Oriental motor alphaSTEP ARL Series Manual

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.

Table of contents
−2−
1Introduction.........................................3
2Safety precautions ..............................5
3Startup operation ................................6
3.1 Starting the teaching pendant ................. 6
3.2 Switching between languages................. 7
3.3 Switching between operating modes ...... 7
3.4 Error display ............................................ 9
4Setting Data ...................................... 10
4.1 Turn on the power supply to the driver.. 10
4.2 Checking the motor operation ............... 10
4.3 Creating operating data......................... 11
4.4 Setting parameters ................................ 14
4.5 Performing the positioning operation .... 15
5Creating and editing operating data.. 16
5.1 Operating data....................................... 16
5.2 Functions Available in the program
mode...................................................... 16
5.3 First screen of the program mode ......... 16
5.4 Creating new operating data ................. 17
5.5 Editing operating data ........................... 18
5.6 Remote teaching ................................... 21
5.7 Direct teaching ...................................... 22
5.8 Setting range of operating data............. 23
6Setting parameters ........................... 24
6.1 Parameters............................................ 24
6.2 Setting I/O parameters .......................... 25
6.3 Setting motor parameters...................... 28
6.4 Setting speed parameters ..................... 31
6.5 Setting home parameters...................... 32
6.6 Setting common parameters ................. 33
6.7 Initializing parameters ........................... 34
7Monitoring functions..........................35
7.1 First screen of the monitor mode........... 35
7.2 Descriptions of monitor screens ............ 36
7.3 Monitor items ......................................... 37
8Manual operation and I/O checking ..42
8.1 Manual operation................................... 42
8.2 I/O checking........................................... 44
8.3 I/O checking items ................................. 46
9Troubleshooting ................................50
9.1 Error messages ..................................... 50
9.2 Checking the alarm history.................... 50
9.3 Error lists ............................................... 51
10 Pendant screen transitions ...............55
10.1 Monitor mode (MON)............................. 55
10.2 Program mode (PRG) ........................... 60
10.3 Parameter mode (PAR) ......................... 62
10.4 Test mode (TST).................................... 65

1 Introduction
−3−
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. Oriental Motor Co., Ltd. is not responsible for any
damage caused through failure to observe this warning.
 Structure of the manual
The ARL series CC-Link 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 CC-Link Driver OPERATING MANUAL
This manual explains the functions of driver components as well as the installation method.
• ARL Series CC-Link USER MANUAL
This manual explains the functions, 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 operating data, set parameters and
monitor data separately for each linked driver.
Teaching pendant
operating mode Available operations
Monitor mode (MON) • Operate the driver via CC-Link communication and sensor·user I/Os.
• Monitor operating data, current position and I/O status
• Monitor alarms and alarm history
Program mode (PRG) • Create and modify operating data
• Clear all data
Parameter mode (PAR) • Set and modify parameters
• Initialize parameters
Test mode (TST) • Manual operation
• I/O checking
• Test operation
Operating 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 motor with the arrow keys to enter he stopping position.
• Direct teaching input ................Move the motor manually to enter the stopping position.

1 Introduction
−4−
 Description of keys
The keys on the teaching pendant are enclosed in .
Example: MODE , ↑, ↓, SET

2 Safety precautions
−5−
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 operating 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 ARL
series CC-Link 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 origin 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 veritical application, 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 Startup operation
−6−
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
Note Do not turn ON the ACL input via remote I/O while starting up the pendant. This will cause
a communication error.
The power to the teaching pendant is supplied from the driver via the cable connecting the teaching pendant
and driver. This means the power is supplied to the teaching pendant at the time the control power supply to
the driver is turned on.
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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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 .
Language setting screen
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Once normal communication is established with the driver and the axis number is correct, the first screen of
the monitor mode will be displayed if only one axis is connected. If multiple axes are connected, the ID
selection screen will be displayed.
• In the case of one axis
The first screen of the monitor mode is displayed.
First screen of the monitor 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 is
displayed.
ID selection screen
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Select the driver to be 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 monitor mode. If no language is specified for the
selected driver, the language setting screen will be displayed.
It is possible to perform ID checking by pressing the ESC while the first screen of the monitor mode is
displayed.

