Oriental motor alphaSTEP ARL Series Manual

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.
Table of contents
1Introduction.........................................2
2Safety precautions ..............................4
3Basic operation in controller mode......5
3.1 Starting the teaching pendant ................. 5
3.2 Switching between languages................. 5
3.3 Switching between operation modes ...... 6
3.4 Error display ............................................ 7
4Creating and editing motion profiles in
controller mode ................................... 8
4.1 Motion profile........................................... 8
4.2 Functions available in the PRG mode..... 8
4.3 Creating new motion profiles................... 9
4.4 Editing motion profiles ........................... 10
4.5 Remote teaching ................................... 12
4.6 Direct teaching ...................................... 12
4.7 Setting items of motion profiles ............. 13
5Setting parameters in the controller
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
6Monitoring functions in controller
mode................................................. 23
6.1 Monitor screen....................................... 23
6.2 I/O monitor............................................. 24
7Manual operation and I/O checking in
the controller mode ...........................25
7.1 Manual operation................................... 25
7.2 I/O checking........................................... 26
7.3 I/O checking items ................................. 27
8Operation in the driver mode.............28
8.1 Starting the teaching pendant................ 28
8.2 Switching between languages............... 29
8.3 Switching between operation modes..... 29
8.4 Error display .......................................... 30
8.5 Setting and modifying parameters......... 30
8.6 Monitoring functions .............................. 37
8.7 Manual operation................................... 38
8.8 I/O checking........................................... 39
9Troubleshooting ................................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 Table of operation switching..............44
10.1 MON (monitor) mode............................. 44
10.2 PRG (program) mode
[controller mode only] ............................ 46
10.3 PAR (parameter) mode.......................... 48
10.4 TST (test) mode..................................... 52

1 Introduction
−2−
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.4.
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.

Structure of the manual
The ARL series built-in controller type comes with the manuals specified below.
• ARL Series Motor OPERATING MANUAL
This manual explains the functions of motor components as well as the installation method.
• ARL Series Built-in Controller Type Driver OPERATING MANUAL
This manual explains the functions of driver components as well as the installation method.
• ARL Series Built-in Controller Type USER MANUAL
This manual explains the function, installation, connection and troubleshooting of the motor and driver.
• Teaching Pendant SETTING MANUAL (this document)
This manual explains the functions of the optional teaching pendant EZT1 (sold separately) as well as the procedures
to connect and operate a teaching pendant.
After reading the above manuals, keep them in a convenient place so that you can reference them at any time.

Functions of the teaching pendant
Up to 16 drivers can be linked to a single teaching pendant to create operation data, set parameters and monitor data
separately for each linked driver.
The operations that can be performed on the teaching pendant vary depending on the operation mode of the driver.
Teaching pendant
operation mode Available operations Controller mode Driver mode
Operation mode based on I/O in the driver −
Monitor operation data −
Monitor current position and I/O status 
MON (monitor) mode
Monitor alarms and alarm history 
Create and modify operation data −
PRG (program) mode Clear all data −
Set and modify parameters 
PAR (parameter) mode Initialize parameters 
I/O checking 
Manual operation 
TST (test) mode
Test operation −
Operation data can be created using any one of the following three options:
• Numerical value input.......... Enter numerical values using the numerical keys.
• Remote teaching input ......... Operate the slider with the arrow keys to enter he stopping position.
• Direct teaching input............ Move the slider manually to enter the stopping position.

Description of keys
The keys on the teaching pendant are enclosed in .
Example: MODE , ↑, ↓, SET

1 Introduction
−3−

Notes on use of the teaching pendant
• When using the teaching pendant, connect the teaching pendant to the driver before turning on
the driver control power.
• Do not disconnect the teaching pendant cable while the driver is receiving power.
If the cable is disconnected while driver is receiving power, an EMG error will occur and the motor will stop
temporarily. However, the EMG error will be automatically reset after approx. 1 second. This will create a dangerous
situation where the motor may suddenly start operating.
• Do not turn off the driver power while the driver is communicating with the teaching pendant.
Do not cut off the power to the driver while driver data is being written, inserted, deleted or cleared via the teaching
pendant. Doing so damages the data written to the driver and results in an EEPROM error.
• The moment the displayed value is confirmed with the ENT key when entering data, etc.
• The moment a data clear is confirmed.
• While any of the data-processing messages on the screen. (“XXXXX Wait for a moment.”)
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•Data insertion
•Clearing of all operation data
•Data deletion
•Initialization of all data
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.

