communication Code List.................................................................................. 75
6.2 Communication Error......................................................................................... 78
7. PROCESS FLOW
7.1 Power-on ........................................................................................................... 79
7.2 Edit Mode........................................................................................................... 81
7.3 Display Mode..................................................................................................... 85
7.4 Parameter Mode................................................................................................ 87
7.5 Motion Mode...................................................................................................... 89
7.6 Copy Mode ........................................................................................................ 91
7.7 Tuning Mode...................................................................................................... 93

[SMB-66E]
－ 1 －
PRODUCT
1
1. TOPICS RELATED TO PRODUCT
1.1 Feature
1) Creation of equal egment program i made ea y.
You can handle operation ranging from creation of equal egment program up to actuator
control even if you are a novice about NC code and operation code . Equal egment program
can be created through interactive operation.
2) No need for pecial power upply
The power i upplied from ABSODEX.
3) Program and parameter backing
Capacitor are u ed to back the memory. Program and parameter are retained for three hour
after the power i turned off.
Thi feature i u eful when the program i copied to another ABSODEX unit.
The program memory capacity i 16K byte .
4) Five operation mode
a) Edit mode
Through interactive operation, you can edit the program for performing equal egment action .
In addition, you can u e NC code to edit the program.
Only one editing program i tored. (Memory backup time: 3 hour )
Up to 2000 character can be entered in the program.
Nine ample program are regi tered, and you can edit the de ired ample program to create
the de ired program.
b) Display mode
The input/output tatu e of input/output ignal at CN3 of the ABSODEX driver are di played
a well a the current actuator po ition, alarm tate, etc.
c) Parameter mode
Parameter can be monitored or entered.
With erial communication interface TS/TH-type driver , relevant etting uch a the tation
number and baud rate can be configured.
d) Motio mode
Program tarting/ topping and number election, re etting, ingle block operation, MDI
operation, brake application/relea e, off et value entry, communication through terminal
input , and home return can be conducted.
e) Copy mode
All program and parameter can be copied from ABSODEX driver to another driver.
f) Tu i g mode(function for TS-type driver only)
ABSODEX i adju ted u ing the auto tuning function of ABSODEX.
5) Simple operation
Hold in the left hand and u e the thumb of the left hand to operate the
SHIFT
key while entering
number and letter key with the right hand.
6) Simple program change
The angle and peed in the program can be modified without difficulty in the edit mode.
7) Comprehen ive communication function
Note: The program capacity and directory di play are limited.
8) top function

[SMB-66E]
－ 2 －
PRODUCT
1
1.2 Specification
1.2.1 Major operation
Mode Item De cription
Editing
Equal egment Program number 0 to 999
NC program Program number 0 to 999
Program capacity 2000 character
Sample Number of program 9
Di play - I/O ON/OFF and real-time view
of actuator po ition (pul e/angle) (Note1)
Parameter
Current data of parameter
18 and 24
Real-time di play
(Entry impo ible)
Parameter 1 to 17, 19 to 23
, 27 to 29, 33 to 39, 42 , 45
to 57 , 62 to 67, 70 to72(Note2)
(Except for 49 and 55)
Can be keyed-in
Operation
MDI Number of entered
character 256
Origin off et Setting Enter the current value converted in the range
between -540672 and 540671.
Terminal Number of input character
256
Number of output character 256
Copy
Program capacity 16KB
Parameter
Parameter 1 to 17, 19 to 23, 27 to 29,
33 to 39, 42 , 45 to 57 , 62 to 67, 70 to72(Note2)
(Except for 49 and 55)
Note1 : The po ition di played during actuator rotation and ON/OFF change in the I/O are reflected in the
di playing ampling time interval .
Note 2: The parameter compatible with GS/S, GH/H type are parameter no. 1 to 17, 19 to 23, 42, 62 to 67,
70 and 71. (42 i available for GS/S type only)
1.2.2 Hardware
Item De cription
Di play (LCD) 16 character x 2 line
Input key 17 key
(Emergency top: 1. Control key : 5. Letter and number key : 11)
Memory backup Super capacitor
Backup time 3 hour
Power upply +5V, 100mA (Supplied from ABSODEX driver)
Dimen ion 86 (W) × 140 (H) × 24 (D) (without connector)
Cable: 2m
Weight Main body only: 140g
1.2.3 Environment
Item De cription
Operating temperature 5 to 45°C
Storage temperature -15 to 65°C
Relative humidity 20 to 90% (no conden ation allowed)

