INSTRUCTION MANUAL - CKD · INSTRUCTION MANUAL ELECTRIC ACTUATOR ETP-2 ... －1－ For Safe...

INSTRUCTION MANUAL

ELECTRIC ACTUATOR

ETP-2 (TEACHING PENDANT)

● Be sure to read this Instruction Manual thoroughly before operating the product.

● In particular, make sure to carefully read and understand all descriptions related to safety.

● Keep this Instruction Manual in a safe and convenient place where it can be quickly taken out and read

whenever necessary.

ＣＫＤＣｏｒｐｏｒaｔｉｏｎ Edition № 2

ＳＭ－４３１０６１-A

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For Safe Operation of this Product

(Be sure to read before operating.)

Be sure to thoroughly read this Instruction Manual, catalog, technical data, and any attached documents before

installation, operation, maintenance/inspection of this product, and properly operate the product.

This product has been designed and manufactured as equipment or part for general industrial machinery. It must be

handled by individuals having sufficient knowledge and experience. CKD is not responsible for any accidents caused

by individuals without knowledge and by mishandling of the product. It is impossible for CKD to be aware of all the

applications for which our customers put our product to use because they cover a wide variety. Depending on the

conditions of use, the product may not perform as it should or it may lead to accidents; therefore, the customers

should understand well the directions for use and confirm the product specifications in accordance with its use and

application before deciding how the product shall be used.

While various safety measures are taken with this product, mishandling of the product by the customer may lead to

accidents. To avoid such accidents, it is strongly advised that the Instruction Manual be thoroughly read and understood prior to using this product. In addition to the handling precautions outlined in the text of this Instruction Manual, cautions should

also be exercised in regards to the following precautions.

The precautions outlined below are for safe and proper operation of this product and for preventing bodily injury

and property damage from happening.

The safety precautions are ranked as “DANGER”, “WARNING”, and “CAUTION” in this Instruction Manual.

Note that even some items described as “WARNING” or “CAUTION” may lead to serious results depending on the

situation.

In any case, important information is described. Read them thoroughly, and handle the product with extreme

caution.

Keep this Instruction Manual in a safe place so that it can be read whenever necessary, and please be sure to

deliver it to the end-user of this product.

To secure product safety, make sure to observe each precaution described under DANGER, WARNING, and

CAUTION.

DANGER If mishandled, dangerous situations leading to fatal or serious injuries may occur and there is a high degree of emergency (urgency) to a warning.

WARNING If mishandled, dangerous situations leading to fatal or serious injuries may occur.

CAUTION If mishandled, dangerous situations leading to minor injuries or physical damages may occur.

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DANGER

Do not operate the product where there are hazardous materials such as combustibles, flammables, explosives. The

product may ignite, catch fire, or explode.

Keep water drops, oil drops, and such away from the product. It may cause fire or product failure.

Do not exert excessive pressure on nor apply big shocks to the product. It may cause product failure.

WARNING

Precision parts are built into the product; hence, overturning, vibration, shocks are strictly prohibited during its

transport.

Do not get on nor place objects on the packaging.

Do not get on, stand on, nor place objects on the product.

Install this product where it is not exposed to direct sunlight, dust, heat generating element and where there are no

corrosive gas, flammable gas, and inflammables.

Use this product where there is no strong electromagnetic wave, ultraviolet light, and radiation.

When operating the actuator from where it cannot be seen, always make sure beforehand that it is safe for the

actuator to be in motion.

Storage environment conforms to installation environment, but long-term storage of more than one month is not

recommended. In particular, take steps to prevent dew condensation.

Connect it to the actuator only when in use, and disconnect it when not in use.

Operate and store the product in conditions without dew condensation by observing operating and storage

temperatures.

CAUTION

Do not exert excessive force to the cables and connector sections.

Do not press the LCD display screen and the operating key section firmly.

Do not disassemble the product.

When disposing this product, follow the law on Waste Disposal and Cleaning, and make sure to have it disposed of

by a specialized waste disposer.

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Warranty Clause

Term of Warranty and Scope of Warranty are as follows.

1) Term of Warranty The period of warranty for the product specified herein is 1 year from the date of delivery.

(However, the number of hours in operation per day shall be within 8 hours. Also, should

durability be reached within 1 year, the warranty will terminate at that point.)

2) Scope of Warranty If the product becomes defective for reasons attributable to CKD during the above period of warranty, CKD

will promptly repair the product without cost for the customer.

However, following circumstances are excluded from this warranty:

① Operation under conditions and in environments deviating from that described in product specifications

② Faulty maintenance and improper operation such as negligence

③ Damages caused by reasons other than the delivered product

④ Operation of the product in a manner not intended

⑤ Modifications in structure, performance, specification, etc. without involvement of CKD, and repairs

performed by an unauthorized party after delivery

⑥ Damages that could have been avoided if the customer equipment, into which the product is

incorporated, had functions, structure, etc. generally accepted in the industry

⑦ Damages caused by reasons unforeseen at the level of technology available at the time of delivery

⑧ Damages caused by external factors such as fire, earthquake, flood, lightning, other acts of nature,

terrestrial disaster, pollution, salt, gas, abnormal voltage.

Please note that this warranty covers only the delivered product itself. Any direct, indirect, or consequential

damages that may arise from failure with the delivered product are not covered under this warranty.

3) Warranty for product exported outside Japan ① CKD will repair any product returned to our factory or to a company or a factory designated by CKD.

Work and expense involved in returning the product are not covered under the warranty.

② The repaired product will be packed according to domestic packing specification and delivered to a

location inside Japan designated by the customer.

4) Other This Warranty Clause stipulates basic provisions.

If warranty information given on individual specification drawings or specification sheets differs from that

given herein, priority will be given to specification drawings and specification sheets.

If exporting this product outside Japan, comply with the laws (Foreign Exchange and Foreign Trade Law)

established by Ministry of Economy, Trade, and Industry.

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Table of Contents １． Introduction ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 6

２． Precautions ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 6

３． Specifications ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 7

３．１． Specifications ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 7

３．２． Dimensions and Part Names ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 7

３．３． Functions ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 9

（１） List of Functions ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 9

（２） Flow of Operations ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 10

４． Operations ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 11

４．１． Connecting the Actuator ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 11

（１） Connection ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 11

（２） Disconnection ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 11

４．２． Initial Display at Power-On and Main Menu ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 12

４．３． Movement and Setting (MOVE&SET) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 13

４．３．１． Movement (MOVE) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 14

（１） Jog Movement (JOG) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 15

（２） Inch Movement (INCH) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 16

（３） Point Movement (POINT) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 17

（４） Return-to-Origin Movement (ORIGIN) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 18

（５） Servomotor ON/OFF Movement (SERVO) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 18

４．３．２． Teaching (TEACHING) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 19

（１） Point No. and Setup Item Selection・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 19

（２） Position Setting (P) <JOG, INCH, MANUAL, KEY INPUT> ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 20

（３） Speed Setting (V) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 24

（４） Thrust Force Setting (F) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 25

（５） Acceleration Setting (A) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 25

４．３．３． Setting the Parameters (PARAMETER) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 26

（１） Parameter Setting (PARA) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 27

（２） All Clear (ALL CLR) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 29

４．４． Monitoring (MONITOR) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 30

（１） Present Position (POSITION) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 31

（２） Input/Output (IN/OUT) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 31

（３） Alarm (ALARM) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 32

（４） Model (MODEL) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 33

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（５） Version (VERSION) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 33

（６） Lot/Serial No. (LOT/SERIAL) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 34

４．５．Copying (COPY) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 35

（１） Data Saving (SAVE) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 36

（２） Data Writing (WRITE) ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 37

５． Parameters ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 38

５．１． List of Parameters ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 38

６． Data Tables ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 40

６．１． Table 6.1: Transfer Speed ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 40

６．２． Table 6.2: Press-in Speed ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 40

６．３． Table 6.3: Acceleration ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 40

６．４． Table 6.4: Inching Pitch ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 40

７． Troubleshooting ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 41

７．１． Error Messages and Troubleshooting ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 41

７．２． Other ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 42

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１．Introduction Thank you for purchasing ETP-2 Teaching Pendant for Electric Actuator. This Instruction Manual describes

basic points such as operating procedures so that ETP-2 Teaching Pendant for Electric Actuator can perform at

its full potential. Please read this Instruction Manual thoroughly before using this product to ensure its proper

operation.