2 Safety precautions
−4−
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.
Warning
Handling the product without observing the instructions that accompany a “Warning”
symbol may result in serious injury or death.
Note
Note
The items under this heading contain important handling instructions that the user
should observe to ensure safe use of the product.
Warning
• Configure an emergency stop circuit that will cut off the motor’s output power and stop the motor upon the
detection of an EMG (emergency stop) input. For details on the circuit configuration, refer to USER MANUAL.
• Do not disconnect the teaching pendant cable while the driver is receiving power. Disconnecting the cable actuates
an emergency stop, but the emergency stop will be cancelled automatically in approximately 1 second, potentially
creating a dangerous situation.
• Creation of operation data, setting of parameters, and adjustment and operation of the motor must be performed by
engineers who are familiar with the structure, operation and operation hazards of the drivers and motors. Failure to
do so may result in injury or equipment damage.
• Perform return-to-home operation or absolute positioning operation immediately after recovering from the battery
backup mode. Failure to do so may result in injury or equipment damage.
• If the motor is turned by external force in the battery backup mode, the motor position achieved at the completion
of movement will be recognized as the home position for subsequent operation. If incremental positioning
operation is performed thereafter without any adjustment, the motor will stop at a position different from the
intended position because the home position is offset. Consequently, injury or equipment damage may result.
• When the motor is used in a lifting device, do not perform direct teaching. During direct teaching, the motor output
current is cut off and the electromagnetic brake is also released. Since the motor loses its holding brake force, the
moving part may drop, resulting in injury or equipment damage.

3 Basic operation in controller mode
−5−
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. Connect the teaching pendant to the driver before
turning on the driver control power.
The startup screen is displayed for approximately a second after turning on the power supply to the teaching pendant,
followed by the screen indicating that the axis number (ID) of the connected controller is being checked.
Startup screen ID checking screen
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Note Do not turn ON the ACL input while starting up the teaching pendant. This will cause a
communication error.
The language setting screen is displayed after the ID checking screen has
been displayed only when the power supply is turned on for the first time.
Press the ←or →to select a language, and press the ENT .
Once normal communication is established with the driver and the axis
number is correct, the first screen of the MON mode will be displayed if
only one axis is connected. If multiple axes are connected, the ID selection
screen will be displayed.
Language setting screen
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• In the case of one axis
The first screen of the MON mode is displayed. First screen of the MON mode
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• In the case of multiple axes
This screen displays the IDs of the drivers for which connections have been
established. In the SELECT ID: nn field, the lowest ID among the drivers
for which connections could be established.
Select the driver operated via the teaching pendant. Enter an ID via the
numerical keys, and press the ENT .
The display will switch to the first screen of the MON mode. If no
language is specified for the selected driver, the language setting screen
will be displayed.
ID selection screen
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It is possible to perform ID checking by pressing the ESC while the first screen of the MON mode is displayed.
3.2 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 . The language setting
screen will be displayed. Press the ←or →to select a language, and press the ENT .
First screen of the MON mode
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Language setting screen
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3 Basic operation in controller mode
−6−
3.3 Switching between operation modes
Four modes are provided at the same hierarchy in controller mode. Press the F1 in order to switch among these
modes.
Press ESC to return to the previous screen.
MON (monitor) mode PRG (program) mode PAR (parameter) mode TST (test) mode

MON (monitor) mode
It allows the user to monitor I/O status and motor operation, as well as to display alarm information.
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Driver ID
Executed data No.
Selected operation
data No.
Command position
F1: Switch to the PRG mode.
F2: Switch to the I/O monitor screen.
F3: Switch to the alarm information screen.
F4: Switch to the operation data information screen.
SHIFT+F4: Switch to the language setting screen.

PRG (program) mode
It allows the user to create and edit the operation data.
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Press the [ENT] to
enter/change the data.
Selected operation
data No.
Data description
Driver ID
F1: Switch to the PAR mode.
F2: Switch to a screen in which you can confirm the clearing of data.
SHIFT+F2: Switch to the screen in which you can confirm the clearing
of all operation data.
F3: Switch to a screen in which you can confirm data insertion.
F4: Switch to a screen in which you can confirm
data deletion.

PAR (parameter) mode
It allows the user to set and edit the parameters.
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Driver ID
Data description
Press the [SHIFT] to switch to
another parameter setting screen.
F1: Switch to the TST mode.
F2: Switch to the I/O parameters setting screen.
SHIFT+F2: Switch to the screen in which you can confirm the clearing parameters.
F3: Switch to the motor parameters setting screen.
SHIFT+F3: Switch to the home parameters setting screen.
F4: Switch to the speed parameters setting screen.
SHIFT+F4: Switch to the common parameters setting screen.