[SMB-66E]
－ 3 －
OPERATION
2
2. TOPICS RELATED TO OPERATION
2.1 Name and Function o Displaying and Operation Sections
① Displaying window : Max. 16 characters x 2 lines
②
: Return key
Use the key to determine the menu or command or to execute a process.
③
SP ;
: Space/Semi-colon key
Use the key as a space key in the MDI operation or terminal mode.
Use it as a semi-colon key (;) in the NC programming mode.
The key is invalid in the other instances.
④
DEL
: Delete key
The character at the cursor is deleted.
I there is no character at the cursor, the character immediately be ore the cursor
is deleted. (The space is handled as a character.)
<Examples>
(1)
(2)
⑤
MODE
: Mode key
Use the key in each mode to cancel a process.
Press the key to return to the previous menu screen.
⑥
: Cursor move key
The cursor moves in the arrow direction.
⑦
: Scroll key
A block o data scrolls in the arrow direction.
Ａ１３０．．．．．．． Ａ１０．．．．．．．
DEL
DEL
Ａ１３０ Ａ１３

[SMB-66E]
－ 4 －
OPERATION
2
⑧
SHIFT
: Shi t key
Use the key to enter the letter,
, ,
MODE
, or key.
⑨
STOP
: Stop key
Program execution is stopped and the actuator is immediately stopped.
(Alarm E is caused.)
2.2 How to Enter the Letter or Symbol Character
To enter "A", press this key while holding down the
SHIFT
key.
To enter "7", press this key.
Note: The letter and symbol characters are inserted be ore the cursor position.
2.3 Selecting the Mode
Turn the power on.
Following the opening message shown to the right, the
mode selection screen is displayed.
The ollowing six execution modes are provided or the Teaching Pendant.
1: Edit mode ············ You can edit the program.
2: Display mode ········ You can monitor the status o input / output signals or actuator position.
3: Parameter mode ···· You can change parameters.
You can make serial communication settings.
4: Motion mode ········· You can launch the program.
5: Copy mode ··········· You can copy all programs and parameters to another ABSODEX driver.
6：Tuning mode ········· You can make adjustments to ABSODEX( unction or TS-type driver only)
Follow the procedure below to select the desired mode.
2.3.1 Mode selection procedure
1) Move the cursor to the number corresponding to the mode to be selected.
Use one o the ollowing two methods.
a) Enter the mode number directly.
b) Use
or to move the cursor.
2) A ter moving, press
. The mode is started.
"8" is
entered.
Ａ１０ Ａ１８０
Ａ
７
ＡＢＳＯＤＥＸ ＣＫＤ
ＰＥＮＤＡＮＴ ＶＥＲ３．０
ＭＯＤＥ ＳＥＬＥＣＴ
１ＥＤＩＴ ２ＤＩＳＰＬＡＹ→

