Manual de Instruções SMB-30E

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SMB-30E 
INSTRUCTION MANUAL 
ABSODEX 
Teaching Note for Windows 
GS-Type，S-Type，GH-Type，H-Type Driver Common 
 
 
 
 
 
 
 
 
 
 Before operating the product, read this instruction 
manual without fail. 
 Among all, carefully read the description related to 
safety. 
 Keep this instruction manual in a safe place so that 
you can read it at any time when necessary. 
 
 
 
 
 
 
Ver. 4 
CKD Corporation 
 
 
 
 
 
 
 
 
 
Contents 
 
1. Introduction ...................................................................................................1 
1.1 Making a setup in Teaching Note Windows edition ......................................................... 1 
1.2 Starting and ending Teaching Note Windows edition ...................................................... 1 
1.2.1 Starting Teaching Note Windows edition................................................................ 1 
1.2.2 Ending Teaching Note Windows edition ................................................................. 1 
1.3 Precautions for use.......................................................................................................... 1 
2. Operation dialogue........................................................................................2 
2.1 File................................................................................................................................... 2 
2.1.1 Making a new file [New] ....................................................................................... 2 
2.1.2 Opening file [Open] .............................................................................................. 3 
2.1.3 Saving editorial data to file [Save]........................................................................ 4 
2.1.4 Printing editorial data [Print] ................................................................................. 4 
2.1.5 Opening communication port [Opening communication port] .............................. 4 
2.1.6 Ending Teaching Note Windows edition [Exit] ..................................................... 4 
2.2 Edit mode ........................................................................................................................ 5 
2.2.1 Clearing editorial data [Editorial data clearance].................................................. 6 
2.2.2 Reading data from ABSODEX [Reading(ABSODEX)] ......................................... 6 
2.2.3 Storing editorial data into ABSODEX [Storage (ABSODEX)]............................... 7 
2.2.4 Editing equal segment program [Division equal segment program editing] ......... 9 
2.2.5 Editing program with NC code [NC program editing] ......................................... 15 
2.2.6 Setting parameters [Parameter setting] ............................................................. 17 
2.3 Operation order mode ................................................................................................... 19 
2.3.1 Starting program [Automatic operation starting]................................................. 20 
2.3.2 Stopping program [Automatic operation stopping] ............................................. 20 
2.3.3 Selecting starting program number [Select program number]............................ 20 
2.3.4 Home positioning [Home positioning]................................................................. 20 
2.3.5 Controlling servo-on and servo-off [Servo On-Off] ............................................. 20 
2.3.6 Starting program step by step [Single block starting] ......................................... 20 
2.3.7 Entering and executing a single block of NC codes [MDI mode] ....................... 21 
2.3.8 Controlling brake [Brake operation].................................................................... 22 
2.3.9 Setting home position offset amount [Home position offset amount] ................. 22 
2.3.10 Resetting alarm [Alarm reset]............................................................................. 24 
2.3.11 Displaying present operation situation [Display of operation situation] .............. 24 
2.3.12 Displaying I/O condition of the present input/output signal [I/O display] ............ 24 
2.4 Copy mode .................................................................................................................... 25 
2.4.1 Copying files from ABSODEX [ABSODEX - File]............................................... 25 
2.4.2 Copying a file to ABSODEX [File - ABSODEX].................................................. 26 
2.5 Terminal mode............................................................................................................... 27 
2.6 Auto tuning .................................................................................................................... 29 
2.6.1 Set up ................................................................................................................... 29 
2.6.2 Execute................................................................................................................. 30 
 
 
 
 
 