3 Basic operation in controller mode
−7−

TST (test) mode
It allows the user to perform manual operation of the motor and check the I/O status.
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Driver ID
F1: Switch to the MON mode.
F2: Switch to the I/O setting screen.
F3: Switch to a screen in which you can perform manual operation.
F4: Switch to a screen in which you can perform
test operation.
Data description
3.4 Error display
If a driver error was detected when the teaching pendant was started, an error is displayed and the screen changes its
color from green to red. The key errors that may be displayed when the teaching pendant is started are listed below.
Error description Display Remedial action
No ID connected
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(%JGEM+&CICKP
Check the connection between the teaching pendant
and drivers, as well as the ID settings of the drivers,
then press the F1 to return to the ID checking
screen.
ID duplication
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Check the ID settings of the drivers, and press the
F1 or F2 .
Press the F1 to return to the ID checking screen.
Press the F2 to disconnect a driver with a duplicate
ID.
Communication
error
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Check the ID settings of the drivers, and press the
F1 or F2 .
Press the F1 to return to the ID checking screen.
Press the F2 to disconnect a driver that generates
communication errors.
No ID
recognized
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Change the duplicated ID or remove the cause of
communication error, and press the F1 to return to
the ID checking screen.

4 Creating and editing motion profiles in controller mode
−8−
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.
Motion profiles created by the teaching pendant are stored in the driver’s memory.
It is possible to create up to 63 motion profiles from No.01 to No.63.
Table lists the items that should be set for each data number.
Item Display Description
ABS/INC Abs/Inc Positioning method
Position (travel amount) Pos Position of motor (step)
Operation speed Spd Operation speed (Hz)
Operation function Func Setting of single-motion operation, linked-motion operation or
push-motion operation.
Push current Push Cur. Sets the operating current (%) in push-motion operation.
4.2 Functions available in the PRG mode
Create operation data in the PRG mode. The following functions are available in the PRG mode:
• Creating the operation data
• Clear data
• Insert data
• Delete data
• Clear all operation data

First screen of the PRG (program) mode
Press the F1 once in the MON mode to switch to the first screen of the PRG mode.
To switch to the first screen of each operation mode, refer to “3.3 Switching between operation modes” on p.6.
The PRG mode has two first screens. Press the SHIFT repeatedly to toggle between the two screens.
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Press the SHIFT
Release the SHIFT
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This screen is used to create and
modify operation data, as well as to
clear, insert and delete data.
This screen is used to clear all data.

4 Creating and editing motion profiles in controller mode
−9−
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 ↑, ↓, ←or →to select the data number for which
operation data is to be created.
It is also possible to select a data number using the numerical keys.
• Pressing the the ↑and ↓causes the number of tens to increase and
decrease, respectively.
• Pressing the ←and →causes the number of units to increase and
decrease, respectively.
No.15
No.25
No.05
No.16No.14
1. Press the F1 and switch to the first screen of the PRG mode.
2. Select the data number for which operation data is to be created.
Use the ↑, ↓, ←and →, or directly enter the data
number using the numerical keys.
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3. Press the ENT .
The positioning method setting screen is displayed.
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4. Press either the ←or →to select a positioning method, and
press the ENT .
The selected positioning method is saved and the position (travel amount)
setting screen is displayed.
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5. Enter the position via the numerical keys, and press the ENT .
Press the F3 to perform remote teaching (see p.12).
Press the F4 to perform direct teaching (see p.12).
The position entered is saved and the operating speed setting screen is
displayed.
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6. Enter the operating speed via the numerical keys, and press the
ENT .
The set operating speed is saved and the operation function setting screen is
displayed.
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Note When performing push-motion operation, set the operating speed to 30 r/min or below. If the
set operating speed is greater than 30 r/min, an operation data error will occur.
Example: If the resolution is 1000 P/R (factory setting), the operating speed must be 500 Hz
or below (in pulses).
7. Press either the ←or →to select an operation function, and
press the ENT .
SingleMotion: Single-motion operation
LinkedMotion: Linked-motion operation
PushMotion: Push-motion operation
The operation function is confirmed and the first screen of the next data
number is displayed.
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If you have selected push-motion operation, the push current setting screen
is displayed.
Enter the push current via the numerical keys, and press the ENT .
In order to create operation data for another data number, repeat steps 2
through 7.
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In order to stop creating operating data, press the ESC and switch to a mode other than the PRG mode, or press
the F1 once to switch to the first screen of the PAR mode.