[SMB-66E]
－ 5 －
OPERATION
2
2.4 Edit Mode
The edit mode include nine menu option .
Each function i de cribed below.
1: EQL SEG ············· A new equal egment action program i automatically created through
interactive entry procedure.
2: NC ····················· A new program i created in the NC language.
3: READ·················· The program i loaded from the ABSODEX driver and edited.
4: CNT ···················· The program tored in the Teaching Pendant i edited continuou ly.
5: STORE ················ The edited program i aved in the ABSODEX driver.
6: LIST ··················· A li t of program number tored in the ABSODEX driver i di played.
7: NO. ···················· The program number i changed.
a) The number of the program being edited at the Teaching Pendant
i changed.
b) The number of the program tored in the ABSODEX driver i
changed.
8: DEL ···················· The de ignated program i deleted from the ABSODEX driver.
9: SAMPL ················ Nine ample program (NC) are loaded.
2.4.1 Creation procedure of equal egment action program
1) Select "1 EQL SEG" from the edit mode menu.
※
※※
※ Follow the mode selection procedure to select.
2) Next, a li t of program tored in the ABSODEX driver i di played.
Pre
to view all number .
"←" next to a number indicate the la t number.
After checking, pre
.
※
※※
※ If the number of displayed program number
characters exceeds 400, the following message
is displayed.
While numbers are displayed as in the regular
case, numbers later than 400 characters are not
displayed.
3) Enter the de ired program number to be created,
in the range from 0 to 999, and pre
.
4) Select the pre- tart home po ition and pre
.
※
※※
※ "-" next to the number indicates the currently
selected option.
The rule is similar to later steps 10) and 11).)
★If the number of di played character
exceed 400.
ＩＮＣＯＭＥ ＢＵＦＦ ＯＶ
１ＥＱＬ ＳＥＧ ２ＮＣ →
ＥＤＩＴ ＭＯＤＥ
１ＥＱＬ ＳＥＧ ２ＮＣ →
ＳＴＯＲＥＤ ＰＲＧＭ
１ ２ ９９１ ９９２←
ＥＱＬ ＳＥＧ： ＮＥＷ
ＰＲＧＭ ＮＯ． ［ ］
ＥＱＬ ＳＥＧ：ＨＭＲ ＰＯＳＩ
１－ＨＭＥ ２ ＩＮＤＸ

[SMB-66E]
－ 6 －
OPERATION
2
5) Select the home return direction from the following
li t and enter the corre ponding number.
1: CW
2: CCW
3: Random acce (Except for T-type driver , thi can be elected only if "2 INDX" i
elected in tep 4 on the previou page)
After entering, pre
.
6) Enter the home return peed and pre
.
Setting range: 1.0 to 20.0(T-type)
Setting range: 1.0 to 100.0(Other)
a) If the home return position is one revolution
The value of parameter 5 (home return peed) i changed.
If nothing i entered, home return i made at the peed having been pecified in
parameter 5.
b) If the home return position is the indexing position
Not only the maximum rotation peed (RPM) but al o the time ( econd ) can be entered.
Pre
SHIFT
+
Ｎ
１
to change to econd , or pre
SHIFT
+
Ｐ
２
to change to RPM.
Note1: The data will be deleted if the unit i changed after data entry.
Note2: A program that doe not return to origin can be created by etting the HME POSI to INDX, RTN
DIR to CW or CCW and RTCT SPD to econd .
7) After the home hift amount i entered, the u er coordinate y tem i e tabli hed.
The u er coordinate y tem i off et by the di tance to the actuator coordinate origin.
※
※※
※ The home shift amount can be entered only if "2 INDX" is selected as a home return position.
The data may be an angle or pul e .
Pre
SHIFT
+
Ｎ
１
to change to the angle, or
SHIFT
+
Ｐ
２
to change to pul e .
Setting range
Angel : -360.00 to 360.00
Pul e : - 540672 to 540671
Note: The data will be deleted if the unit i changed after data entry.
8) Enter the number of egment and pre .
Setting range: 1 to 255
ＥＱＬ ＳＥＧ： ＲＴＮ ＤＩＲ
１～３ ［１］ＣＷ
ＥＱＬ ＳＥＧ：ＲＴＣＴ ＳＰＤ
［ ］ＲＰＭ
ＥＱＬ ＳＥＧ： ＨＭＥＳＨＦＴ
［ ］ＤＥＧ
ＥＱＬ ＳＥＧ： ＳＥＧ ＮＯ．
［ ］