 
Created on Dec. 03, 1998 
Revised on Sept. 13, 2005 
3. Code list .......................................................................................................31 
3.1 NC code......................................................................................................................... 31 
3.2 G code........................................................................................................................... 32 
3.3 M code........................................................................................................................... 34 
4. Parameter.....................................................................................................35 
5. Alarms ..........................................................................................................40 
6. Communication Code .................................................................................41 
6.1 Operation Mode Switching ............................................................................................ 41 
6.2 Motion Instructions ........................................................................................................ 42 
6.3 Data Input and Output ................................................................................................... 43 
7. Example of RS-232C Interface Cable Connection Diagram ....................45 
7.1 PC side Dsub 9-pin (DOS/V machine)........................................................................... 45 
7.2 PC side half pitch 14-pin (old PC9801 series) ............................................................... 45 
7.3 PC side Dsub 25-pin (old PC9801 series) ..................................................................... 46 
 
 
 
 
 
 
 
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1. Introduction 
1.1 Making a setup in Teaching Note Windows edition 
1. Insert the "setup disk" (floppy disk or CD-ROM) into the floppy disk drive or CD-ROM drive. 
2. Double click the "Setup.exe" icon in the floppy disk or CD-ROM to launch the setup screen. 
3. Follow the indication of the making setup which is displayed in the screen. 
 
1.2 Starting and ending Teaching Note Windows edition 
1.2.1 Starting Teaching Note Windows edition 
Click [Start] button and then point to [Program]. 
Next, point [CKD ABSODEX] and click [Teaching Note]. 
1.2.2 Ending Teaching Note Windows edition 
Point [File] and click [Exit]. 
When not saving the change of the data, the message to confirm whether or not to save the 
change contents is displayed. 
 
1.3 Precautions for use 
1. To communicate with ABSODEX, use the special RS-232C cable (marketed). 
To prepare the RS-232C cable by yourself, refer to Chapter 7. "Example of RS-232C Interface 
Cable Connection Diagram." 
2. Do not connect or disconnect the connector of the RS-232C cable or turn ABSODEX on or off 
during communication with ABSODEX. 
Otherwise/ITA 
 /NOR 
 /SVE 
 /KOR 
 /CHS 
 /CHT 
 >>
>> setdistillerparams
> setpagedeviceABSODEX or Teaching Note Windows edition may malfunction. 
Close all dialog boxes or finish communication before connecting or disconnecting the connector 
or turning on or off the power. 
3. When the communication port is closed in the communication error and so on, click and make 
[Opening communication port] of the [File] menu the condition about which is possible to 
communicate with ABSODEX. 
4. The Teaching Note Windows edition is for the GS, S, GH, and H type ABSODEX drivers. 
Some functions may be unavailable for discontinued models (C type and earlier type drivers). 
5. Simultaneous operation of another communication software over the RS-232C cable is not 
supported. 
When using this software, terminate other communication software. 
 
 
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2. Operation dialogue 
2.1 File 
Select [File(F)] from the main menu. Following item is displayed. 
 
The contents with each items of file are as follows. 
2.1.1 Making a new file [New] 
Make a new file. 
When the save of the file to be editing isn't done, follow the indication as the DIALOG to 
confirm is displayed. 
 
 
 
 
 
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2.1.2 Opening file [Open] 
Open the saved file. Only the file that the extension is ".axw" or ".adx" can open. 
Because the file that the extension is “.adx” can not save to be reference only use. 
When the save of the file to be editing isn't done, follow the indication as the DIALOG to 
confirm is displayed. 
 
When selecting [Yes], the DIALOG which saves the file is displayed. 
 
After saving, or when selecting [No], following DIALOG is displayed. 
 
Select file and click [Open]. 
 
 
 
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2.1.3 Saving editorial data to file [Save] 
[Save] 
Save file to be editing in address. 
[Save As] 
Put name to file to be editing and save it. Extension becomes ".axw". 
 
Following DIALOG is displayed. 
 
Input file name and click [Save]. 
2.1.4 Printing editorial data [Print] 
Print such as NC program, the equal segment motion program, value of the parameter. 
2.1.5 Opening communication port [Opening communication port] 
To make communication with ABSODEX possible, and open communication port. 
When the communication port isn't open or is closed, it isn’t possible to communicate with 
ABSODEX. 
2.1.6 Ending Teaching Note Windows edition [Exit] 
End Teaching Note Windows edition. 
When save of file to be editing isn't done, follow the indication as the DIALOG which prompts 
for the save is displayed. 
 