Please keep this Instruction Manual in a safe place where it will not get lost.

２．Precautions Precautions that require particular attention are described here. For others, please refer to DANGER,

WARNING, and CAUTION at the beginning of this Instruction Manual.

DANGER

Do not operate the product where there are hazardous materials such as combustibles, flammables, explosives.

The product may ignite, catch fire, or explode.

Keep water drops, oil drops, and such away from the product. It may cause fire or product failure.

Do not exert excessive pressure on nor apply big shocks to the product. It may cause product failure.

WARNING

Precision parts are built into the product; hence, overturning, vibration, shocks are strictly prohibited during its

transport.

When operating the actuator from where it cannot be seen, always make sure beforehand that it is safe for the

actuator to be in motion.

CAUTION

Do not exert excessive force to the cables and connector sections.

Do not press the LCD display screen and the operation key section firmly.

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３．Specifications

３．１． Specifications

Items Specifications

Display 16 characters ×2 lines （LCD display）

Input Key 5 keys （1 STOP key and 4 operating keys）

Power Supply 24VDC, 100mA or less (supplied from actuator)

Cable Length 2m

Weight 140g (body only)

Operating Ambient Temperature 0 to 40℃ (no dew condensation/freezing)

Operating Ambient Humidity 35 to 85％ (no dew condensation/freezing)

Storing Ambient Temperature -20 to 60℃ (no dew condensation/freezing)

Storing Ambient Humidity 35 to 85％ (no dew condensation/freezing)

Protective Structure IEC Standards IP50 equivalent

Connectable Actuator(s) ESSD Series

ELCR Series

３．２． Dimensions and Part Names

１

３

２

４

LCD Display Screen

STOP Key

Operating Key(s)

Connector

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① LCD Display Screen

This is a 2-line display with 16 characters maximum per line.

② STOP Key

[STOP] key

This key is used to stop the movements of the actuator.

・Stop

Pressing the STOP key once will stop the movement of the actuator.

The LCD display will indicate STOP as below.

・Undoing stop

Holding down the STOP key for more than 3 seconds will undo the stop, and the actuator

will be in a standby state.

The LCD display will return to the last display before the stop command.

③ Operating Keys

[PUSH] key

This key is used for following operations.

・Selecting menu, parameter, etc.

・Changing values when inputting values

・Moving in PUSH direction when jogging and inching

[PULL] key

This key is used for following operations

・Selecting menu, parameter, etc.

・Changing digits when inputting values

・Moving in PULL direction when jogging and inching

[BACK] key

This key is used to cancel an operation and to return to the previous screen.

[ENTER] key

This key is used to command a menu, to define data, etc.

④ Connector

This connects to the actuator.

＞＞ＳＴＯＰ＜＜

STOP Indicator

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３．３． Functions

（１） List of Functions

There are following functions to the operations executed from the teaching pendant.

Menu

Main Menu Sub-Menu 1 Sub-Menu 2 Functional Overview

Jog

[1.1.1.JOG]

Sets speed and execute “jog” (PUSH/PULL).

Inch

[1.1.2.INCH]

Sets speed and pitch, and execute “inch”

(PUSH/PULL).

Point

[1.1.3.POINT]

Moves to points selected using data

preprogrammed in teaching.

Return-to-Origin

[1.1.4.ORIGIN]

Detects original position and returns to origin.

Movement

[1.1.MOVE]

Servomotor ON/OFF

[1.1.5.SERVO]

Executes ON/OFF of servomotor.

Teaching

[1.2.TEACH]

Sets position, speed, thrust force, acceleration

of each point (7 points maximum).

Parameter Setting

[1.3.1.PARA]

Executes parameter changes.

Movement &

Setting

[1.MOVE&SET]

Parameters

[1.3.PARAMETER]

All Clear

[1.3.2.ALL CLR]

Resets parameters to factory default settings.

Present Position

[2.1.POSITION]

Present position of the actuator can be

identified.

Input/Output

[2.2.IN/OUT]

Condition of the actuator I/O signal can be

confirmed.

Alarm

[2.3.ALARM]

Alarm history can be confirmed.

Model

[2.4.MODEL]

Actuator model can be verified.

Version

[2.5.VERSION]

Driver software version inside the actuator can

be verified.

Monitoring

[2.MONITOR]

Lot/Serial No.

[2.6.LOT/SERIAL]

Lot/serial no. of the actuator can be verified.

Data Saving

[3.1.SAVE]

Actuator data is saved on the teaching

pendant.

Copying

[3.COPY]

Data Writing

[3.2.WRITE]

Data saved on the teaching pendant is written

to the actuator.

※ Sections enclosed with bold lines disable PLC; operations from PLC will be rejected.

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（２） Flow of Operations

Operations using the teaching pendant follow the flow below.

※ Sections enclosed with dotted lines disable PLC; operations from PLC will be rejected.

(Basic Operation)

Use and keys to make a selection and

key to fix that selection to proceed to the next screen.

Use key to return to the previous screen.、

Power ＯＮ

Main Menu[MAIN MENU]

Movement&Setting

Movement[1.1.MOVE]

Jog [1.1.1.JOG]

Inch[1.1.2.INCH]

Point[1.1.3.POINT]

Return-to-Origin[1.1.4.ORIGIN]

ServomotorON/OFF

Teaching[1.2.TEACH]

Parameters[1.3.PARAMETER]

Parameter Setting[1.3.1.PARA]

All Clear[1.3.2.ALL CLR]

Monitoring[2.MONITOR]

Copying[3.COPY]

Present Position[2.1.POSITION]

Input/Output[2.2.IN/OUT]

Alarm[2.3.ALARM]

Model[2.4.MODEL]

Version[2.5.VERSION]

Lot/Serial No.[2.6.LOT/SERIAL]

Data Saving[3.1.SAVE]

Data Writing[3.2.WRITE]

Initial Display

DriverInformation Read

BACK

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４．Operations

４．１． Connecting the Actuator

（１） Connection

Connect the teaching pendant connector on the actuator to the connector on the teaching pendant.

（２） Disconnection

Return to the Main Menu by operating the operating keys on the teaching pendant. Then, disconnect the

connector on the teaching pendant.

※ How to return to the Main Menu

Pressing key will return to the last screen. Repeating this operation will eventually return to the Main

Menu; however, if Enable PLC Confirmation screen appears along the way, press key.