3 Startup operation
−7−
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 . The language
setting screen will be displayed. Press the ←or →to select a language, and press the ENT .
First screen of the monitor mode
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Language setting screen
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3.3 Switching between operating modes
Four modes are provided at the same hierarchy. Press the F1 in order to switch among these modes.
Startup screen Monitor mode (MON)
Program mode (PRG)
Parameter mode (PAR)
Test mode (TST)
 Monitor mode (MON)
The monitor mode is used to perform driver operations. It also 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 operating
data No.
Selected operating
data No.
Command position
F1 F2 F3 F4
F1 Switch to the program mode.
F2 Switch to the I/O monitor selection screen.
F3 Switch to the alarm information screen.
In the ADVANCED mode, press the SHIFT and F3 at the same time to switch to the
encoder screen.
F4 Switch to the operating data information screen.
Press the SHIFT and F4 at the same time to switch to the language setting screen.
ESC Confirm the ID.

3 Startup operation
−8−
 Program mode (PRG)
It allows the user to create and edit the motor operating data.
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Selected operating
data No. Data description
Driver ID
F1 F2 F3 F4
Press the [ENT] key to
enter/change the data.
F1 Switch to the parameter mode.
F2 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.
F3 Switch to a screen in which you can confirm data insertion.
F4 Switch to a screen in which you can confirm data deletion.
ESC Switch to the monitor mode.
 Parameter mode (PAR)
It allows the user to set and edit the parameters.
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Driver ID
Data description
F1 F2 F3 F4
Press the [SHIFT] key
to switch to another
parameter setting screen.
F1 Switch to the test mode.
F2 Switch to the I/O parameters selection screen.
Press the SHIFT and F2 at the same time to switch to the screen in which you can
confirm the clearing parameters.
F3 Switch to the motor parameters setting screen.
Press the SHIFT and F3 at the same time to switch to the home parameters setting
screen.
F4 Switch to the speed parameters setting screen.
Press the SHIFT and F4 at the same time to switch to the common parameters setting
screen.
ESC Switch to the program mode.

3 Startup operation
−9−
 Test mode (TST)
It allows the user to perform manual operation of the motor and check the I/O status.
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Driver ID
F1 F2 F3 F4
F1 Switch to the monitor mode.
F2 Switch to the I/O selection screen.
F3 Switch to a screen in which you can perform manual operation.
F4 Switch to a screen in which you can perform positioning operation.
ESC Switch to the parameter mode.
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.
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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(%JGEM+&CICKP
Change the duplicated ID or remove the cause of communication error, then press the F1 to return to the
ID checking screen.

