ENGINEERING PUBLICATION

ENGINEERING PUBLICATION MOTION CONTROL DIVISION PRODUCT: JUSP-NS600 SIGMA II INDEXER SUBJECT: USING THE DIGITAL OPERATOR WITH THE SIGMA II INDEXER CATEGORY: TECH NOTE ENGINEER: Paul Zajac DISTRIBUTION: YEA Summary: The following document describes how to use the digital operator with the JUSP-NS600 Sigma II Indexer The digital operator can be used to monitor the status of the servo system, perform auxiliary functions, and read and write parameters, index table settings, jog speed table settings, and zone table settings, when connected to the CN7 communication port on the Indexer Page 1 of 62

INDEXER JUSP-NS600 Using the Digital Operator 1 Connection - P2 2 Status Display Screen - P3 3 Switching the Basic Screen - P4 4 Parameter Editing Screen - P5 5 Monitor Screen - P7 Un000 Motor Speed P8 Un002 Torque P8 Un003 No of Speed Pulses P8 Un004 Electrical Angle P8 Un005 SGDH Input Signal P8 Un006 SGDH Output Signal P8 Un007 Reference Speed P8 Un008 Position Deviation P8 Un009 Cumulative Load Factor P9 Un00A Regenerative Load Factor P9 Un00B DB Load Factor P9 Un00C Position Reference Counter P9 Un00D Encoder Pulse Counter P9 Un800 Error P10 Un801 NS600 Input Signal P10 Un802 NS600 Output Signal P10 Un803 Status Flag P10 Un804 Current Position of Position P10 Reference Un805 Current Position of Motor P10 Un806 Positioning Target Position P11 Un807 Positioning Distance P11 Un808 Registration Target Position P11 Un809 Registration Range P11 Un80A Program Step P11 Un80B Elapsed Time Status of Event P11 Un80C Execution Status of LOOP P11 Un80D Serial Communication Received P12 Character Trace Un80E Number of Serial Communication P12 6 Auxiliary Function Execution Screen - P14 Fn000 Alarm Trace Display P15 Fn001 Rigidity Setting P16 Fn002 JOG Operation P17 Fn003 Origin Search P18 Fn005 Parameter Initialization P20 Fn006 Alarm Traceback Initialization P21 Fn007 Store Inertia Ratio P22 Fn008 Reset Absolute Encoder P23 Fn00C Analog Monitor Zero Adjustment P25 Fn00D Analog Monitor Gain P26 Adjustment Fn00E Motor Current Automatic Zero P27 Adjustment Fn00F Motor Current Manual Zero P28 Adjustment Fn010 Write Protection Setting P29 Fn011 Motor Type Code Display P30 Fn012 SGDH Software Version Display P31 Fn013 Multi-Turn Limit Setting P32 Fn800 NS600 Software Version P34 Display Fn801 NS600 Model Code Display P35 Fn802 NS600 Unique Specification P36 Number Display Fn803 Save Program (Index) Table P37 Fn804 ZONE Table Storage P38 Fn805 Save JOG Speed Table P39 Page 2 of 62

1 Connection Connect to CN7 on the NS600 Digital Operator JUSP -OP02A Key Name Function ALARM RESET DSPL SET ALARM DSPL/SET /R This operates as an alarm reset in the status display screen It is used to switch screens and operate auxiliary functions Used for numeric input UP DOWN Used for deleting numbers CN LEFT RIGHT Used for moving the cursor, JOG SVON JOG SVON Used for switching the servo ON/OFF during JOG operation, The digital operator can be connected/disconnected with the power Page 3 of 62

2 Status Display Screen Display Meaning Servo OFF state bb bb:base Block Servo ON state run Motor Running INPOSITION Lit during servo Control Power OFF Main Right Box Pot not PLS P-OT state Forward run prohibition by P-OT signal P-OT:Positive-side Over Travel N-OT state Reverse run prohibition by N-OT signal N-OT:Negative-side Over Travel P-LS state Forward run prohibition by according to parameter P-LS:Positive-side Limit Switch nls N-LS state Reverse run prohibition according to parameter N-LS:Negative-side Limit Switch Code Axx Alarm or warning state Axx:SGDH alarm or warning code Code ExxA Alarm state ExxA: NS600 Alarm Code Code ExxE 2 Displayed for only 2 minutes upon alarm occurrence StorE Flashing Storing to flash memory Do not shut off control power at this time InIt Flashing Initializing factory settings Do not shut off control power at this time Important In this screen ALARM RESET Only acts as an alarm reset At alarm occurrence, reset after removing the cause of the alarm Page 4 of 62