CAUTION

※ Except at the Main Menu, the teaching pendant is constantly passing signals with the actuator. If the teaching

pendant is disconnected while this is going on, it may cause some kind of a malfunction.

Always disconnect at the Main Menu.

BACK

［ＭＡＩＮ　ＭＥＮＵ］　　１／３←１．ＭＯＶＥ＆ＳＥＴ　　　　→

［ＭＡＩＮ　ＭＥＮＵ］　　２／３←２．ＭＯＮＩＴＯＲ　　　　　→

［ＭＡＩＮ　ＭＥＮＵ］　　３／３←３．ＣＯＰＹ　　　　　　　　→

Main Menu

ＯＲ

ＯＲ、

ＴＰ　　　　－－＞ＰＬＣ　　　？（Ｂａｃｋ）　　　　　（Ｅｎｔｅｒ）

Enable PLC Confirmation

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４．２． Initial Display at Power-On and Main Menu

Once the teaching pendant is connected to the actuator, the power is supplied to the teaching pendant from

the actuator.

It subsequently displays Initial Display, Driver Information Read, and Main Menu.

Refer to “5.1. List of Parameters” on page 38 for initial values of each parameter.

There are following 3 items in the Main Menu;

○ Movement & Setting (MOVE&SET)

This is for actuator movement, teaching, and parameter setting.

Refer to “4.3. Movement & Setting (MOVE&SET)” on page 13.

○ Monitoring (MONITOR)

This is for monitoring present position, I/O signal condition, etc.

Refer to “4.4. Monitoring (MONITOR)” on page 30.

○ Copying (COPY)

This is for copying parameters and point data to a different actuator.

Refer to “4.5. Coping (COPY)” on page 35.

Software version of the teaching pendant and

other information are displayed for about 2

Mode, parameters, and other information are being

read from the actuator. When finished reading, the

Main Menu will be displayed.

Ｅ－ｓｅｒｉｅｓ　　　　　ＣＫＤ　　　　　　　　Ｖｅｒ：１．００

Ｎｏｗ　Ｌｏａｄｉｎｇ■■■■■■■■■■■■

Power ON

Initial Display

Driver Information Read

Main Menu

［ＭＡＩＮ　ＭＥＮＵ］　　３／３←３．ＣＯＰＹ　　　　　　　　→


keys to select

key to command


<SM-431061>

－13－

４．３． Movement & Setting (MOVE&SET)

This is for actuator movement, teaching, and parameter setting.

(※1) Disable PLC Confirmation screen

Press key to disable operations from PLC and switch to MOVE&SET menu.

(※2) Enable PLC Confirmation screen

Press key to enable operations from PLC and return to Main Menu.

There are following 3 items in the MOVE&SET menu;

○ Movement (MOVE)

This is for executing jog, inch, point, return-to-origin, and servomotor ON/OFF movements.

Refer to “4.3.1. Movement (MOVE)” on page 14.

○ Teaching (TEACHING)

This is for setting position, speed, thrust force, and acceleration data of each point.

Refer to “4.3.2. Teaching (TEACHING)” on page 19.

○ Setting the Parameters (PARAMETER)

This is for setting the parameters.

Refer to “4.3.3. Setting the Parameters (PARAMETER)” on page 26.


Main Menu

ＰＬＣ　　　－－＞ＴＰ　　　　？（Ｂａｃｋ）　　　（Ｅｎｔｅｒ）

Disable PLC Confirmation

MOVE&SET Menu

［１．ＭＯＶＥ＆ＳＥＴ］　３／３←１．３．ＰＡＲＡＭＥＴＥＲ　→

［１．ＭＯＶＥ＆ＳＥＴ］　１／３←１．１．ＭＯＶＥ　　　　　　→

BACK

ＴＰ　　　　－－＞ＰＬＣ　　　？（Ｂａｃｋ）　　　（Ｅｎｔｅｒ）


［１．ＭＯＶＥ＆ＳＥＴ］　２／３←１．２．ＴＥＡＣＨＩＮＧ　　→

keys to select

key to command

（※１）（※２）

<SM-431061>

－14－

４．３．１． Movement (MOVE)

This is for executing jog, inch, point, return-to-origin, and servomotor ON/OFF movements.

There are following 5 items in the MOVE menu:

○ Jog Movement (JOG)

This is for executing jog movement.

Refer to “(1) Jog Movement (JOG)” on page 15.

○ Inch Movement (INCH)

This is for executing inch movement.

Refer to “(2) Inch Movement (INCH)” on page 16.

○ Point Movement (POINT)

This is for moving to points programmed in teaching.

Refer to “(3) Point Movement (POINT)” on page 17.

○ Return-to-Origin Movement (ORIGIN)

This is for detecting the original position and returning to the origin.

Refer to “(4) Return-to-Origin (ORIGIN)” on page 18.

○ Servomotor ON/OFF Movement (SERVO)

This is for turning ON/OFF the servomotor.

Refer to “(5) Servomotor ON/OFF Movement (SERVO)” on page 18.

［１．ＭＯＶＥ＆ＳＥＴ］　１／３←１．１．ＭＯＶＥ　　　　　　→

MOVE&SET Menu

Movement Menu

［１．１．ＭＯＶＥ］　　　１／５←１．１．１．ＪＯＧ　　　　　→

［１．１．ＭＯＶＥ］　　　５／５←１．１．５．ＳＥＲＶＯ　　　→

［１．１．ＭＯＶＥ］　　　３／５←１．１．３．ＰＯＩＮＴ　　　→

［１．１．ＭＯＶＥ］　　　２／５←１．１．２．ＩＮＣＨ　　　　→

［１．１．ＭＯＶＥ］　　　４／５←１．１．４．ＯＲＩＧＩＮ　　→

BACK

keys to select

key to command

<SM-431061>

－15－

（１） Jog Movement (JOG)

This is for setting jogging speed and executing jog movement.

※ Assignable values for jogging speed vary depending on the actuator being used.

Refer to “6.1. Table 6.1: Transfer Speed” on page 40.

Start jog movement with key or key.

The screen will change to Jogging screen

Set jogging speed with key or key.

（※）

Stop jogging by releasing the key.

The screen will return to Jog Movement screen.

(※) When the servomotor is OFF, Servomotor ON Confirmation screen will appear.

Press key to turn ON the servomotor.

［１．１．ＭＯＶＥ］　　　１／５←１．１．１．ＪＯＧ　　　　　→

Movement Menu

［１．１．１．ＪＯＧ］　　０５０＜■■■■■　　　　　＞ｍｍ／ｓ

［１．１．１．ＪＯＧ］　（Ｐｕｌｌ　／　Ｐｕｓｈ）

Jogging Speed Setting

Jog Movement

［１．１．１．ＪＯＧ］＞＞ＭＯＶＩＮＧ　！　　　　＜＜

Jogging

BACK

BACK

<SM-431061>

－16－

（２）Inch Movement (INCH)

This is for setting inching speed and pitch and executing inch movement

※ Assignable values for inching speed vary depending on the actuator being used.


※ Assignable values for inching pitch vary depending on the actuator being used.

Refer to “6.4. Table 6.4: Inching Pitch” on page 40.）

Start inch movement with key or key.

The screen will change to Inching screen.

Set inching speed with key or key.

Set inching pitch with key or key

（※）


Press key to turn ON the servomotor

After moving in set pitches, the screen will return to Inch

Movement screen.