4 Setting Data
−10−
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.
• Turning on the power supply
• Checking motor operations
• Creating operating data
• Setting parameters
• Performing the positioning operation
Note The data referenced in this chapter are sample data selected solely for the purpose of
explaining the setting procedures. If the motor is to be operated using any of these
sample data, do so by checking the condition of your equipment and surroundings and
exercising due caution.
For the purpose of the explanations provided in this chapter, the minimum numerical values and conditions
are set for operating data and parameters. Default values are used for the data displayed in screen images.
Operating data and parameters are saved even after the control power supply to the driver is turned off.
4.1 Turn on the power supply to the driver
Turn on the driver’s control power supply.
The green OP. LED on the driver will light up and the startup screen is
displayed.
Once the communication between the teaching pendant and the driver
is established and the station number was recognized correctly, the first
screen of the monitor mode is displayed.
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4.2 Checking the motor operation
In this step you perform manual operation of the motor in the test mode in order to confirm that there are no
problems with motor operations.
1. Press the F1 three times in the first screen of the
monitor mode.
The first screen of the test mode is displayed.
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2. Press the F3 .
The screen for performing manual operation is displayed.
The current position of the motor is displayed in the Pos field on
the screen.
3. Press the ←or →to operate the motor.
Pressing the ←will turn the motor in the CCW direction.
Pressing the →will turn the motor in the CW direction.
Check the direction of movement and proceed to the next step if it
is confirmed that the motor operation in the correct directions.
If you cannot operate the motor, check the wiring between the
motor and driver.
4. Press the ESC .
Return to the first screen of the test mode.
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4 Setting Data
−11−
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
• Operating speed
• Operating function
 How to enter numerical values
Before creating operating data, you should know how to enter numerical values.
The operating mode used in this case is the program mode.
• If you want to enter 1500 for position data (Pos)
1. Press the F1 in the first screen of the monitor mode to
switch to the program mode. Then press the ENT twice.
The positioning data setting screen is displayed.
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2. Press the SHIFT .
Clear the previous value and “0000000” is displayed.
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3. Press the numerical keys 1 , 5 , 0 and 0 in
this order.
“0001500” has been entered.
4. Press the ENT .
Commit the numerical value you’ve entered to memory.
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• If you want to enter −3000for position data (Pos)
1. Press the F1 in the first screen of the monitor mode to
switch to the program mode. Then press the ENT twice.
The positioning data setting screen is displayed.
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2. Press the SHIFT .
Clear the previous value and “0000000” is displayed.
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3. Press the +/−.
“−0000000” is displayed.
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4. Press the numerical keys 3 , 0 , 0 and 0 in
this order.
“−0003000” has been entered.
5. Press the ENT .
Commit the numerical value you’ve entered to memory.
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4 Setting Data
−12−
 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
No.01
No.02
Mechanical
home position
2400 steps 4500 steps
1. Press the F1 in the first screen of the monitor mode
The first screen of the program mode is displayed.
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2. Press the ENT .
The positioning-method setting screen is displayed.
Abs: absolute positioning
Inc: incremental positioning
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3. Press the ←or →to select Abs and press the
ENT .
The positioning method is confirmed and the position setting
screen is displayed.
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4. Enter the “4500” using the numerical keys and press the
ENT .
The position is confirmed and the operating speed setting screen
is displayed.
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5. Enter the “3000” using the numerical keys and press the
ENT .
The operating speed is confirmed and operating fuction setting
screen is diplayed.
SingleMotion: Single-motion operation
LinkedMotion: Linked-motion operation
PushMotion: Push-motion operation
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6. Press either the ←or →to select the SingleMotion,
and press the ENT .
The operating function is confirmed. Data number is
automatically incremented by one, and the setting screen for
No.02 is displayed.
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4 Setting Data
−13−
7. Press the ENT .
The positioning-method setting screen is displayed.
Abs: absolute positioning
Inc: incremental positioning
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/QFG
8. Press the ←or →to select Inc and press the
ENT .
The positioning method is confirmed and the position setting
screen is displayed.
24)2QU+PE
2QU
MG[U'065GV
/QFG4OV&EV
9. Enter the “−2400” using the numerical keys and press the
ENT .
The position is confirmed and the operating speed setting screen
is displayed.
24)5RGGF
5RF*\
MG[U'065GV
/QFG
10. Enter the “1500” using the numerical keys and press the
ENT .
The operating speed is confirmed and operating fuction setting
screen is diplayed.
SingleMotion: Single-motion operation
LinkedMotion: Linked-motion operation
PushMotion: Push-motion operation
24)12(WPE
(WPE5KPING/QVKQP
φ  ψ '065GV
/QFG
11. Press either the ←or →to select the SingleMotion, and press the ENT .
The operating function is confirmed. Data number is automatically incremented by one, and the setting
screen for No.03 is displayed.
12. In order to stop creating operating data, press the ESC .
The first screen of the monitor mode is displayed.
It is possible to create up to 63 operating data from No.01 to No.63.
Press the ↑, ↓, ←or →to select the data number. 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

4 Setting Data
−14−
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.
Area 1
Travel limit
Area 2
Mechanical
home position
If area 1 > area 2, the AREA is ON.
If area 1 < area 2, the AREA is OFF.
Here, area 1 is set to 4500 steps, while area 2 is set to 2400 steps.
The setting is made in such a way that the AREA turns ON when the motor is positioned between 2400 steps
and 4500 steps.
1. Press the F1 twice in the first screen of the monitor
mode
The first screen of the parameter mode is displayed.
2#4+&
5GNGEV
5*+(6(((
/QFG+1/VT5RF
2. Hold down the SHIFT and press the F4 .
The softlimit setting screen is displayed.
2#4%QO5QHV.KO
5QHV.KO1P

φ  ψ '065GV
/QFG
3. Press the ↓three times.
The area 1 setting screen is displayed.
2#4%QO#TGC
#TGC
MG[U'065GV
/QFG
4. Enter the value “4500” using the numerical keys and press
the ENT .
The area 2 setting screen is displayed.
2#4%QO#TGC
#TGC
MG[U'065GV
/QFG
5. Enter the value “2400” using the numerical keys and press
the ENT .
6. The area parameters are now set. Press the ESC .
The first screen of the parameter mode is displayed.
2#4%QO#TGC
#TGC
MG[U'065GV
/QFG