[SMB-66E]
－ 7 －
OPERATION
2
9) Enter the traveling time per egment and pre
.
Setting range: 0.01 to 20 (T-type)
Setting range: 0.01 to 100 (Other)
※
※※
※ The maximum rotation speed is checked
according to the number of segments, traveling
time and cam curve.
If the maximum rotation speed exceeds the
operating range, the following message is
displayed and the traveling time is
automatically corrected.
After confirming, press
.
[Example of correction of traveling time, cam curve and indexing time]
• Enter the MS curve, 6 egment and traveling
time 0.15 econd . The maximum rotation
peed exceed 100rpm and therefore the time
i automatically corrected to 0.18 econd .
Note: For y tem where the maximum rotation
peed i 100rpm
• Enter the MS curve, 6 egment and traveling
time 0.18 econd and perform parameter change
to change to the MC curve. The traveling time
doe not change to maximum peed 0.13
econd .
※
※※
※ The maximum rotation speed varies according to the actuator.
100rpm
0.18 ec
0.15 ec
100rpm
0.13 ec
0.18 ec
ＥＱＬ ＳＥＧ： ＭＯＶ’Ｇ
ＴＩＭＥ［ ］ＳＥＣ
★To correct the traveling time to 0.53
econd after calculation
ＭＯＶ’Ｇ ＴＩＭＥ ＫＥＹ
ＰＲＥＳＳ ＲＴＮ ＫＥＹ
ＭＯＶ’Ｇ ＴＩＭＥ ＲＥＶ
ＴＯ ０．５３ ＳＥＣ
ＰＲＥＳＳ ＲＴＮ ＫＥＹ
Alternately di played
Alternately di played
ＥＱＬ ＳＥＧ： ＭＯＶ’Ｇ
ＴＩＭＥ［ ０．５３］ＳＥＣ

[SMB-66E]
－ 8 －
OPERATION
2
10) Select the direction of rotation of the actuator
and pre
.
11) Select the po t-po itioning topping proce and
pre
.
a) Selecting "2 DWEL"
Enter the dwelling time and pre
.
Setting range: 0.01 to 99.99
12) Select whether the brake i u ed or not, and
pre
.
a) Selecting "1 USED"
Enter the delay timer time and pre
.
Setting range: 0.01 to 99.99
※
※※
※ The delay timer indicates the time from the end of positioning to brake application.
Specify the delay timer to improve the accuracy even in a system of small rigidity
where the time to settle is rather longer.
The delay timer is inserted in the NC program in the dwell command.
※
※※
※ Specify the time after brake release to rotation command issuance upon a travel
command, in parameter 27 delay time after brake output).
If the time is not specified, actuator rotation is commanded immediately after brake
release, that is, rotation is commanded while the brake remains applied, thereby
causing vibration and/or oscillation.
13) Select the M code proce from the following
option and enter the corre ponding number.
1: M CODE
2: SG POSI
3: NON USE
After entering, pre .
a) Selecting "1 M CODE"
The bit corre ponding to the unit digit of M
code 20 to 27 to be output i input.
b) Selecting "2 SG POSI"
The current egment po ition i output in an M code.
ＥＱＬ ＳＥＧ：ＲＯＴ’ＮＤＩＲ
１ ＣＷ ２－ＣＣＷ
ＥＱＬ ＳＥＧ： ＳＴＯＰ
１－ＳＴＮＤＹ ２ ＤＷＥＬ
ＥＱＬ ＳＥＧ： ＤＷＥＬ
［ ］ＳＥＣ
ＥＱＬ ＳＥＧ： ＢＲＫ
１－ＵＳＥＤ ２ ＵＮＵＳＥＤ
ＥＱＬ ＳＥＧ： Ｍ ＣＯＤＥ
１～３ ［１］Ｍ ＣＯＤＥ
ＥＱＬ ＳＥＧ： Ｍ ＣＯＤＥ
０～７ｂｉｔ ［ ］［ ］［ ］
ＥＱＬ ＳＥＧ： ＤＷＥＬ
［ ］ＳＥＣ