［１．１．ＭＯＶＥ］　　　２／５←１．１．２．ＩＮＣＨ　　　　→

Movement Menu

［１．１．２．ＩＮＣＨ］　０５０＜■■■■■　　　　　＞ｍｍ／ｓ

［１．１．２．ＩＮＣＨ］　（Ｐｕｌｌ　／　Ｐｕｓｈ）

Inching Speed Setting

Inch Movement

［１．１．２．ＩＮＣＨ］＞＞ＭＯＶＩＮＧ　！　　　　＜＜

Inching

BACK

BACK

［１．１．２．ＩＮＣＨ］１０．０＜■■■■■■■■　　＞　　ｍｍ

Inching Pitch Setting

BACK

<SM-431061>

－17－

（３） Point Movement (POINT)

This is for moving to points selected using data (position, speed, thrust force, acceleration) preprogrammed in

teaching.

※ Assignable number of points varies depending on the control mode of the actuator being used。

Control Mode Assignable No. of Points

Solenoid Valve 2 Points

7-Point Positioning 7 Points

Pitch Feeding 1 Point

※ The control mode is set in Parameter No. 12 (Control Mode).

Refer to “5. Parameters” on page 38.

※ For teaching, please read the following section.

Refer to “4.3.2. Teaching (TEACHING)” on page 19.

※ When the actuator is moving, operating keys are rejected. To stop a movement before its completion, press

the STOP key. Following conditions indicate completion of a movement:

・For general transfer movement : Movement is complete when target position is reached.

・For press-in (push) movement : Movement is complete when target position is reached.

・For press-in (clamp) movement : Movement is complete when clamping time elapses.

（※）

Select point no. with key or key.

Confirm setting values (position, speed, thrust force, acceleration)

with key or key.

Start point movement with key. The screen will change to

Pointing screen.

When finished moving, the screen will return to Point No. Selection

screen.



(※) When the origin is undetected, Return-to-Origin Confirmation screen will appear.

Press key to return to origin.

［１．１．ＭＯＶＥ］　　　３／５←１．１．３．ＰＯＩＮＴ　　　→

Movement Menu

［１．１．３．ＰＯＩＮＴ］１／７←ＰＯＩＮＴ　Ｎｏ１　　　　　→

Point No. Selection

［１．１．３．ＰＯＩＮＴ］Ｎｏ１＞＞ＭＯＶＩＮＧ　！　　　　＜＜

Pointing

BACK

BACK

［１．１．３．ＰＯＩＮＴ］Ｎｏ１←Ｐ：　　　　＋００５．０ｍｍ→

Setting Value Confirmation

<SM-431061>

－18－

（４） Return-to-Origin Movement (ORIGIN)

This is for detecting the original position and returning to the origin

（５） Servomotor ON/OFF Movement (SERVO)

This is for turning ON/OFF the servomotor.



Start return-to-origin movement with key. The screen will

change to Returning-to-Origin screen

When the return-to-origin is complete, the screen will return to

MOVE Menu。

When the servomotor is ON, Servomotor OFF Confirmation

screen will appear.

Press key to turn OFF the servomotor

When the servomotor is OFF, Servomotor ON Confirmation

screen will appear.


（※）

［１．１．ＭＯＶＥ］　　　４／５←１．１．４．ＯＲＩＧＩＮ　　→

Movement Menu

［１．１．４．ＯＲＩＧＩＮ］Ｇｏ　ｔｏ　ＯＲＩＧＩＮ　？

Return-to-Origin Confirmation

［１．１．４．ＯＲＩＧＩＮ］＞＞ＭＯＶＩＮＧ　！　　　　＜＜

Returning-to-Origin

BACK

［１．１．ＭＯＶＥ］　　　５／５←１．１．５．ＳＥＲＶＯ　　　→

Movement Menu

Servomotor OFF Confirmation

BACK

［１．１．５．ＳＥＲＶＯ］ＳＥＲＶＯ　ＯＦＦ－－＞ＯＮ　？

Servomotor ON Confirmation

［１．１．５．ＳＥＲＶＯ］ＳＥＲＶＯ　ＯＮ－－＞ＯＦＦ　？

Servomotor ON/OFF Confirmation

<SM-431061>

－19－

４．３．２． Teaching (TEACHING)

This is for setting position, speed, thrust force, and acceleration data of each point.

（１） Point No. and Setup Item Selection

※ Assignable number of points varies depending on the control mode of the actuator being used

Control Mode Assignable No. of Points

Solenoid Valve 2 Points

7-Point Positioning 7 Points

Pitch Feeding 1 Point

※ The control mode is set in Parameter No. 12 (Control Mode).


There are following 4 setup items.

○ Position Setting (P) Refer to “(2) Position Setting (P)” on page 20.

○ Speed Setting (V) Refer to “(3) Speed Setting (P)” on page 24.

○ Thrust Force Setting (F) Refer to “(4) Thrust Force Setting (P)” on page 25.

Acceleration Setting (A) Refer to “(5) Acceleration Setting (P)” on page 25.

Select point no. with key or key.

［１．ＭＯＶＥ＆ＳＥＴ］　２／３←１．２．ＴＥＡＣＨＩＮＧ　　→

MOVE&SET Menu

［１．２．ＴＥＡＣＨ］　　２／７←ＰＯＩＮＴ　Ｎｏ２　　　　　→

Point No. SelectionBACK

BACK

Setup Item Selection

［１．２．ＴＥＡＣＨ］　　Ｎｏ２←Ｐ：　　　　＋０１０．０ｍｍ→

［１．２．ＴＥＡＣＨ］　　Ｎｏ２←Ｖ：　　　　　１００ｍｍ／ｓ→

［１．２．ＴＥＡＣＨ］　　Ｎｏ２←Ｆ：ＰＵＳＨ　　　　　５０％→

［１．２．ＴＥＡＣＨ］　　Ｎｏ２←Ａ：　　　　　２．０ｍ／ｓ２→

keys to select

key to command

<SM-431061>

－20－

（２） Position Setting (P)

There are following 4 position setting methods.

○ Jog Setting (JOG)

This is for setting position by jog movement.

Refer to “<Jog Setting (JOG)>” on page 21.

○ Inch Setting (INCH)

This is for setting position by inch movement.

Refer to “<Inch Setting (INCH)>” on page 22.

○ Manual Setting (MANUAL)

This is for setting position by turning OFF the servomotor and manually moving the actuator.

Refer to “<Manual Setting (MANUAL)>” on page 23.

○ Key Input Setting (KEY INPUT)

This is for setting position by directly key inputting the position (value).

Refer to “<Key Input Setting (KEY INPUT)>” on page 24.

［１．２．ＴＥＡＣＨ］　　Ｎｏ２←Ｐ：　　　　＋０１０．０ｍｍ→


Position Setting Method Selection

［Ｎｏ２，Ｐ］　　　　　　１／４←ＪＯＧ　　　　　　　　　　　→

［Ｎｏ２，Ｐ］　　　　　　２／４←ＩＮＣＨ　　　　　　　　　　→

［Ｎｏ２，Ｐ］　　　　　　３／４←ＭＡＮＵＡＬ　　　　　　　　→

［Ｎｏ２，Ｐ］　　　　　　４／４←ＫＥＹＩＮＰＵＴ　　　　　　→

keys to select

key to command

BACK

<SM-431061>

－21－

＜Jog Setting (JOG)＞

This is for setting position by moving the actuator through jog movement.

※ Assignable values for jogging speed vary depending on the actuator being used.


Start jog movement with key or key.