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3 Basic Screen Switching Exp bb Status Displays the status at "bb", "run", etc Details? P3 DSPL SET Screen switches each time pressed Exp Fn000 Auxiliary Function Displays the function "Fn" and its sequence number Details? P14 DSPL SET Screen switches each time pressed Exp Parameter Editing Displays the parameter "Pn" and its sequence Pn000 number DSPL SET Screen switches each time pressed Exp Un000 Monitor Displays "Un" and its sequence number Details? P7 DSPL SET Screen switches each time pressed Exp Po000 Program (Index) Table Editing Displays "Po", "SP", etc, and its sequence number Details? P43 DSPL SET Screen switches each time pressed Exp ZONE Table Editing Displays "NP", "Zn", etc, and its sequence number ZP000 Details? P53 DSPL SET Screen switches each time pressed Exp JOG Speed Table Editing Displays "JS" and its sequence number JS000 Details? P55 DSPL SET Screen switches each time pressed Page 6 of 62

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4 Parameter Editing Screen Select parameter number here (Pn801 in this case) Pressing this displays the current settings (In this case "0") Pressing without editing returns to the parameter number screen Edit here (in this case change to "2") Supplement Although the parameters from Pn800 on up have a function operating which automatically displays the exact value for the setting range when said setting This flashes and saves to the EEPROM when pressed range is exceeded, this function does not operate in parameters below Pn800 Operate these so that the setting Wait until flashing stops Do not turn off control power during this time values are within range as the values will not be changed when the value has exceeded the setting range Returns to the parameter number screen when pressed Imp There are both online and offline parameters Offline parameters are enabled after the control power is cycled Page 8 of 62

The parameter display methods are shown in the table below Number Type Display Method Exp: 5-digit Decimal Exp: This display is a parameter in units of digits For example, 4-digit Hexadecimal if Pn0000 is stated, this indicates the last digit at the bottom of Pn000 Exp: 8-digit Decimal Switches the upper 3-digits Upper and lower 5-digits screens Lower Exp: 8digit Signed Decimals Switches the upper 3-digits and lower 5-digits screens "+" Upper Lower Page 9 of 62

5 Monitor Screen Select monitor number here (Pn80D in this case) Pressing this displays the monitor value (in this case 00 0D) Returns to the monitor number screen when pressed Operation will continue further in accordance with the monitor number A description of each monitor is given below Page 10 of 62

Monitor Number Monitor Content Exp: Un000 Motor Speed [rpm] Displays the motor speed Exp: Un002 Torque [%] Displays the torque Displays as a percentage [%] of rated torque Exp: Un003 No of Speed Pulses Displays the number of encoder pulses counted from the start of the encoder C-phase Exp: Un004 Electrical Angle [deg] Displays the electrical angle of the motor Displays whether each signal is ON/OFF Exp The ON/OFF logic is the input photocoupler ON/OFF Un005 SGDH Input Signal ( CN1 ) state OFF ON Not (Always ON) /RGRT Not (Always OFF) /DEC P-OT N-OT /S-ON Not (Always OFF) Displays whether each signal is ON/OFF Exp The ON/OFF logic is the output photocoupler ON/OFF Un006 SGDH Output Signal state OFF ON ALO ALO ALO AL /WARN /BK /S-RDY Exp: Un007 Reference Speed [rpm] Displays the reference speed of the position reference Un008 Position Deviation [Command Unit] Exp: 6250[command SAt Displays the position deviation Displays "SAt" when ±9999 us exceeded Page 11 of 62

Monitor Number Monitor Content Exp: Un009 Cumulative Load Factor Displays the operating torque at 10sec intervals Displays as a percentage [%] of rated torque Exp: Un00A Regenerative Load Factor Displays the power consumption of the regen resistor at 10sec intervals Displays as a percentage [%] of allowable regen resistor Un00B DB Load Factor [%] Exp: Displays the power consumption of the dynamic brake at 10sec intervals Displays as a percentage [%] of allowable dynamic brake power consumption Displays the position reference counter used in the monitor Exp:01234567[Command or Un00 Position Reference Counter Switches to the upper Upper 2 2Bytes and lower Lower 2 2Bytes screen Pressing either one will clear the counter Displays the encoder pulse counter used in the monitor Exp: 89ABCDEF or Un00 Encoder Pulse Counter [Pulses] Switches to the upper 2Bytes and Upper 2 lower 2Bytes screen Lower 2 Pressing either one will clear the counter Page 12 of 62