4 Setting Data
−15−
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.
Positioning operation is performed according to the following procedure:
• Positioning operation of data No.01
• Positioning operation of data No.02
1. Press the F1 three times in the first screen of the
monitor mode.
Press once in the first screen of the parameter mode.
The first screen of the test mode is displayed.
656+&
5GNGEV
(((
/QFG+1/PW1RT
2. Press the F4 .
The positioning operation execution screen is displayed.
6561RT
2QU
MG[56#46((
/QFG24'*1/'
3. Check that the data No.01 is displayed, and press the
START .
The positioning operation is started.
The AREA turns ON when the motor is positioned between 2400
step and 4500 step.
6561RT
2QU
MG[56#46((
/QFG24'*1/'
4. Upon completion of the operation, press the →to select
the data No.02.
5. Press START .
The positioning operation is started.
The AREA turns ON when the motor is positioned beyond the
2400th step in the CCW direction.
6. Upon completion of the operation, press the F1 .
The first screen of the monitor mode is displayed.
6561RT
2QU
MG[56#46((
/QFG24'*1/'

5 Creating and editing operating data
−16−
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.
Operating data created by the teaching pendant are stored in the driver’s memory.
It is possible to create up to 63 operating data from No.01 to No.63.
Table lists the items that should be set for each data number.
Item Display Description
Positioning method Abs/Inc Set the positioning method.
Position (travel amount) Pos Set the motor position (step).
Operating speed Spd Set the operating speed (Hz).
Operating function Func Set the single-motion operation, linked-motion operation
or push-motion operation.
Push current Push Cur. Sets the operating current (%) in push-motion operation.
5.2 Functions Available in the program mode
In the program mode, operating data can be created, changed and cleared.
• Creating the operating data
• Clear data
• Insert data
• Delete data
• Clear all operating data
5.3 First screen of the program mode
In the ADVANCED mode with 1 station occupied, BASIC mode with 2 stations occupied, or ADVANCED
mode with 2 stations occupied, writing data to a remote register or via remote I/O teaching and then switching
from the monitor mode to the program mode will display the screen where you can save RAM data in the NV
memory.
/10 24)
5CXG4#/FCVC!
1-!;GU'065GV
'ZKV;GU0Q
Press the F3 (Yes) or F4 (No) to indicate your intent of saving or not saving the data, and then press
the ENT . The applicable message will be displayed, after which the display will switch to the first screen
of the program mode.
If you select the F1 (Exit) without pressing the F3 or F4 , the first screen of the monitor mode
will be displayed.
Press F3 (Yes).
':6 24)
5CXKPI''241/
9CKVHQTCOQOGPV

Press F4 (No).
':6 24)
.QCFKPI''241/
9CKVHQTCOQOGPV


5 Creating and editing operating data
−17−
Press the F1 once in the monitor mode to switch to the first screen of the program mode.
The program mode has two first screens. Press the SHIFT repeatedly to toggle between the two screens.
Press the SHIFT .
Release the SHIFT .
24)&CVC+&
0QFCVC
'06'FKV
/QFG%NT+PU&GN
This screen is used to create and
modify operating data, as well as
to clear, insert and delete data.
24)&CVC+&
0QFCVC
/QFG#ENT
This screen is used to clear all
data.
5.4 Creating new operating data
How to create new opearting data is explained below.
1. Press the F1 and switch to the first screen of the
program mode.
2. Select the data number for which operating data is to be
created.
Use the ↑, ↓, ←and →, or directly enter the
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.
24)&CVC+&
0QFCVC
'06'FKV
/QFG%NT+PU&GN
No.15
No.25
No.05
No.16No.14
3. Press the ENT .
The positioning method setting screen is displayed.
24)126[RG
#DU+PE+PE
φ  ψ '065GV
/QFG
4. Press either the ←or →to select a positioning
method, and press the ENT .
The selected positioning method is confirmed and the position
(travel amount) setting screen is displayed.
24)2QU+PE
2QU
MG[U'065GV
/QFG4OV&EV
5. Enter the position via the numerical keys, and press the
ENT .
Press the F3 to perform remote teaching (see page 21).
Press the F4 to perform direct teaching (see page 22).
The position entered is confirmed and the operating speed setting
screen is displayed.
24)5RGGF
5RF*\
MG[U'065GV
/QFG
6. Enter the operating speed via the numerical keys, and
press the ENT .
The set operating speed is confirmed and the operating function
setting screen is displayed.
24)12(WPE
(WPE5KPING/QVKQP
φ  ψ '065GV
/QFG
Note When performing push-motion operation, set the operating speed to 500 Hz or
below. If the set operating speed is greater than 500 Hz, an operating data error will
occur.