The screen will change to Jogging screen.

After shifting to a desired set position, fix that position with

key (display will indicate present position).

After fixing the desired position, the screen will return to Setup

Item Selection screen.

（※）





Set jogging speed with key or key.

Stop jogging by releasing the key.

The screen will return to Jog Movement screen

［Ｎｏ２，Ｐ］　　　　　　１／４←ＪＯＧ　　　　　　　　　　　→

［Ｎｏ２，Ｐ］ＪＯＧ　　　０５０＜■■■■■　　　　　＞ｍｍ／ｓ

Jogging Speed Setting

BACK

BACK

［Ｎｏ２，Ｐ］ＪＯＧ　　　　　　　　＋０１０．０ｍｍ


Jog Movement (Present Position)

［Ｎｏ２，Ｐ］ＪＯＧ＞＞ＭＯＶＩＮＧ　！　　　　＜＜

Jogging

［１．２．ＴＥＡＣＨ］　　Ｎｏ２←Ｐ：　　　　＋０１０．０ｍｍ→


<SM-431061>

－22－

＜Inch Setting (INCH)＞

This is for setting position by moving the actuator through inch movement.

※ Assignable values for inching speed vary depending on the actuator being used.


※ Assignable values for inching pitch vary depending on the actuator being used.

Refer to “6.4. Table 6.4: Inching Pitch” on page 40.

Start inch movement with key or key.

The screen will change to Inching screen.

After shifting to a desired set position, fix that position with

key (display will indicate present position).

After fixing the desired position, the screen will return to Setup


（※）





Set inching speed with key or key.

After moving in set pitches, the screen will return to Inch

Movement screen

Set inching pitch with key or key.

［Ｎｏ２，Ｐ］　　　　　　２／４←ＩＮＣＨ　　　　　　　　　　→

［Ｎｏ２，Ｐ］ＩＮＣＨ　　０５０＜■■■■■　　　　　＞ｍｍ／ｓ

Inching Speed Setting

BACK

BACK

［Ｎｏ２，Ｐ］ＩＮＣＨ　　　　　　　　＋０１０．０ｍｍ


Inch Movement (Present Position)

［Ｎｏ２，Ｐ］ＩＮＣＨ＞＞ＭＯＶＩＮＧ　！　　　　＜＜

Inching

［Ｎｏ２，Ｐ］ＩＮＣＨ　１０．０＜■■■■■■■■　　＞　　ｍｍ

Inching Pitch Setting

BACK

［１．２．ＴＥＡＣＨ］　　Ｎｏ２←Ｐ：　　　　＋０１０．０ｍｍ→


<SM-431061>

－23－

＜Manual Setting (MANUAL)>

This is for setting position by turning OFF the servomotor and manually moving the actuator

※ Position setting range for manual setting is within the software limit. If the following error message appears when

fixing the desired position, verify the setting values of the software limit.

※ The software limit is set in Parameter No. 01 (Software Limit +) and Parameter No. 02 (Software Limit ー).


Press key to return to Manual (Present Position) screen.


Press key to return to origin

（※）

After shifting to a desired set position by manually moving the

actuator, fix that position with key (display will indicate

present position).

After fixing the desired position, the screen will change to Setup


Setting Error

＞＞ＲＡＮＧＥ　ＥＲＲＯＲ　＜＜ＳＷＬＭＴ－　ｔｏ　ＳＷＬＭＴ＋

［Ｎｏ２，Ｐ］ＭＡＮＵＡＬＳＥＲＶＯ　ＯＮ－－＞ＯＦＦ　？

Servomotor OFF ConfirmationBACK


［Ｎｏ２，Ｐ］　　　　　　３／４←ＭＡＮＵＡＬ　　　　　　　　→

［Ｎｏ２，Ｐ］ＭＡＮＵＡＬ　　　　　　　　＋０１０．０ｍｍ

Manual (Present Position)

BACK

［１．２．ＴＥＡＣＨ］　　Ｎｏ２←Ｐ：　　　　＋０１０．０ｍｍ→


<SM-431061>

－24－

＜Key Input Setting (KEY INPUT)＞

This is for setting position by directly key inputting the position (value)

※ For key input setting, position setting range is within the software limit. If the following error message appears

when fixing the desired position, verify the setting values of the software limit

※ The software limit is set in Parameter No. 01 (Software Limit +) and Parameter No. 02 (Software Limit ー).


（３） Speed Setting (V)

※ Assignable values for speed vary depending on the actuator being used.


Press key to return to Manual (Present Position) screen.

Set speed with key or key.

Use key to select the digits to change. (Digits selected will blink.)

Use key to change the value.

Use key to fix the position.

After fixing the position, the screen will change to Setup Item Selection

screen.

［Ｎｏ２，Ｐ］ＫＥＹＩＮＰＵＴ　　　　　　　　＋０１０．０ｍｍ

Key InputBACK


［Ｎｏ２，Ｐ］　　　　　　４／４←ＫＥＹＩＮＰＵＴ　　　　　　→

BACK

［１．２．ＴＥＡＣＨ］　　Ｎｏ２←Ｐ：　　　　＋０１０．０ｍｍ→

Setup Item Selectio

Setting Error

＞＞ＲＡＮＧＥ　ＥＲＲＯＲ　＜＜ＳＷＬＭＴ－　ｔｏ　ＳＷＬＭＴ＋

［１．２．ＴＥＡＣＨ］　　Ｎｏ２←Ｖ：　　　　　１００ｍｍ／ｓ→


［Ｎｏ２，Ｖ］　　　　　　１００＜■■■■■■■■■■＞ｍｍ／

Speed SettingBACK

<SM-431061>

－25－

（４）Thrust Force Setting (F)

※ NO PRESS display indicates general transfer movement.

※ PUSH and value (%) display indicates press-in (push) movement.

※ CLAMP and value (%) display indicates press-in (clamp) movement.

※ Value (%) indicates current-limiting value of the motor, and its assignable values vary depending on the press-in

mode (push, clamp).

Thrust Mode Assignable Values［％］

PUSH (Push) ５０，６１，７５，８２，１００

CLAMP (Clamp) ５０，６１，７５，８２

※ The press-in mode is set in Parameter No. 07 (Press-in Mode).


※ Setting different press-in mode at each point is not allowed.

Example) Setting first point as push and second point as clamp is not allowed.

（５） Acceleration Setting (A)

※ Deceleration will have the same value as acceleration.

※ Assignable values for acceleration vary depending on the actuator being used.

Refer to “6.3. Table 6.3: Acceleration” on page 40.

Set thrust force with key or key.

Set acceleration with key or key.

［１．２．ＴＥＡＣＨ］　　Ｎｏ２←Ｆ：ＰＵＳＨ　　　　　５０％→


［Ｎｏ２，Ｆ］ＰＵＳＨ　　０５０＜■■　　　　＞　　　　　　　％

Thrust Force SettingBACK

［１．２．ＴＥＡＣＨ］　　Ｎｏ２←Ａ：　　　　　２．０ｍ／ｓ２→


［Ｎｏ２，Ａ］　　　　　　２．０＜■■■■■■■■■■＞ｍ／ｓ

Acceleration SettingBACK

<SM-431061>

－26－

４．３．３． Setting the Parameters (PARAMETER)

There are following 2 items in the Parameter Menu.

○ Parameter Setting (PARA)

This is for parameter setting.

Refer to “(1) Parameter Setting (PARA)” on page 27.