Monitor Number Monitor Content Exp: Displays the most recently occurred Un800 Error error Displays "none" if no errors have none ever occurred Displays whether each signal is ON/OFF Exp The ON/OFF logic is the input photocoupler ON/OFF Un801 NS600 Input Signal ( CN4 ) state OFF ON /SEL4;/JOG3 /SEL3;/JOG2 /SEL2;/JOG1 /SEL1;/JOG0 /MODE0/1 /START;/HOM /PGMRES;/JOGP /SEL0;/JOG Displays whether each signal is ON/OFF Exp The ON/OFF logic is the input photocoupler ON/OFF Un802 NS600 Output Signal state OFF ON /POUT4 /POUT3 /POUT2 /INPOSITIO /POUT0 /POUT1 Exp Displays various flags showing the status Active Un803 Status Flag Inactive OFF Main Torque Program running INPOSITIO NEA DE Aborting program or positioning Displays the reference speed of the current position Un804 Current Position of Position Reference Exp: +12345678[command Switches the upper 3-digits and "+" Upper lower 5-digits screens Lower Displays the reference speed of the motor Un805 Current Position of Motor Exp: -12345678[command Switches the upper 3-digits Upper and lower 5-digits screens Lower Page 13 of 62

Monitor Number Monitor Content Displays the positioning target Un806 Positioning Target Position Exp: +12345678[command [Command Unit] Switches the upper 3-digits "+" Upper 3-digits and lower 5-digits screens Lower 5-digits Displays the distance from the positioning start to the target position Un807 Positioning Distance Exp: -12345678[command [Command Unit] Switches the upper 3-digits and Upper 3-digits lower 5-digits screens Lower Displays the registration target position fixed by latching Un808 Registration Target Position Exp: +12345678[command [Command Unit] Switches the upper 3-digits "+" Upper 3-digits and lower 5-digits screens Lower 5-digits Displays the registration distance Un809 Registration Distance Exp: 12345678[command [Command Unit] Switches the upper 3-digits Upper 3-digits and lower 5-digits screens Lower Exp: Displays the currently executed Un80A Program Step program step Displays "End" when no program is Un80B EVENT Time Progress Status [msec] Exp: being executed End Displays the progress state during a program (Index) table event Un80 LOOP Execution Progress Status Exp: Displays the progress state for a program (Index) table LOOP [Times] Page 14 of 62

Monitor Number Monitor Content Shows the history of characters received in serial communication Exp Received ASCII No of Characters from End Reception (Hexadecimal Un80 Serial Communication These can be traced back up to 99 characters from the end Reception Empty: No reception errors The following values are calculated and displayed should there be an error 1: Overrun Error 2: Framing Error 4: Parity Error Exp Exp: 5 Un80E Serial Communication Shows the number of characters received in serial communication Exp: 1 Un80F Serial Communication Shows the number of characters which resulted in reception errors in serial communication Page 15 of 62

Monitor Number Monitor Content Shows the history of characters transmitted in serial communication Exp Un810 Serial Communication These can be traced back up to 39 characters from the end No of Characters Transmitted Code ASCII Exp: 17 Un811 Serial Communication Shows the number of characters transmitted in serial communication Page 16 of 62

6 Auxiliary Function Execution Screen Select auxiliary function number here Pressing this enters the various auxiliary function screens Exp The display and operation differs with each auxiliary function Returns to the monitor number screen Page 17 of 62

Auxiliary Number Function Fn000 Alarm Trace Display Displays the history of previously generated alarms Use this to enter the alarm trace display Pressing this again returns you to the auxiliary function screen Exp How many alarms Alarm Code These can be traced backup to nine instances none Displays "none" if there is no alarm Page 18 of 62

Auxiliary Number Fn001 Function Rigidity Setting This sets the machine rigidity Upon execution, this updates the parameters Pn100, Pn101, Pn102, Pn401, and stores the data in the EEPROM Enters the rigidity setting screen Displays the current settings (In this case "4") Pressingg without editing returns you to the auxiliary Edit here (in this case change to "5") function number screen Execute using this Wait until flashing stops Do not turn off control power during this done time Returns you to the Auxiliary Function Number Screen Page 19 of 62