4 Creating and editing motion profiles in controller mode
−10−
4.4 Editing motion profiles
Note Do not disconnect the pendant cable or optional controller link cable (sold separately) while data
is being cleared, inserted and deleted. Disconnecting the cable while data clear is still in progress
may cause a memory error.

Editing existing data
1. Press the F1 and switch to the first screen of the PRG mode.
2. Select the data number for which operation data is to be edited.
Use the ↑, ↓, ←and →, or directly enter the data
number using the numerical keys.
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3. Press the ENT .
The positioning method setting screen is displayed.
4. Continue pressing the ↑or ↓until the item you want to edit
is displayed.
When the item to be edited is displayed, the setting value can be changed as
explained in 4.3 “Creating new motion profiles” on p. 9.
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Example: To change the position
Enter the position via the numerical keys, and press the ENT . The set position is saved and the next item
(operation function) is displayed.
5. Press the ESC or F1 once you’ve finished editing.
If you press the ESC , the screen will return to the first screen of the PRG mode.
If you press the F1 , the screen will switch to the first screen of the PAR mode.

Clearing data
The following operation clears an operation data previously set and resets the settings to their defaults.
1. Press the F1 and switch to the first screen of the PRG mode.
2. Select the data number you want to clear.
Use the ↑, ↓, ←and →, or directly enter the data
number using the numerical keys.
24)&CVC+&

'06'FKV
/QFG%NT+PU&GN
3. Press the F2 (Clr).
The message is displayed.
4. Press the F3 (Yes), and then press the ENT .
The data is cleared and the display returns to the first screen of the PRG
mode.
24)%NT
&CVCENGCT
1-!0Q'065GV
/QFG;GU0Q

Inserting data
The following operation inserts a new motion profile between data numbers already set.
The subsequent data numbers are automatically incremented by one.
1. Press the F1 and switch to the first screen of the PRG mode.
2. Select the data number you want to insert.
Use the ↑, ↓, ←and →, or directly enter the data
number using the numerical keys.
24)&CVC+&

'06'FKV
/QFG%NT+PU&GN
3. Press the F3 (Ins).
The message is displayed.
24)+PU
&CVCKPUGTV
1-!0Q'065GV
/QFG;GU0Q

4 Creating and editing motion profiles in controller mode
−11−
4. Press the F3 (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.
24)+PU
+PUGTVKPIFCVC
9CKVHQTCOQOGPV

Note If a motion profile has already been set in No.63, inserting new motion profile will delete the data
in No.63.

Deleting data
The following operation deletes a data number previously set.
The subsequent data numbers are automatically decremented by one.
1. Press the F1 and switch to the first screen of the PRG mode.
2. Select the data number you want to clear.
Use the ↑, ↓, ←and →, or directly enter the data
number using the numerical keys.
24)&CVC+&

'06'FKV
/QFG%NT+PU&GN
3. Press the F4 (Del).
The message is displayed.
24)&GN
&CVCFGNGVG
1-!01'065GV
/QFG;GU0Q
4. Press the F3 (Yes), and then press the ENT .
The data is deleted and the subsequent data numbers are decremented by
one.
After the deletion, the display returns to the first screen of the PRG mode.
24)&GN
&GNGVKPIFCVC
9CKVHQTCOQOGPV


Clearing all motion profiles
The following operation deletes all operation data and resets the settings to their defaults.
1. Press the F1 and switch to the first screen of the PRG mode.
24)&CVC+&


/QFG#ENT
2. Hold down the SHIFT , and press the F2 (Aclr).
The message is displayed.
24)#ENT12&CVC
%NGCTKPIFCVC
1-!0Q'065GV
/QFG;GU0Q
3. Press the F3 (Yes), and then press the ENT .
All data is deleted and the display returns to the first screen of the PRG
mode.
24)#ENT12&CVC
%NGCTKPICNNFCVC
9CKVHQTCOQOGPV