[SMB-66E]
－ 9 －
OPERATION
2
14) Select whether the parameter value i entered or
not, and pre
.
a) Selecting "Y"
The parameter entry creen i di played.
Enter only the nece ary parameter .
To refrain from entry, leave the entry field
blank and pre
.
※
※※
※ The parameter list is shown below.
For the setting range of each, refer to
Section 4.1 "Parameters and Contents."
<Parameter>
・ Cam curve
・ Acceleration/Deceleration time of MC2 curve
(Entered only if "MC2" i elected a a cam
curve)
・ Torque limit
・ Index in-proce output 1
・ Index in-proce output 2
・An wer input after M code
・ An wer input in re pon e to po itioning or home
return
・ Segment po ition range width of equal egment
de ignation
b) Selecting "N"
The editing proce i terminated and "5
STORE" in the edit mode menu i di played.
After all etting are entered, the program torage proce tart .
※
※※
※ Refer to Section 2.4.5 "Procedure for storing the editing program to the ABSODEX driver."
[Reference]
1. You can alway pre
MODE
on the entry creen to return to the menu.
2. Pre
or to open the previou or later entry creen.
However, if the e key are pre ed after entry of a etting, the entered value i canceled.
To ettle the entered value, pre
.
Note: If the beginning part of an equal indexing program i repeated, alarm C ( oftware limit over) may
occur. In uch ca e, read the program in talled into the driver (Di play type: NC), then change
G91 to G91.1 in the program.
2.4.2 NC program creation procedure
1) Select "2 NC" from the edit mode menu.
※
※※
※ Follow the mode selection procedure for the
selection method.
2) Next, the program number tored in the ABSODEX driver are di played.
Pre
to view all number .
"←" next to a number indicate the la t number.
After checking, pre
.
ＥＱＬ ＳＥＧ：ＰＡＲＡ ＳＥＴ
？ ［Ｙ／Ｎ］
ＥＱＬ ＳＥＧ：ＣＡＭ ＣＵＲＶ
１～５ ［ ］
ＥＱＬ ＳＥＧ：ＰＯＳＩ ＲＮＧ
［ ］ＰＬＳ
ＥＤＩＴ ＭＯＤＥ
←４ＣＮＴ ５ＳＴＯＲＥ→
ＥＤＩＴ ＭＯＤＥ
←４ＣＮＴ ５ＳＴＯＲＥ→
ＥＤＩＴ ＭＯＤＥ
１ＥＱＬ ＳＥＧ ２ＮＣ →
ＳＴＯＲＥＤ ＰＲＧＭ
１ ２ ３←

[SMB-66E]
－ 10 －
OPERATION
2
3) Enter the program number to be created (0 to 999),
and pre the
key.
4) The NC program entry creen i di played.
Enter the NC program.
※
※※
※ For the NC codes, refer to Section 3.3 "Code
List."
2.4.2.1 Key operation for NC program entry
・
SP ;
key
Enter ";" at the end of a block to feed a line and
move the cur or to the next block.
・
key
The
cur or move to the previou block.
・
key
The cur or
move to the next block.
※
※※
※ The cursor does not move if ";" is missing
at the end of the current block.
・
DEL
key
One
character at the cur or i deleted.
※
※※
※ Single block delete
Move the cursor to the "N" position at the
start of the block, and press the
DEL
key
to delete the block line).
・
key
Pre to
exit from program entry.
The
editing proce i terminated and "5
STORE" in the edit mode menu tart .
※
※※
※ Refer to Section 2.4.5 "Procedure for storing the editing program to the ABSODEX
driver."
・
MODE
key
Pre to interrupt
program entry.
The editing proce i interrupted and "4
CNT" in the edit mode menu tart .
※
※※
※ Refer to Section 2.4.4 "Program editing continuation procedure."
ＮＣ ＰＲＧＭ： ＮＥＷ
ＰＲＧＭ ＮＯ． ［ ］
ＮＣ ＰＲＧＭ Ｏ１
SP ;
ＮＣ ＰＲＧＭ Ｏ１
Ｎ１Ｇ９０Ｇ１０５Ｇ１１
Ｎ１Ｇ９０Ｇ１０５Ｇ１１；
ＮＣ ＰＲＧＭ Ｏ１
Ｎ１Ｇ９０Ｇ１０５Ｇ１１；
Ｎ１Ｇ９０Ｇ１０５Ｇ１１；
ＥＤＩＴ ＭＯＤＥ
←３ＲＥＡＤ ４ＣＮＴ →
★To delete the N2 block
DEL
Ｎ１Ｇ９０Ｇ１０５Ｇ１１；
Ｎ２Ａ１８０Ｆ１．５；
Ｎ１Ｇ９０Ｇ１０５Ｇ１１；
Ｎ３Ａ９０；
ＥＤＩＴ ＭＯＤＥ
←４ＣＮＴ ５ＳＴＯＲＥ→