Auxiliary Number Function Fn002 JOG Operation Performs JOG operation! Note P-OT, N-OT, P-LS, N-LS (Forward or reverse prohibition by signal or parameter) are disabled during JOG operation Use this to enter the JOG operation screen JOG Supplement No servo ON in alarm state Returns you JOG SVON To the auxiliary This switches the servo ON/OFF function screen number This turns the motor forward This turns the motor in reverse Returns you The speed can be modified in parameter To the auxiliary Pn304 function number screen Common error Display Meaning E5AE: "Unexecutable in servo ON state" error Cannot be executed while servo is ON Turn servo OFF and try again E5CE: "Unexecutable with main power OFF" error Cannot be executed while main power is OFF Turn main power ON and try again E5EE: "Unexecuteable while program is running" error Execution is not possible as the program is running or has been aborted Page 20 of 62

Auxiliary Number Function Fn003 Origin Search Turn the motor and search for the C-phase! Note P-OT, N-OT, P-LS, N-LS (Forward or reverse prohibition by signal or parameter) are disabled during origin search Enters into the origin search Note CSr No servo ON in alarm state Returns you JOG SVON To the auxiliary This switches the servo ON/OFF function screen number To the auxiliary function screen Returns you number This rotates the motor forward at 60rpm This rotates the motor in reverse at 60rpm The motor stops and the screen flashes upon finding the C-phase Returns you To the auxiliary function screen number Common errors Display Meaning E5AE: "Unexecutable in servo ON state" error Cannot be executed while servo is ON Page 21 of 62

E5CE: "Unexecutable with main power OFF" error Cannot be executed while main power is OFF Turn main power ON and try again E5EE: "Unexecuteable while program is running" error Execution is not possible as the program is running or has been aborted Try again after resetting program execution Page 22 of 62

Auxiliary Number Function Fn005 Parameter Initialization Initializes the parameters and returns to the factory settings Important Always displayed in the servo OFF state Use this to enter the parameter initialization screen PInIt Pressing Without executing will return you to the auxiliary function number screen DSPL SET Execute using this Wait until flashing stops Do not turn off control power during this time done Returns you to the Auxiliary Function Number Screen Cycle the control power End Common errors Display Meaning E5AE:"Unexecutable in servo ON state" error Cannot be executed while servo is ON Turn servo OFF and try again Page 23 of 62

Auxiliary Number Function Fn006 Alarm Trace Initialize Clears the history of previously generated alarms Use this to enter the alarm trace initialization screen trclr Pressing Without executing will return you to the auxiliary function number screen DSPL SET Execute using this Wait until flashing stops Do not turn off control power during this time done Returns you to the Auxiliary Function Number Screen Page 24 of 62

Auxiliary Number Function Fn007 Store Inertia Ratio Saves the inertia ratio requested in online autotuning into the parameters When executed, it updates the inertia ratio requested in parameter Pn103 and stores it in the EEPROM Enters the inertia ratio storage screen Exp Displays the requested inertia ratio Pressing without executing will return you to the auxiliary function number screen DSPL SET Execute using this Wait until flashing stops Do not turn off control power during this time done Returns you to the Auxiliary Function Number Screen Page 25 of 62

Auxiliary Number Function Fn008 Absolute Encoder Reset Resets the absolute encoder and clears the recorded position data Perform in the following situations At first machine start-up When an encoder back-up alarm occurs When the encoder cable is disconnected Enters into the absolute encoder reset screen PGCL Press this several times to set "PGCL5" PGCL Pressing Without executing will return you to the auxiliary function number screen DSPL SET Execute using this Wait until flashing stops Do not turn off control power during this time done Returns you to the Auxiliary Function Number Screen Cycle the control power End Page 26 of 62

Common errors Display Meaning E5AE: "Unexecutable in servo ON state" error Cannot be executed while servo is ON Turn servo OFF and try again E61E: Encoder Mismatch Error Cannot be executed without absolute encoder Improper operation Try again no Page 27 of 62

Auxiliary Number Function Fn00C Analog Monitor Zero Adjustment Executes analog monitor (offset voltage) zero adjustment This enters the channel selection DSPL SET CH1_ Switches the channels CH2_ Returns you To the auxiliary or Enters the adjustment screen Pressing this again returns you to the channel function screen Exp number selection screen This displays the current adjustment value Adjusts the voltage Returns you To the auxiliary function number screen Page 28 of 62