4 Creating and editing motion profiles in controller mode
−12−
4.5 Remote teaching
In the remote teaching method, you operate the motor via the ↑or ↓of the teaching pendant and enter the
stopping position.
1. Press the F1 and switch to the first screen of the PRG mode.
2. Select the data number for which you want to perform remote
teaching.
Use the ↑, ↓, ←and →, or directly enter the data
number using the numerical keys.
3. Press the ENT .
24)&CVC+&
0QFCVC
'06'FKV
/QFG%NT+PU&GN
4. Press the ↓.
The position setting screen is displayed.
24)2QU+PE
2QU
MG[U'065GV
/QFG4OV&EV
5. Press the F3 (Rmt).
The motor can now be moved by pressing the ←and →.
6. Press the ←and →to change the motor position.
If you press one of the keys once, the motor will rotate 1 step.
If you keep the key pressed for more than a second, the motor will begin to
rotate at starting speed as long as the key is pressed. When the key is
released, the motor decelerates to a stop.
24)4OV+PE
2QU

φ  ψ '065GV
/QFG
If the SHIFT is pressed during operation, the motor will accelerate and operate at remote operating speed.
When the SHIFT is released, the motor decelerates and returns to operation at starting speed.
If the starting speed is greater than the remote operating speed, constant-speed operation is performed at the
starting speed.
7. Determine the position, and press the ENT .
The current position is set as the positioning position, and the operating speed setting screen is displayed.
4.6 Direct teaching
You can move the motor by hand and input the stopping position as operation data.
1. Press the F1 and switch to the first screen of the PRG mode.
2. Select the data number for which you want to perform direct
teaching.
Use the ↑, ↓, ←and →, or directly enter the data
number using the numerical keys.
3. Press the ENT .
24)&CVC+&
0QFCVC
'06'FKV
/QFG%NT+PU&GN
4. Press the ↓.
The position setting screen is displayed.
24)2QU+PE
2QU
MG[U'065GV
/QFG4OV&EV
5. Press the F4 (Dct).
24)&EV
/QVQTHTGG
1-!;GU'065GV
/QFG;GU0Q
6. Press the F3 (Yes), and then press the ENT .
The motor can now be moved by hand.
7. Move the motor manually and change the position.
8. Determine the position, and press the ENT .
The current position is set as the positioning position, and the operating
speed setting screen is displayed.
24)&EV+PE
2QU
/QVQT(TGG'065GV
/QFG

4 Creating and editing motion profiles in controller mode
−13−
4.7 Setting items of motion profiles
The setting items in the PRG mode are listed below.
Item Display Description Setting range
Initial
value
ABS/INC Abs/Inc
Sets the positioning method.
There are two positioning methods that can be used for
positioning operation: absolute (Abs) and incremental (Inc). In the
absolute method, a specific position from the mechanical home
position is set. In the incremental method, a distance is set. It is
suitable when the same travel amount (distance) is repeated.
•Absolute (Abs) •Incremental (Inc)
200100 200100
- 50 - 50
- 50 step
100 step100 step 200 step 100 step
- 250 step
00
Mechanical
home position
Mechanical
home position
Inc
Abs Inc
Position
(travel amount) Pos Sets the position (travel amount) used for positioning operation −8,388,608 to 8,388,607 steps 0
Operation speed Spd Sets the operating speed used for positioning operation 1 to 500,000 Hz 1000
Operation
function Func
Sets an additional function used in the positioning operation.
• SingleMotion: The positioning operation of the selected data
number only is carried out.
• LinkedMotion: The positioning operations of the data numbers
for which “LinkedMotion” is selected as the operation function
are carried out in sequence. The operation ends upon
completion of the positioning operation of a data number for
which “single-motion” is selected. Up to 4 sets of data of the
same moving direction can be linked.
• PushMotion: Once the load is contacted during positioning
operation at constant speed, pressure will be applied to the load
continuously.
Single-motion Linked-motion
Push-motion
0
Speed
Time
SingleMotion
LinkedMotion
PushMotion
Single
Motion
Push current Push
Cur.
Sets the operating current in push-motion operation. This item is
effective when “PushMotion” is selected. 0 to 50% 20

5 Setting parameters in the controller mode
−14−
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.
5.1 Parameters
There are 5 types of parameters in the controller mode:
• I/O parameters ..................... Data relating to the control the signals
• Motor parameters................. Data relating to the motor
• Speed parameters................. Data relating to the operating speed
• Home parameters ................. Data relating to the return-to-home operation
• Common parameters............ Intrinsic data relating to the motor
The setting items of parameters are as follows.
I/O parameters
• Stop action
• Stop input logic
• FREE input logic
• HOME/PRESET switching
• PRESET position
• LS detection enable/disable
• LS input logic
• HOMELS input logic
• SLIT input logic
• Overtravel action
Motor parameters
• Operating current
• Standstill current
• Electronic gear A
• Electronic gear B
• Speed filter
• Switching motor operating direction
• ←key direction
• Overload time
• Overflow rotation
• END signal range
• Servo control current ratio
• Proportional gain
• Integral gain
• Differential gain
Speed parameters
• Starting speed
• Acceleration
• Deceleration
• Remote operating speed
Home parameters
• Return mode
• Starting speed of return
• Operating speed of return
• Return direction
• Home offset
• Return current
Common parameters
• Soft limit enable/disable
• Upper soft limit
• Lower soft limit
• Area 1
• Area 2
• Absolute function enable/disable