When selecting [Yes], end after save to file. 
When selecting [No], end without saving to file. 
 
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2.2 Edit mode 
Select [Edit mode(P)] from main menu. Following items are displayed. 
 
The contents with each items of edit mode are as follows. 
Also, "editorial work" in the following sentences shows editorial area inside the personal computer. 
 
※ Before the program editing 
When editing the program or the parameter, except for the case to make data newly, all the data is read 
from the editorial origin (ABSODEX or file) to editorial work. 
After editing, store it to ABSODEX or save to file. 
(The data of editorial work is completely erased when reading again or ending the system.) 
The newly or changed data in editorial work can not be executed when not storing it into ABSODEX. 
 
※ When the data exists already in editorial work 
Follow the indication as the DIALOG to confirm is displayed. 
 
 
 
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2.2.1 Clearing editorial data [Editorial data clearance] 
Deletes data in editorial work. 
Select from the following two items. 
[Program and Parameter] 
It deletes program and parameter data in editorial work. 
[Only Program] 
It deletes only program data in editorial work. The data of the parameter isn't deleted. 
 
※ When the data exists already in editorial work. 
Follow the indication as the DIALOG to confirm is displayed. 
 
 
2.2.2 Reading data from ABSODEX [Reading(ABSODEX)] 
Read the data into the editorial work from ABSODEX. 
Select from the following two items. 
[Program and Parameter] 
Read the all programs and the value of parameters into editorial work from ABSODEX. 
[Only Program] 
Read only all programs from ABSODEX. The value of parameters aren’t read. 
 
※ When the data exists already in editorial work. 
Follow the indication as the DIALOG to confirm is displayed. 
 
 
 
 
 
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2.2.3 Storing editorial data into ABSODEX [Storage (ABSODEX)] 
Store editorial data into ABSODEX. 
Select from the following two items. 
[Program and Parameter] 
Store programs and value of parameters into ABSODEX. 
[Only Program] 
Store program only into ABSODEX. The value of parameters aren't stored. 
 
1. The following DIALOG is displayed before storing program. 
 
Select the program to store (It is possible to select when clicking with the mouse or 
pushing the space key) and click [OK]. 
When selecting all program, click [Select all(A)]. 
 
 
 
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2. When the program number to store is already used in ABSODEX, the DIALOG of 
confirmation of program rewriting is displayed. 
 
When rewriting 
Select [Yes(Y)]. Rewrite displayed program number. 
When selecting [Rewriting all(A)], the all selected programs are rewrote without 
opening this DIALOG. 
When not rewriting 
Select [No(N)]. Displayed programs aren’t rewrote. 
When stopping 
When selecting [Cancel], Stop storage of the programs. 
The data before canceling is stored into ABSODEX. 
 
 
 
 
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2.2.4 Editing equal segment program 
[Division equal segment program editing] 
Editing only equal segment program. 
(As for other program, it does by NC program editing.) 
The following DIALOG is displayed. 
 
The contents of each input are displayed in "Explanation :" on the display screen. 
1. Select program 
(1) Program number 
Select equal segment program to edit from “Program number”. 
(2) Memo 
Select equal segment program to edit from “Memo”. 
 
 
 
 
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2. Input setting value 
(1) Home position 
Select home position before starting from following two and input the number. 
 1 : Home position, 2 : Indexed position 
(2) Home positioning rotation direction 
Select home positioning rotation direction from following three and input the number. 
 1 : CW, 2 : CCW, 3 : Near Head 
 (NOTE) When selecting home position, "Near Head" can not be selected. 
(3) Home positioning speed 
Input home positioning speed. 
When selecting home position in (1) 
Input movement speed to home position from current position. 
 Setting range: 1~100 rpm 
 (When check box is OFF, the value of parameter becomes effective.) 
When selecting indexed position in (1) 
Input movement time or movement speed to indexed position from current position. 
 Setting range: 0.01~100 sec or 1~100 rpm (Select unit to use.) 
(4) Shift amount of home position 
When selecting indexed position in (1),input shift amount of home position. 
 Setting range: -360~360 Degree or -540672~540671 Pulse 
(5) Number of segment 
Input number of segment. 
 Setting range: 1~255 
(6) Movement time 
Input movement time with 1 index part. 
 Setting range: 0.01~100 sec 
 
※ When the number of segment and movement time are inputted, checking of movement time is 
done. When movement time is too short, following DIALOG is displayed and the movement time 
is automatically corrected. 
 