Auxiliary Number Function Fn00D Analog Monitor Gain Adjustment Performs gain adjustment on analog monitor This enters the channel selection DSPL SET CH1_ Switches the channel CH2_ Returns you To the auxiliary? Enters the adjustment screen Pressing this again returns you to the channel function screen Exp number selection screen This displays the current adjustment value Adjusts the voltage Returns you To the auxiliary function number screen Page 29 of 62

Auxiliary Number Function Fn00E Motor Current Automatic Zero Executes automatic motor current (offset current) zero adjustment Because the offset adjustment for the motor current detection signal is adjusted prior to delivery by Yaskawa, it is normally not necessary for the customer to make adjustments Use this only when the torque ripple based on the current offset is believed to be producing an excessive error, or when more precision is needed to further decrease the torque ripple Careless execution of this function can lead to degradation of the performance Important characteristics Perform this only if the torque ripple occurrences are obviously larger than in other servo amplifiers Enters into the motor current automatic zero adjustment screen Cur_o Pressing Without executing returns you to the auxiliary function number screen DSPL SET Execute using this Wait until flashing stops Do not turn off control power during this time done Returns you to the Auxiliary Function Number Screen Common errors Display Meaning E5AE: "Unexecutable in servo ON state" error Cannot be executed while servo is ON Turn servo OFF and try again E5CE: "Unexecutable with main power OFF" error Cannot be executed while main power is OFF Turn main power ON and try again Page 30 of 62

Auxiliary Number Function Fn00F Motor Current Man ual Zero Executes manual motor current (offset current) zero adjustment Because the offset adjustment for the motor current detection signal is adjusted prior to delivery by Yaskawa, it is normally not necessary for the customer to make adjustments Use this only when the torque ripple based on the current offset is believed to be producing an excessive error, or when more precision is needed to further decrease the torque ripple Important Important Careless execution of this function can lead to degradation of the performance characteristics If the torque ripple occurrences are obviously larger than in other servo amplifiers, then perform automatic offset adjustment (Fn00E) During manual adjustment, rotate the motor at about 100rpm, and adjust so that the ripple in the torque monitor is minimized It is necessary to well balance the motor U-phase current and V-phase current offset Perform the adjustment on both sides This enters the channel selection screen U-P DSPL SET V-P Cu1_o Switches the channel Cu2_o Returns you To the auxiliary? Enters the adjustment screen Pressing this again returns you to the channel function screen Exp number selection screen This displays the current adjustment value Adjusts the motor current Returns you To the auxiliary function number screen Page 31 of 62

Auxiliary Number Function Fn010 Write Protection Sets write protection When write protected the program (index) table, ZONE table, JOG speed table, and parameters cannot be changed, and incomplete auxiliary functions cannot be executed Pressing this enters you into the write-protection setting screen This displays the current setting Pressing Edit using Setting 0001: Write-Protect Without executing this 0000: Write-Protect returns you to the auxiliary function number screen This flashes and saves to the EEPROM when pressed Wait until flashing stops Do not turn off control power during this time done Returns you to the Auxiliary Function Number Screen Cycle the control power End Page 32 of 62

Auxiliary Number Function Fn011 Motor Type Code Display Displays the motor type code, encoder type code, and SGDH special specification numbers Use this to enter the motor code display screen Pressing this again returns you to the auxiliary function screen Exp Motor Type Code DSPL SET This proceeds to the next item Exp Motor DSPL SET This proceeds to the next item Exp Encoder Type Code DSPL SET This proceeds to the next item Exp SGDH Special Specification Numbers DSPL SET Return using this Page 33 of 62

Auxiliary Number Function Fn012 SGDH Software Version Display Displays the SGDH and Encoder software versions Use this to enter the software version display screen Pressing this again returns you to the auxiliary function screen Exp SGDH Encoder Software Version DSPL SET This proceeds to the next item Exp Encoder Software Version DSPL SET Return using this Page 34 of 62

Auxiliary Number Function Fn013 Multi-Turn Limit Setting Sets the multi-turn limit Upon execution, updates the maximum multi-turn limit stored in the absolute encoder to the value in Pn205! Danger Multi-turn limit change is not necessary in application performing linear operation It is dangerous to carelessly operate this function If a multi-turn limit non-coincidence error is generated, always check first whether the servo amplifier parameter Pn205 is correct Operating Fn013 with an incorrect value in Pn205 results in incorrect values being set into the encoder Although no alarm will result, large position deviations will be detected, and there is a risk of the machine moving to an unmeasured position Pressing this enters you into the multi-turn limit setting screen PGSE Pressing Without executing returns you to the auxiliary function number screen DSPL SET Execute using this Wait until flashing stops Do not turn off control power during this time done Returns you to the Auxiliary Function Number Screen Cycle the control power End Page 35 of 62