○ All Clear (ALL CLR)

This is for resetting parameters and point data to factory default values.

It will be necessary to re-execute return-to-origin since this will cause the origin to be undetected.

Refer to “(2) All Clear (ALL CLR)” on page 29.

［１．ＭＯＶＥ＆ＳＥＴ］　３／３←１．３．ＰＡＲＡＭＥＴＥＲ　→

MOVE&SET Menu

Parameter Menu

［１．３．ＰＡＲＡ］　　　１／２←１．３．１．ＰＡＲＡ　　　　→

［１．３．ＰＡＲＡ］　　　２／２←１．３．２．ＡＬＬ　ＣＬＲ　→

keys to select key to command

BACK

<SM-431061>

－27－

（１）Parameter Setting (PARA)

［１．３．ＰＡＲＡ］　　　１／２←１．３．１．ＰＡＲＡ　　　　→

Parameter Menu

BACK

［１．３．１．ＰＡＲＡ］←０１：Ｓ／Ｗ　ＬＩＭＩＴ＋　→

Parameter Selection

keys to select

［１．３．１．ＰＡＲＡ］←１４：ＰＩＴＣＨＩＮＧ　Ｐ　→

［１．３．１．ＰＡＲＡ］←１２：ＯＰＥ　ＭＯＤＥ　　　→

［１．３．１．ＰＡＲＡ］←０２：Ｓ／Ｗ　ＬＩＭＩＴ－　→

［１．３．１．ＰＡＲＡ］←０３：ＩＮＰＯＳＩＴＩＯＮ　→

［１．３．１．ＰＡＲＡ］←１１：ＡＵＴＯ　ＡＬＭＲＳＴ→

［１．３．１．ＰＡＲＡ］←１３：ＶＡＬＶＥ　ＭＯＤＥ　→

０１：Ｓ／Ｗ　ＬＩＭＩＴ＋＋０５０．０ｍｍ

Parameter Setting

BACK

※ For setting speed,

use key or key to set and use key to fix it.

Use key to select the digits to change.

(Digits selected will blink.)

Use key to change the value.

Use key to fix the value.

After fixing the value, the screen will return to Parameter Selection screen.

<SM-431061>

－28－

※ Selectable parameters vary depending on Parameter No. 07 (Press-in Mode) and Parameter No. 12 (Control

Mode) settings.


※ If the desired setting value is not within the setting range, following message appears. Verify the setting range,

and set the value again.

※ When changing Parameter No. 06 (Return-to-Origin Direction), following confirmation screen appears.

When this parameter is changed, software limits +/― and point data (position) are cleared (=0), and resetting will

be necessary. It will also be necessary to re-execute return-to-origin since this will cause the origin to be

undetected.

※ When changing Parameter No. 12 (Control Mode), following confirmation screen appears.

When this parameter is changed, it will be necessary to re-execute return-to-origin since this will cause the

origin to be undetected.

※ For details of the parameters (descriptions, setting range, etc.), please read the following section.


Press key to return to Parameter Setting

Press key to change the parameter.

Press key to cancel the change and return to Parameter

Setting screen.

BACK

Press key to change the parameter.

Press key to cancel the change and return to Parameter

Setting screen.

BACK

Setting Error

＞＞ＲＡＮＧＥ　ＥＲＲＯＲ　＜＜　[min]　ｔｏ　[max]

ＰＯＳＩＴＩＯＮ　ＤＡＴＡ　＆　Ｓ／Ｗ　ＬＩＭＩＴ　ＣＬＲ　？

Confirmation

ＯＲＩＧＩＮ　ＤＡＴＡ　　　　　　　　　ＣＬＥＡＲ　？

Confirmation

<SM-431061>

－29－

（２）All Clear (ALL CLR)

This is for resetting parameters and point data to factory default values.

When All Clear is executed, it will be necessary to re-execute return-to-origin since this will cause the

origin to be undetected.

Pressing key will execute All Clear and will re-read

mode, parameters, and other information from the driver.

Pressing key will redisplay a confirmation screen.

When finished reading, it will return to the Parameter

Menu.

［１．３．ＰＡＲＡ］　　　２／２←１．３．２．ＡＬＬ　ＣＬＲ　→

Parameter Menu

［１．３．２．ＡＬＬ　ＣＬＲ］ＯＫ　？

［１．３．２．ＡＬＬ　ＣＬＲ］ＯＫ　？？

All Clear Confirmation 1

All Clear Confirmation 2

BACK

Ｎｏｗ　Ｌｏａｄｉｎｇ■■■■■■■■■■■■

Driver Information Read

<SM-431061>

－30－

４．４． Monitoring (MONITOR)

This is for monitoring present position, I/O signal condition, etc.

There are following 6 items in the Monitoring Menu.

○ Present Position (POSITION)

This displays present position of the actuator.

Refer to “(1) Present Position (POSITION)” on page 31.

○ Input/Output (IN/OUT)

This displays I/O signal condition of the actuator.

Refer to “(2) Input/Output (IN/OUT)” on page 31.

○ Alarm (ALARM)

This displays alarm information.

Refer to “(3) Alarm (ALARM)” on page 32.

○ Model (MODEL)

This displays model of the actuator.

Refer to “(4) Model (MODEL)” on page 33.

Main Menu

keys to select

key to command


［２．ＭＯＮＩＴＯＲ］　　１／６←２．１．ＰＯＳＩＴＩＯＮ　　→

［２．ＭＯＮＩＴＯＲ］　　２／６←２．２．ＩＮ／ＯＵＴ　　　　→

［２．ＭＯＮＩＴＯＲ］　　３／６←２．３．ＡＬＡＲＭ　　　　　→

［２．ＭＯＮＩＴＯＲ］　　４／６←２．４．ＭＯＤＥＬ　　　　　→

［２．ＭＯＮＩＴＯＲ］　　５／６←２．５．ＶＥＲＳＩＯＮ　　　→

［２．ＭＯＮＩＴＯＲ］　　６／６←２．６．ＬＯＴ／ＳＥＲＩＡＬ→

BACK

Monitoring Menu

<SM-431061>

－31－

○ Version (VERSION)

This displays driver software version inside the actuator.

Refer to “(5) Version (VERSION)” on page 33.

○ Lot/Serial No. (LOT/SERIAL)

This displays lot no. and serial no. of the actuator.

Refer to “(6) Lot/Serial No. (LOT/SERIAL)” on page 34.

（１） Present Position (POSITION)

This displays present position of the actuator.

（２） Input/Output (IN/OUT)

This displays I/O signal condition (1: ON, 0: OFF) of the actuator.

［２．ＭＯＮＩＴＯＲ］　　１／６←２．１．ＰＯＳＩＴＩＯＮ　　→

Monitoring Menu

［２．１．ＰＯＳＩＴＩＯＮ］　　　　　　　　＋０８７．２ｍｍ

Present Position IndicatorBACK

Monitoring Menu

［２．２．ＩＮ／ＯＵＴ］１０１１０１１／１０１０１１０

IN/OUT IndicatorBACK

［２．ＭＯＮＩＴＯＲ］　　２／６←２．２．ＩＮ／ＯＵＴ　　　　→

<SM-431061>

－32－

（３） Alarm (ALARM)

This displays alarm information

(Display Content)

01 : Indicates present alarm.

02 to 10 : Indicate past alarms (history).