5 Creating and editing operating data
−18−
7. Press either the ←or →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.
Enter the push current via the numerical keys, and press the
ENT .
24)2WUJ%WT
2WUJ%WT
MG[U'065GV
/QFG
In order to create operating data for another data number, repeat steps 3 through 7.
In order to stop creating operating data, press the ESC and switch to the first screen of the program mode,
or press the F1 once to switch to a mode other than the parameter mode.
5.5 Editing operating data

Editing existing data
1. Press the F1 and switch to the first screen of the
program mode.
2. Select the data number for which operating data is to be
created.
Use the ↑, ↓, ←and →, or directly enter the
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.
24)&CVC+&

'06'FKV
/QFG%NT+PU&GN
No.15
No.25
No.05
No.16No.14
3. Press the ENT .
The positioning method setting screen is displayed.
24)126[RG
#DU+PE+PE
φ  ψ '065GV
/QFG
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 “5.4 Creating
new operating data”on page 17.
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 (operating 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 program mode.
If you press the F1 , the screen will switch to the first screen of the parameter mode.

5 Creating and editing operating data
−19−
 Clearing data
The following operation clears any operating data previously set and resets the settings to their defaults.
1. Select the data number you want to clear in the first screen
of the program mode.
Use the ↑, ↓, ←and →, or directly enter the
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.
24)&CVC+&

'06'FKV
/QFG%NT+PU&GN
2. Press F2 (Clr) to select clearing the data.
The message is displayed.
3. Press the F3 (Yes), and then press the ENT .
The data is cleared and the display returns to the first screen of the
program mode.
24)%NT
&CVCENGCT
1-!0Q'065GV
/QFG;GU0Q
Note Do not disconnect the teaching pendant cable while data is being cleared.
Disconnecting the cable while data clear is still in progress may cause a memory
error.
 Inserting data
The following operation inserts a new operating data between data numbers already set.
The subsequent data numbers are automatically incremented by one.
1. Select the data number you want to insert in the first screen
of the program mode.
Use the ↑, ↓, ←and →, or directly enter the
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.
24)&CVC+&

'06'FKV
/QFG%NT+PU&GN
Note If a operating data has already been set in No. 63, inserting new operating data will
delete the data in No. 63.
2. Press F3 (Ins) to select inserting the data.
The message is displayed.
24)+PU
&CVCKPUGTV
1-!0Q'065GV
/QFG;GU0Q
3. 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 program mode.
24)+PU
+PUGTVKPIFCVC
9CKVHQTCOQOGPV

Note Do not disconnect the teaching pendant cable while data is being inserted.
Disconnecting the cable while data insertion is still in progress may cause a memory
error.

5 Creating and editing operating data
−20−
 Deleting data
The following operation deletes a data number previously set.
The subsequent data numbers are automatically decremented by one.
1. Select the data number you want to delete in the first screen
of the program mode.
Use the ↑, ↓, ←and →, or directly enter the
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.
24)&CVC+&

'06'FKV
/QFG%NT+PU&GN
2. Press F4 (Del) to select deleting the data.
The message is displayed.
24)&GN
&CVCFGNGVG
1-!0Q'065GV
/QFG;GU0Q
3. 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
program mode.
24)&GN
&GNGVKPIFCVC
YCKVHQTCOQOGPV

Note Do not disconnect the teaching pendant cable while data is being deleted.
Disconnecting the cable while data deletion is still in progress may cause a memory
error.
 Clearing all operating data
The following operation deletes all operation data and resets the settings to their defaults.
1. Press the SHIFT in the first screen of the program
mode.
24)&CVC+&


/QFG#ENT
2. Hold down the SHIFT , and press the F2 (Aclr).
The message is diplayed.
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
program mode.
24)#ENT12&CVC
%NGCTKPICNNFCVC
9CKVHQTCOQOGPV

Note Do not disconnect the teaching pendant cable while data is being cleared.
Disconnecting the cable while data clear is still in progress may cause a memory
error.