[SMB-66E]
－ 11 －
OPERATION
2
ＥＤＩＴ ＭＯＤＥ
←２ＮＣ ３ＲＥＡＤ →
★If AUTO (EQL SEG) i elected
★If AUTO (NC) and NC are elected
ＲＥＡＤ
ＰＲＧＭ ＮＯ． ［ ］
ＮＯ ＰＲＧＭ ＮＯ．
ＰＲＧＭ ＮＯ． ［ ９］
ＩＮＣＯＭＥ ＢＵＦＦ ＯＶ
ＰＲＧＭ ＮＯ． ［ ３］
★If program number 9 i not found
★If program 3 contain more than 2000
character
ＲＥＡＤ
ＰＲＧＭ ＮＯ． ［ ］
ＮＯ ＰＲＧＭ ＮＯ．
ＰＲＧＭ ＮＯ． ［ ９］
ＩＮＣＯＭＥ ＢＵＦＦ ＯＶ
ＰＲＧＭ ＮＯ． ［ ３］
2.4.3 Procedure for loading program from ABSODEX driver
1) Select "3 READ" from the edit mode menu.
※
※※
※ For the selection method, follow the mode
selection procedure.
2) A li t of program number tored in the ABSODEX
driver i di played.
Pre
to view all number .
"←" at the end of the number indicate the la t number.
After checking, pre
.
3) Enter the program number to be created, and
pre
.
※
※※
※ If a program number not found in the driver is
entered, the following error message is
displayed.
※
※※
※ If the number of characters of the loaded
program exceeds 2000, the following message
is displayed.
The program is displayed as in regular cases,
while you cannot edit the 2000th and later
characters in the program.
4) Select the di play type on the next creen.
a) Selecting "1 AUTO"
If the entered number i an equal egment
program, the program i di played in the
interactive format of Teaching Pendant.
If the program i created with NC code , NC
code are di played.
b) Selecting "2 NC"
The program i di played in NC code .
※
※※
※ Edit the program in the later steps according to the corresponding program creation procedure
Section 2.4.1 "Creation procedure of equal segment action program" and "Section 2.4.2 "NC
program creation procedure").
ＳＴＯＲＥＤ ＰＲＧＭ
１ ２ ３ ９９２←

[SMB-66E]
－ 12 －
OPERATION
2
ＥＤＩＴ ＭＯＤＥ
←３ＲＥＡＤ ４ＣＮＴ →
★If the Teaching Pendant ha no program
memory
ＮＯ ＣＮＴ ＤＡＴＡ
←３ＲＥＡＤ ４ＣＮＴ →
★If the Teaching Pendant ha no program
memory
ＮＯ ＣＮＴ ＤＡＴＡ
←３ＲＥＡＤ ４ＣＮＴ →
2.4.4 Program editing continuation procedure
1) Select "4 CNT" from the edit mode menu.
※
※※
※For the selection method, follow the mode
selection procedure.
※
※※
※If the Teaching Pendant has no program memory,
an error message is displayed.
2) Edit the program tored in the Teaching Pendant.