Common errors Display Meaning E61E: Encoder Mismatch Error Cannot be executed without absolute encoder E62E: "Unexecutable unless ACC" error Cannot be executed without alarm ACC Alarm ACC occurs only when the multi-turn maximum value stored in the absolute encoder does not coincide with the value in parameter Pn205 Page 36 of 62

Auxiliary Number Function Fn800 NS600 Software Version Display Displays the NS600 software version Use this to enter the software version display screen Pressing this again returns you to the auxiliary function screen Exp Software Version Page 37 of 62

Auxiliary Number Function Fn801 NS600 Device Codes Display Displays NS600 device codes Use this to enter the device code display screen Pressing this again returns you to the auxiliary function screen Device Codes Page 38 of 62

Auxiliary Number Function Fn802 NS600 Special Specification Displays NS600 special specification numbers This enters the special specification number display Pressing this again returns you to the auxiliary function screen Exp Special Specification Number Page 39 of 62

Auxiliary Number Function Fn803 Program (Index) Table Save Saves the program (index) table Upon execution, stores the program (Index) table on the RAM in the flash memory The data stored in the flash memory remains even if power is cut off This enters the program (Index) table storage screen StorE Pressing Without executing returns you to the auxiliary function number screen DSPL SET Execute using this Wait until flashing stops Do not turn off control power during this time done Returns you to the Auxiliary Function Number Screen Page 40 of 62

Auxiliary Number Function Fn804 ZONE Table Save Stores the ZONE speed table Upon execution, stores the ZONE speed table on the RAM in the flash memory The enters you into the ZONE table storage screen StorE Pressing Without executing returns you to the auxiliary function number screen DSPL SET Execute using this Wait until flashing stops Do not turn off control power during this time done Returns you to the Auxiliary Function Number Screen Page 41 of 62

Auxiliary Number Function Fn805 JOG Speed Table Save Stores the JOG speed table Upon execution, stores the JOG speed table on the RAM in the flash memory The data stored in the flash memory remains even if power is cut off This returns you to the JOG speed table storage screen StorE Pressing Without executing returns you to the auxiliary function number screen DSPL SET Execute using this Wait until flashing stops Do not turn off control power during this time done Returns you to the Auxiliary Function Number Screen Page 42 of 62

Auxiliary Number Function Fn806 Program (Index) Table Initialize This initializes the program (Index) table and returns to the factory settings This enters the program (Index) table initialization screen InIt Pressing Without executing returns you to the auxiliary function number screen DSPL SET Execute using this Wait until flashing stops Do not turn off control power during this time done Returns you to the Auxiliary Function Number Screen Common errors Display Meaning E5EE: "Unexecuteable while program is running" error Execution is not possible as the program is running or has been aborted Page 43 of 62

Auxiliary Number Function Fn807 ZONE Table Initialize Initializes the ZONE table and returns to the factory settings The enters you into the ZONE table initialization screen InIt Pressing Without executing returns you to the auxiliary function number screen DSPL SET Execute using this Wait until flashing stops Do not turn off control power during this time done Returns you to the Auxiliary Function Number Screen Page 44 of 62

Auxiliary Number Function Fn808 JOG Speed Table Initialize Initializes the JOG speed table and returns to the factory settings This returns you to the JOG speed table initialization screen InIt Pressing returns you to the auxiliary function number screen DSPL SET Execute using this Wait until flashing stops Do not turn off control power during this time done Returns you to the Auxiliary Function Number Screen Page 45 of 62