Alarm Screen Display Explanation Reset

No Alarm NONE

Overload OVERLOAD

ERROR

The actuator is overloaded. Possible

Abnormal Stroke STROKE ERROR The actuator cannot position at its

target position.

Possible

Temperature

Anomaly

TEMP ERROR Temperature of driver IC inside the

actuator is above the rated value.

Possible

System

Malfunction

SYSTEM ERROR There is failure with CPU, EEPROM,

etc. inside the actuator.

Impossible

※ When an alarm is generated, the actuator stops (servomotor ON) at that spot.

For details, refer to the Instruction Manual (SM-431049) of the actuator being used.

Monitoring Menu

［２．３．ＡＬＭ］　　０１／１０←ＯＶＥＲＬＯＡＤ　ＥＲＲＯＲ→

Alarm Information Display

BACK

［２．ＭＯＮＩＴＯＲ］　　３／６←２．３．ＡＬＡＲＭ　　　　　→

［２．３．ＡＬＭ］　　１０／１０←ＮＯＮＥ　　　　　　　　　　→

［２．３．ＡＬＭ］　　０２／１０←ＮＯＮＥ　　　　　　　　　　→

keys to select

<SM-431061>

－33－

(How to reset the alarm)

※ If there is no alarm, or if the alarm cannot be reset, Alarm Reset Confirmation screen will not appear.

（４） Model (MODEL)

This displays model of the actuator and present control mode (i.e. (V2)).

Display Control Mode

V1 Solenoid Valve (Single)

V2 Solenoid Valve (Double 2-Position)

V3 Solenoid Valve (Double 3-Position)

P7 7-Point Positioning

PP Pitch Feeding

（５） Version (VERSION)

This displays driver software version inside the actuator

Displaying present alarm and pressing key will switch

the screen to Alarm Reset Confirmation screen.

Press key to reset the alarm and return to Alarm

Information Display.

Monitoring Menuー

［２．４．ＭＯＤＥＬ］　（Ｖ２）ＥＬＣＲ－２８ー０６ー０５０

Model IndicatorBACK

［２．ＭＯＮＩＴＯＲ］　　４／６←２．４．ＭＯＤＥＬ　　　　　→

［２．３．ＡＬＭ］　　０１／１０←ＯＶＥＲＬＯＡＤ　ＥＲＲＯＲ→

［２．３．ＡＬＭ］　　０１／１０ＡＬＡＲＭ　ＲＥＳＥＴ　？

Alarm Information Display

Alarm Reset ConfirmationBACK

Monitoring Menu

［２．５．ＶＥＲＳＩＯＮ］　　　　　　　　Ｖｅｒ：１．００

Version IndicatorBACK

［２．ＭＯＮＩＴＯＲ］　　５／６←２．５．ＶＥＲＳＩＯＮ　　　→

<SM-431061>

－34－

（６） Lot/Serial No. (LOT/SERIAL)

This displays lot no. and serial no. of the actuator.

Monitoring Menu

［２．６．ＬＯＴ／ＳＥＲＩＡＬ]ＬＯＴ：９７０１／ＳＥＲ：００１

Lot/Serial IndicatorBACK

［２．ＭＯＮＩＴＯＲ］　　６／６←２．６．ＬＯＴ／ＳＥＲＩＡＬ→

<SM-431061>

－35－

４．５．Copying (COPY)

This is for copying parameters and point data to a different actuator.

There are following 2 items in the Copying Menu.

○ Data Saving (SAVE)

This is for saving parameters and point data to the teaching pendant.

Refer to “(1) Data Saving (SAVE)” on page 36.

○ Data Writing (WRITE)

This is for writing parameters and point data saved on the teaching pendant to the actuator.

Refer to “(2) Data Writing (WRITE)” on page 37.

［ＭＡＩＮ　ＭＥＮＵ］　　３／３←３．ＣＯＰＹ　　　　　　　　→

Main Menu

Copying Menu

［３．ＣＯＰＹ］　　　　　１／２←３．１．ＳＡＶＥ　　　　　　→

［３．ＣＯＰＹ］　　　　　２／２←３．２．ＷＲＩＴＥ　　　　　→

keys to select key to command

BACK

<SM-431061>

－36－

（１） Data Saving (SAVE)

This is for saving parameters and point data to the teaching pendant.

Press key to start saving and change to Saving Data

screen.

Data is being saved. When complete, Saving Complete screen

will appear.

Press key to return to Main Menu.

［３．ＣＯＰＹ］　　　　　１／２←３．１．ＳＡＶＥ　　　　　　→

Copying Menu

［３．１．ＳＡＶＥ］ＳＴＡＲＴ　？

Data Saving Start Confirmation

［３．１．ＳＡＶＥ］■■■■■■■

Saving Data

［３．１．ＳＡＶＥ］ＥＮＤ

Saving Complete

BACK

［ＭＡＩＮ　ＭＥＮＵ］　　３／３←３．ＣＯＰＹ　　　　　　　　→

Main Menu

<SM-431061>

－37－

（２） Data Writing (WRITE)

This is for writing parameters and point data saved on the teaching pendant to the actuator.

※ Data writing is possible only when motor size, lead length, and stroke all correspond.

※ It is necessary to reject operations from PLC by disabling PLC because parameters and point data are changed

during data writing.

Press key to switch to Disable PLC Confirmation

screen.

Data is being saved. When complete, Saving Complete

screen will appear.

Press key to switch to Enable PLC Confirmation

screen.

Press key to disable PLC and start saving.

Press key to enable PLC and return to Main Menu

Copying Menu

［３．２．ＷＲＩＴＥ］ＳＴＡＲＴ　？

Data Saving Start Confirmation

BACK

［３．ＣＯＰＹ］　　　　　２／２←３．２．ＷＲＩＴＥ　　　　　→

ＰＬＣ　　　－－＞ＴＰ　　　　？（Ｂａｃｋ）　　　（Ｅｎｔｅｒ）

Disable PLC Confirmation

ＴＰ　　　　－－＞ＰＬＣ　　　？（Ｂａｃｋ）　　　（Ｅｎｔｅｒ）


［３．２．ＷＲＩＴＥ］■■■■■■■

Saving Data

［３．２．ＷＲＩＴＥ］ＥＮＤ

Saving Complete

［ＭＡＩＮ　ＭＥＮＵ］　　３／３←３．ＣＯＰＹ　　　　　　　　→

Main Menu

<SM-431061>

－38－

５．Parameters Following is the list of parameters.

Setting values are saved in the driver inside the actuator.

※ For movements when each parameter is set, refer to the Instruction Manual (SM-431049) of the actuator

being used.

５．１． List of Parameters

No. Parameter

[Screen Display]

Explanation Setting

Range

Initial

Value

Unit

01 Software Limit +

[S/W LIMIT+]

Sets movable range of ＋(PUSH)

direction.

(Note 1) +ST

（※）

mm

02 Software Limit －

[S/W LIMIT-]

Sets movable range of －(PULL)

direction.

(Note 2) 0.0 mm

03 Positioning

Completion Width

[INPOSITION]

Sets permissible values for positioning

completion.

0.5 to 5.0 5.0 ±mm

04 Servomotor

Condition at Stop

[STOP(SERVO)]

Sets servomotor condition (ON/OFF) at

stop.

0: Servomotor ON

1: Servomotor OFF

※The “stop” here refers to STOP-key

operation from the teaching pendant and

to emergency stop command from PLC; it

does not include stops such as movement

completion.