First screen of the PAR (parameter) mode
Press the F1 twice in the MON mode to switch to the first screen of the PAR mode.
To switch to the first screen of each operation mode, refer to “3.3 Switching between operation modes” on p.6.
The PAR mode has two first screens. Press the SHIFT repeatedly to toggle between the two screens.
2#4+&
5GNGEV
5*+(6(((
/QFG+1/VT5RF
Set I/O parameters, motor
parameters and speed parameters.
Press the SHIFT
Release the SHIFT
2#4+&
5GNGEV
(((
/QFG+PK*OR%QO
Set home parameters and common
parameters, and to initialize all the data.

5 Setting parameters in the controller mode
−15−
5.2 Setting I/O parameters
1. Press the F1 and switch to the first screen of the PAR mode.
2#4+&
5GNGEV
5*+(6(((
/QFG+1/VT5RF
2. Press the F2 (I/O).
The stop action setting screen is displayed.
2#4+15612#EV
#EV&GEUVQR

φ  ψ '065GV
/QFG
3. Press either the ←or →to select a stop action, and press
the ENT .
The STOP input logic setting screen is displayed.
2#4+15612.)%
5612.)%01UGV

φ  ψ '065GV
/QFG
4. Press either the ←or →to select a STOP input logic, and
press the ENT .
The FREE input logic setting screen is displayed.
2#4+1(4''.)%
(4''.)%01UGV

φ  ψ '065GV
/QFG
5. Press either the ←or →to select a FREE input logic, and
press the ENT .
The HOME/PRESET switching setting screen is displayed.
2#4+1*1245GN
*1245GN*1/'

φ  ψ '065GV
/QFG
6. Press either the ←or →to select a HOME input or PRESET
input, and press the ENT .
The preset position setting screen is displayed.
2#4+124'5'6
24'5
MG[U'065GV
/QFG
7. Enter the preset position using the numerical keys, and press the
ENT .
The LS detection enable/disable setting screen is displayed.
2#4+1.5&GVGEV
.5&GVGEV1P

φ  ψ '065GV
/QFG
8. Press either the ←or →to select a LS detection
enable/disable, and press the ENT .
The LS input logic setting screen is displayed.
2#4+1.5.)%
.5.)%01UGV

φ  ψ '065GV
/QFG
9. Press either the ←or →to select a LS input logic, and press
the ENT .
The HOMELS input logic setting screen is displayed.
2#4+1*1/'.)%
*1/'.)%01UGV

φ  ψ '065GV
/QFG
10. Press either the ←or →to select a HOMELS input logic, and
press the ENT .
The SLIT input logic setting screen is displayed.
2#4+15.+6.)%
5.+6.)%01UGV

φ  ψ '065GV
/QFG

5 Setting parameters in the controller mode
−16−
11. Press either the ←or →to select a SLIT input logic, and
press the ENT .
The overtravel action setting screen is displayed.
12. Press either the ←or →to select a overtravel action, and
press the ENT .
The display will return to the stop action setting screen.
2#4+1.5#EVKQP
.5#EV+OFUVQR