7 Program (Index) Table Editing Screen Displays each column with this symbol Po SP rd rs ou EV Lo ne PGMSTE POS SPD RDST RSPD POUT EVENT LOOP NEXT 0 1 POS000 SPD000 RDST000 RSPD000 POUT000 EVENT00LOOP000 NEXT000 POS001 SPD001 RDST001 RSPD001 POUT001 EVENT00LOOP001 NEXT001 127 POS127 SPD127 RDST127 RSPD127 POUT127 EVENT12LOOP127 NEXT127 Moves between the rows and columns Horizontal PGMSTE 0 1 POS SPD POS000 SPD000 POS001 SPD001 Motion PGMSTE 0 1 POS SPD POS000 SPD000 POS001 SPD001 Vertical Motion PGMSTE 0 1 POS SPD POS000 SPD000 POS001 SPD001 This enters the setting editing screen Return by pressing a second time Exp Edit using this StoP Execute Fn803 so that the editing results are not erased at power OFF Page 46 of 62 StorE

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Common errors Display Meaning E5EE: "Unexecuteable while program is running" error The program (Index) table cannot be modified while the program is running or when aborted Modify after resetting the program operation Page 48 of 62

Column POS Positioning PGMSTE Target Position Enters the setting editing screen Press a second time to return Set to " -" - Set to "INFINITE" -InFI Set to "+INFINITE" +InFI Move Cursor Move Cursor I+123 Exp: Set to Move Cursor Move Cursor A+123 Exp: Set to A+12345678 Set to "STOP" StoP Page 49 of 62

Column SPD Positioning PGMSTE Speed Enters the setting editing screen Press a second time to return Upper 3-digits Lower 5-digits Exp: Move Cursor Modify Modify Page 50 of 62

Column RDST Registration PGMSTE Distance Enters the setting editing screen Press a second time to return Upper 3-digits Lower 5-digits Exp: Move Cursor Modify Modify - Becomes "-" when smaller than zero Page 51 of 62

Column RSPD Registration PGMSTE Speed Enters the setting editing screen Press a second time to return Upper 3-digits Lower Exp: Move Cursor Modify Modify Page 52 of 62

Column POUT Programmable PGMSTE Output Signal Enters the setting editing screen Press a second time to return Exp:":::: ::::: Move Cursor Set to ":" : Modify Setting Set to "Z" Z Modify Setting Set to "A" A Modify Setting Set to "n" n Page 53 of 62

Column EVENT Condition PGMSTE Enters the setting editing screen Press a second time to return Set to ":" : Move Cursor Move Cursor SEL0t Exp: Set to SEL0T00000 Move Cursor Exp: Set to DT00000 dt Move Cursor Exp: Set to NT00000 nt Move Cursor Exp: Set to IT00000 It Move Cursor Exp: Set to T00000 t Page 54 of 62

Column LOOP # of Times PGMSTE Executed Enters the setting editing screen Press a second time to return Move Cursor Exp: Modify Setting Page 55 of 62

Column NEXT Next PGMSTEP PGMSTE executed Enters the setting editing screen Press a second time to return Move Cursor Exp: Modify Setting End Becomes "End" when smaller than zero Page 56 of 62

8 ZONE Table Editing Screen Displays each row with this symbol ZP Zn ZONE 0 1 31 ZONEP ZONEN ZONEP00 ZONEN00 ZONEP00 ZONEN00 ZONEP03 ZONEN03 Moves between the rows and columns Horizontal Motion ZONE ZONEP ZONEN ZONE ZONEP ZONEN 0 1 ZONEP00 ZONEN00 ZONEP00 ZONEN00 0 1 ZONEP00 ZONEN00 ZONEP00 ZONEN00 Vertical Motion ZONE?? ZONEP ZONEN 0 1 ZONEP00 ZONEN00 ZONEP00 ZONEN00 This enters the setting editing screen Return by pressing a second time Exp Edit using this +000 Execute Fn804 so that the editing results are not erased at power OFF Page 57 of 62 StorE

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Column ZONEP or ZONE or ZONE ZONEN Enters the setting editing screen Press a second time to return Upper 3-digits Lower 5-digits Exp: Move Cursor "+" Modify Setting Modify Setting Page 59 of 62

9 JOG Speed Table Editing Screen Displays the row with this symbol JS JOG Speed 0 1 15 JSPD JSPD000 JSPD001 JSPD015 Moves between the rows JOG Speed 0 1 JSPD JSPD000 JSPD001 Vertical Motion JOG Speed 0 1 JSPD JSPD000 JSPD001 This enters the setting editing screen Return by pressing a second time Exp Edit using this 000 Execute Fn805 so that the editing results are not erased at power OFF Page 60 of 62 StorE

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Column JSPD JOG Speed Enters the setting editing screen Press a second time to return Upper Lower 5-digits Exp: Move Cursor Modify Setting Modify Setting Page 62 of 62