0 to 1 0 None

05 Return-to-Origin

Direction

[ORIGIN DIR]

Sets direction of return-to-origin

movement.

0: －(PULL) direction

1: ＋(PUSH) direction

※When this parameter is changed,

software limits +/－ and point data

(position) are cleared (=0).

※It will be necessary to re-execute

return-to-origin after changing.

0 to 1 0 None

06 Automatic

Return-to-Origin

[AUTO ORIGIN]

Sets automatic return-to-origin at

power-on.

0:OFF（Does not return）

1:ON （Returns）

0 to 1 0 None

07 Press-in Mode

[PRESS MODE]

Sets press-in mode.

0:Push [PUSH]

1:Clamp [CLAMP]

0 to 1 0 None

08 Clamping Time

[CLAMP TIME]

Sets clamping movement time.

※It can be selected only when press-in

mode is clamp.

0.1 to 300.0 10.0 Sec

<SM-431061>

－39－

No. Parameter

[Screen Display]

Explanation Setting

Range

Initial

Value

Unit

09 Press-in Distance

[PRESS P]

Sets distance of press-in movement

(push or clamp).

※Press-in movement will begin short of

the value set here relative to target

position.

0.1 to ST

（※）

20.0 mm

10 Press-in Speed

[PRESS V]

Sets speed of press-in movement (push

or clamp).

（Note 3）（ Note

4）

mm/s

11 Automatic Alarm

Reset

[AUTO ALMRST]

Sets automatic alarm reset at power-on.

0:OFF（Does not reset）

1:ON （Resets）

0 to 1 0 None

12 Control Mode

[OPE MODE]

Sets control mode.

0: Solenoid Valve

1: 7-Point Positioning

2: Pitch Feeding

※It will be necessary to re-execute

return-to-origin after changing.

0 to 2 0 None

13 Solenoid Valve Mode

[VALVE MODE]

Sets solenoid valve mode.

0: Single

1: Double 2-Position

2: Double 3-Position

※Selectable only when control mode is

solenoid valve.

0 to 2 1 None

14 Pitch Feeding Pitch

[PITCHING P]

Sets pitch feeding movement pitches.

※Selectable only when control modes is

pitch feeding.

0.1 to ST

（※）

5.0 mm

( ※ ) ST: This indicates the stroke of the actuator being used.

(Note 1) Setting range of software limit + is [software limit －] to [+ST].

(Note 2) Setting range of software limit － is [－ST] to [software limit +].

(Note 3) Setting range of press-in speed varies depending on the actuator being used.

Refer to “6.2. Table 6.2: Thrust Speed” on page. 40.

(Note 4) Initial value of press-in speed is the minimum value of setting range.

Refer to “6.2. Table 6.2: Thrust Speed” on page 40.

<SM-431061>

－40－

６．Data Tables

６．１． Table 6.1: Transfer Speed

Assignable Speed [mm/s]

Screw Lead： 6mm 15 20 30 40 50 60 70 80 90 100

Screw Lead：12mm 30 40 60 80 100 120 140 160 180 200

Screw Lead：24mm 60 80 120 160 200 240 280 320 360 400

※ If the actuator being used has □56 motor size and 6mm screw lead,

transfer velocities of 30, 40 [mm/s] cannot be selected.

６．２．Table 6.2: Press-in Speed

Assignable Speed [mm/s]

Screw Lead： 6mm 1 2 3

Screw Lead：12mm 2 4 6

Screw Lead：24mm 4 8 12

６．３．Table 6.3: Acceleration

Assignable Acceleration [mm/s]

Screw Lead： 6mm 0.4 0.5 0.6 0.8 1.0

Screw Lead：12mm 0.4 0.5 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0

Screw Lead：24mm 0.4 0.5 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0

６．４．Table 6.4: Inching Pitch

Assignable Pitch [mm] （※Only minimum pitches will differ.）

Screw Lead： 6mm 0.1 0.5 1.0 2.0 3.0 4.0 5.0 10.0 20.0 30.0

Screw Lead：12mm 0.2 0.5 1.0 2.0 3.0 4.0 5.0 10.0 20.0 30.0

Screw Lead：24mm 0.4 0.5 1.0 2.0 3.0 4.0 5.0 10.0 20.0 30.0

<SM-431061>

－41－

７．Troubleshooting

７．１．Error Messages and Troubleshooting

These are the error messages that appear on the teaching pendant.

Error Screen Display Explanation Countermeasure

System Error >>SYSTEM ERROR<<

(POWER OFF)

・There is failure with

CPU inside the

teaching pendant.

・Will recover if there is no error

when power is turned on again.

Serial Communication

Error

>>SERIAL ERROR<<

(POWER OFF)

・There is communication

difficulty with the

actuator.

・Check cable condition

(disconnection, etc.).



Read Data Error >>DATA ERROR <<

(POWER OFF)

・There is data

abnormality when

reading parameters or

other information from

the actuator.

・Check cable condition

(disconnection, etc.).



>>DRIVER ERROR<<

OVERLOAD ERROR

・There is actuator

failure when operating

from teaching

pendant.

・Eliminate alarm factors and reset

the alarm by operating the keys.

Driver Error

>>DRIVER ERROR<<

(POWER OFF)

・This error appears

when driver error

alarm cannot be reset

by operating the keys.



Range Error >>RANGE ERROR <<

[min] to [max]

・Value exceeded

settable range at data

setting.

・Verify setting range, and set it

again.

[3.COPY]

>>EEPROM ERROR<<

・There is EEPROM

failure when copy

function is selected.

[3.1.SAVE]

>>EEPROM ERROR<<

・There is EEPROM

failure at data saving.

EEPROM Error

[3.2.WRITE]

>>EEPROM ERROR<<

・There is EEPROM

failure at data writing.

・Copy function is not available

(other functions are available).



No Saved Data [3.2.WRITE]

>>NO SAVE DATA<<

・There is no data saved

on the teaching

pendant.

・Execute data writing after saving

data on the teaching pendant.

Actuator

Specification

Discrepancy

[3.2.WRITE]

>>ACT. SPEC NG<<

・Actuator specifications

saved on the teaching

pendant and the

specifications of the

connected actuator do

not match.

・Confirm actuator specifications.

（Specifications）

・Motor size

・Lead length

・Stroke

※ If the above troubleshooting does not resolve the problem, please contact CKD.

<SM-431061>

－42－

７．２．Others

● Nothing shows on the LCD display screen

① Make sure the cable (connector) is properly connected to the actuator. Also make sure that there is no

abnormality of any kind to the cable such as disconnection.

② Make sure power is supplied to the actuator.

③ If none of the above applies, the teaching pendant may have broken down. Please contact CKD.

● It does not respond to input key (STOP key and operating keys) commands.

① Make sure that there is no abnormality of any kind to the cable such as disconnection.

② When commanding movements to the actuator from the teaching pendant, the teaching pendant rejects

operating keys while the actuator is in motion (only STOP key is accepted). Press the operating keys after

the actuator has stopped moving.

③ Make sure there is a “clicking” feeling when the keys are pressed.

④ If none of the above applies, the teaching pendant may have broken down. Please contact CKD.

INSTRUCTION MANUAL - CKD · INSTRUCTION MANUAL ELECTRIC ACTUATOR ETP-2 ... －1－ For Safe...

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Transcript of INSTRUCTION MANUAL - CKD · INSTRUCTION MANUAL ELECTRIC ACTUATOR ETP-2 ... －1－ For Safe...