φ  ψ '065GV
/QFG
 I/O parameters setting items
Item Display Description Setting range Initial value
Stop action Act Set how the motor should stop when a
STOP input is turned ON.
Imd stop
Dec stop
Imd stop+MB+C.OFF
Dec stop+MB+C.OFF
Dec stop
STOP input logic STOP LGC Sets the STOP input logic. NO set
NC set NO set
FREE input logic FREE LGC Sets the FREE input logic. NO set
NC set NO set
HOME/PRESET
switching HO/PR Sel Set whether to use HOME or PRESET input.
HOME
PRESET HOME
PRESET position PRES Sets the preset position. −8,388,608 to
8,388,607 steps 0
LS detection
enable/disable LS
Sets whether to enable or disable the limit
sensor. Even when this parameter is set to
“Disable,” the limit sensor is still detected
during return-to-home operation.
On
Off On
LS input logic LS LGC Sets the ±LS input logic. NO set
NC set NO set
HOMELS input logic HOME LGC Sets the HOMELS input logic. NO set
NC set NO set
SLIT input logic SLIT LGC Sets the SLIT input logic. NO set
NC set NO set
Overtravel action LS Act
Overtravel refers to a condition where the
motor operates beyond a limit sensor
position. Set how to stop the motor when a
±LS inputs is input or the sequence
program in the host controller is stopped.
Dec stop
Imd stop Imd stop
5.3 Setting motor parameters
1. Press the F1 and switch to the first screen of the PAR mode.
2#4+&
5GNGEV
5*+(6(((
/QFG+1/VT5RF
2. Press the F3 (Mtr).
The operating current setting screen is displayed.
2#4/VT4WP%WT
4WP%WT
MG[U'065GV
/QFG
3. Enter the operating current using the numerical keys, and press the
ENT .
The standstill current setting screen is displayed.
2#4/VT5VQR%WT
5VQR%WT
MG[U'065GV
/QFG
Note Decrease the operating current and standstill current when there is an allowance in the motor
torque and you wish to reduce vibration during operation or suppress heat generation from
the motor. However, be careful of an excessive decrease in current, since the motor torque
and holding brake force will drop in rough proportion to the operating current.

5 Setting parameters in the controller mode
−17−
4. Enter the standstill current using the numerical keys, and press the
ENT .
The electronic gear A setting screen is displayed.
2#4/VT)GCT#
)GCT#
MG[U'065GV
/QFG
5. Enter the electronic gear A using the numerical keys, and press the
ENT .
The electronic gear B setting screen is displayed.
2#4/VT)GCT$
)GCT$
MG[U'065GV
/QFG
6. Enter the electronic gear B using the numerical keys, and press the
ENT .
The speed filter setting screen is displayed.
2#4/VT(KNVGT
(KNVGTOU
MG[U'065GV
/QFG
Note If the electronic gear setting has been changed, cycle the driver’s main power and control
power. Without a power cycle, the TIM. output may not turn ON even after the motor output
shaft rotates by 7.2°.
7. Enter the speed filter using the numerical keys, and press the
ENT .
The motor operating direction setting screen is displayed.
2#4/VT2QU&KT
&KT%9

φ  ψ '065GV
/QFG
8. Press either the ←or →to select a motor operating direction,
and press the ENT .
The ←key direction setting screen is displayed.
2#4/VT φ MG[&KT
φ &KT&KT

φ  ψ '065GV
/QFG
9. Press either the ←or →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 ←will turn the motor in the CCW direction.
The overload time setting screen is displayed.
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10. Enter the overload time using the numerical keys, and press the
ENT .
The overflow rotation setting screen is displayed.
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11. Enter the overflow rotation using the numerical keys, and press the
ENT .
The END signal range setting screen is displayed.
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12. Enter the END signal range using the numerical keys, and press the
ENT .
The servo control current ratio setting screen is displayed.
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13. Enter the servo control current ratio using the numerical keys, and
press the ENT .
The proportional gain setting screen is displayed.
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5 Setting parameters in the controller mode
−18−
14. Enter the proportional gain using the numerical keys, and press the
ENT .
The integral gain setting screen is displayed.
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15. Enter the integral gain using the numerical keys, and press the
ENT .
The differential gain setting screen is displayed.
16. Enter the differential gain using the numerical keys, and press the
ENT .
The display will return to the operating current setting screen.
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 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% 100
Standstill current Stop Cur. Sets the standstill current of the motor. 0 to 50% 50
Electronic gear A Gear A Sets the electronic gear A. 1 to 100 1
Electronic gear B Gear B Sets the electronic gear B. 1 to 100 1
Note The motor will operate based on the speed and travel amount corresponding to the specified data multiplied by
the specified electronic gear values.
Motor resolution [P/R] =1000 × Electronic gear B
Electronic gear A
When electronic gear A is 1 and electronic gear B is 1 (defaults), the motor resolution is 1000 [P/R].
× × Operating speed [Hz] × 60Motor rotating speed [r/min] = Electronic gear A
Electronic gear B
1
1000
Set the electronic gears in the setting range shown below.
500㻡1000 × 㻡10000
Electronic gear B
Electronic gear A
If the electronic gear setting has been changed, cycle the driver’s main power and control power. Without a
power cycle, the TIM. output may not turn ON even after the motor output shaft rotates by 7.2°.
• Geared motor resolution
Gear output shaft resolution [P/R] = 1000 × × Gear ratio
Electronic gear B
Electronic gear A
Item Display Description Setting range Initial value
Speed filter Filter Reduce vibration and shock when the motor is
started and stopped. 1 to 100 ms 3
Switching motor
operating direction +Dir Sets the rotating direction of the motor shaft. CW CCW CW
←key direction ←Dir Sets the direction in which the motor will rotate
when the ←key is pressed.
+Dir
−Dir −Dir
Overload time Time Set the time before an overload protection
alarm is detected. 0.1 to 25.0 s 5.0
Overflow rotation OverFlow Set the overflow rotation before an excessive
position deviation alarm is detected.
1 to 32000
(1=0.02 revolution) 150
END signal range END Width
Sets the area within which the END output
turns ON.
END output range [º] = ± × 360
END signal range
51200
When the END signal range is 256 (default),
the output range of END output is 1.8°.
1 to 32000 256
Servo control current
ratio SV-Cur.
Set the ratio of current used in servo control
with respect to the specified operating current
value.
0 to 100% 0
Proportional gain Kp Sets the proportional gain of servo control. 1 to 500 100
Integral gain Ki Sets the integral gain of servo control. 1 to 500 100
Differential gain Kd Sets the differential gain of servo control. 1 to 500 100