 
 
 
 
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(7) Direction of turn 
Select direction of motor rotation from following two and input the number. 
 1:CW, 2:CCW 
(8) Processing after stop 
Select stop processing after positioning from following two and input the number. 
 1:Start input standby, 2:DWELL 
(9) DWELL 
Input time only when selecting DWELL in (8). 
 Setting range: 0.01~99.99 sec 
(10) Brake 
Input the number whether or not to use a brake. 
 1:Use, 2:Not use 
(11) Delay timer 
Input time only when selecting brake use in (10). 
(When not using the delay timer, make the check box OFF.) 
※ The delay timer indicates the time from completion ofpositioning to brake application. 
Use the delay timer to apply the brake at a higher accuracy even in a system which has a 
smaller rigidity and therefore takes time until settling. 
The delay timer is inserted in NC programs as a dwell command. 
※ Specify the time from brake release to rotation command issuance in response to a travel 
command, in parameter 27 (delay after brake output). 
If the time is not specified, rotation is commanded in a braking state when a motor rotation 
command is issued immediately after the brake is released, causing vibration and/or 
oscillation. 
 
(12) M code 
Select M code processing from the following three and input the number. 
 1:M code, 2:Division position output, 3:Not use 
(13) Output bit at M code 
Input only when selecting M code in (12). 
Input numerical value which corresponds to the bit of M code to output. 
 Setting range: 0~7 
 
 
 
 
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※ It is the contents of the parameter since (14). 
When inputting make the check box ON. 
When inputting, change the contents of the parameter at the program execution. 
When making the power supply OFF, the set data becomes extinct. 
 
 
(14) Cam curve 
Select cam curve from following five and input the number. 
 1:MS, 2:MC, 3:MT, 4:TR, 5:MC2 
(15) Acceleration and deceleration time of MC2 curve 
Input only when selecting MC2 by cam curve of (14). 
 Setting range: 0.01~50 sec 
(16) Torque limit 
Input percentage value of output torque upper limit against the maximum torque. 
 Setting range: 1~100% 
(17) Output 1 during indexing 
Enables to set the output 1(CN2) to be made at what percentage of motion during 
positioning motion. 
 Setting range: 0~99% 
(18) Output 2 during indexing 
Enables to set the output 2(CN2) to be made at what percentage of motion during 
positioning motion. 
 Setting range: 0~99% 
(19) M answer setting 
Select from following two and input the number. 
 1: Required, 2: Not required 
(20) Answer input for positioning and home position return 
Select from following two and input the number. 
 1: Required, 2: Not required 
(21) Segment position range width for equal segment designation 
Setting of the direction of the index, input the setting range. 
 Setting range: 1~270336 Pulse 
 
 
 
 
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3. Making of new program 
Save program to be editing into editorial work and Make new program. 
Click [New]. 
Follow the indication as the DIALOG is displayed. 
 
4. Changing of editorial program number 
Change number of program to be editing into new number. 
(It is possible to change memo, too.) 
Click [Change]. 
Follow the indication as the DIALOG is displayed. 
 
5. Copying of editorial program 
Copy and Register program to be editing on another number. 
Click [Copy]. 
Follow the indication as the DIALOG is displayed. 
 
 
 
 
 
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6. Deleting of editorial program. 
Delete program to be editing from editorial work. 
If you delete program once it doesn't return to Origin. 
Click [Delete]. 
Follow the indication as the DIALOG is displayed. 
 