5 Setting parameters in the controller mode
−19−
5.4 Setting speed parameters
1. Press the F1 and switch to the first screen of the PAR mode.
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2. Press the F4 (Spd).
The starting speed setting screen is displayed.
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3. Enter the starting speed using the numerical keys, and press the
ENT .
The acceleration setting screen is displayed.
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4. Enter the acceleration using the numerical keys, and press the
ENT .
The deceleration setting screen is displayed.
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5. Enter the deceleration using the numerical keys, and press the
ENT .
The common operating speed setting screen is displayed.
6. Enter the common operating speed using the numerical keys, and
press the ENT .
The display will return to the starting speed setting screen.
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 Speed parameters setting items
Item Display Description Setting range Initial value
Starting speed Vs
Sets the starting speed of positioning operation,
continuous operation, and manual operation.
The following settings cause the starting speed to
become the operating speed:
• Common operating speed < Starting speed
• Operating speed set in motion profiles < Starting
speed
During manual operation and remote teaching,
pressing the SHIFT during operation causes
the motor to accelerate and run at the remote
operating speed.
1 to 500,000 Hz 100
Acceleration Acc Sets the acceleration. The acceleration applies
commonly to all operations. 0.01 to 1000.00 ms/kHz 1.00
Deceleration Dec Sets the deceleration. The deceleration applies
commonly to all operations. 0.01 to 1000.00 ms/kHz 1.00
Remote
operating speed Vr
Sets the common operating speed of continuous
operation, manual operation and remote teaching.
During manual operation and remote teaching,
pressing the SHIFT during operation causes
the motor to accelerate and run at the remote
operating speed.
1 to 500,000 Hz 1000

5 Setting parameters in the controller mode
−20−
5.5 Setting home parameters
1. Press the F1 and switch to the first screen of the PAR mode.
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2. Hold down the SHIFT , and press the F3 (Hmp).
The return mode setting screen is displayed.
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3. Press either the ←or →to select a return mode, and press
the ENT .
The starting speed of return setting screen is displayed.
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4. Enter the starting speed of return using the numerical keys, and
press the ENT .
The operating speed of return setting screen is displayed.
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5. Enter the operating speed of return using the numerical keys, and
press the ENT .
The return direction setting screen is displayed.
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6. Press either the ←or →to select a return direction, and
press the ENT .
The home offset setting screen is displayed.
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7. Enter the home offset using the numerical keys, and press the
ENT .
The return current setting screen is displayed.
8. Enter the return current using the numerical keys, and press the
ENT .
The display will return to the return mode setting screen.
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 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
signals are used.
2
2+TIM
2+SLT
2+TIM + SLT
3
3+TIM
3+SLT
3+TIM + SLT
Push
Push+TIM
Push+SLT
Push+TI+SL
3
Starting speed of
return HVｓSets the starting speed of return. 1 to 500,000 Hz 100
Operating speed
of return HVｒSets the operating speed of return. 1 to 500,000 Hz 1000
Return direction Home Dir Sets the starting direction of
home-position detection.
+Dir
−Dir +Dir
Home offset Pos Sets the amount of offset from
mechanical home. −8,388,608 to +8,388,607 steps 0
Return current Home Cur. Sets the push-current during
return-to-home operation. 0 to 100% 100