7. Ending editing. 
Click [Close]. 
Follow the indication as the DIALOG is displayed. 
 
Editorial DIALOG closes when clicking [OK]. 
Program is saved into editorial work. 
 
 
 
 
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2.2.5 Editing program with NC code [NC program editing] 
Editing is made with NC code. 
The following DIALOG is displayed. 
 
The contents of each input are displayed in "Explanation :" on display screen. 
1. Select program 
(1) Program Number 
Select NC program to edit in program number. 
(2) Memo 
Select NC program to edit in “memo”. 
"＊" is displayed in program which was edited by the equal segment program editing. 
2. Editing of the NC program 
Input the letter from the keyboard and edits NC program. (Maximum of 2000 letters.) 
Refer to the NC code list of the manual. 
3. Making of new program 
Save program to be editing into editorial work and makes new program. 
Click [New]. 
Follow the indication as the DIALOG is displayed. 
4. Change of editorial program number 
Change number of program to be editing into new number. 
Click [Change]. 
Follow the indication as the DIALOG is displayed. 
 
 
 
 
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5. Copying of editorial program 
Copy and register the program to be editing on another number. 
Click [Copy]. 
Follow the indication as the DIALOG is displayed. 
6. Deleting of editorial program 
Delete program to be editing from editorial work. 
If you delete program once, it doesn't return to origin. 
Click [Delete]. 
Follow the indication as the DIALOG is displayed. 
7. Displaying of sample program 
Display NC sample program in editorial window. 
Program to be editing is erased. 
Click [Sample]. 
Displaying following DIALOG, select the sample name and click [OK]. 
 
8. Ending editing. 
Click [Close]. 
Follow the indication as the DIALOG is displayed. 
 
Clicking [OK], the editorial DIALOG closes. 
The program is saved into editorial work. 
 
 
 
 
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2.2.6 Setting parameters [Parameter setting] 
Perform editing to enter or edit parameters. 
※ Before executing [Parameter setting], be sure to execute [Reading(ABSODEX)] to load 
parameters from the driver to the editing work. 
For details, refer to Section 2.2.2 "Reading data from ABSODEX." 
The dialog box shown below is displayed. 
 
 
 
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The contents of parameter are displayed in "Explanation :" on display screen. 
1. Edit the setting value 
Move a cursor to the parameter to edit and inputs the value. 
The setting of the parameter 21~42 
Click [Next >]. 
Setting screen of parameter 21~42 is displayed. 
The setting of the parameter 1~20 
Click [displayed. 
 
1. Operation 
(1) Enter desired NC data in the blinking cursor position and press the Return key. 
Or click [Send]. 
(2) The transmitted data is displayed on the right side of ">" and received data is 
displayed in the following line. 
"0" is displayed during normal operation, while "＊" is displayed upon an error. 
2. To send previously entered NC data 
(1) Press the ↑ key. A transaction log is displayed. Select the NC data to be used. 
(2) To change data, edit the data directly, and press the Return key. 
Or click [Send]. 
(3) The transmitted data and new received data are registered to the log as latest data. 
(Up to 100 entries) 
3. Reset an alarm 
Click [Alarm Reset]. 
The alarm is reset and "NO ALARM" is displayed. 
4. Exit from the MDI mode 
Click [Close]. 
The dialog box shown below is displayed. Follow the instruction. 
 
Click [OK] to finish work. 
The entire log is deleted. 
 
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2.3.8 Controlling brake [Brake operation] 
The following DIALOG is displayed. 
 
When changing, click [OK] after selecting in ON or OFF as present brake condition is 
displayed. 
2.3.9 Setting home position offset amount [Home position offset amount] 
Set amount of home position offset. 
※ Turning off the servo with the actuator on the sides may cause the weight of the load to rotate the 
output shaft to cause a danger. 
In this procedure, don't do and do in following "2. After adjusting a position in the servo on 
condition, it sets amount of home position offset". 
1. Adjust the position manually and set amount of home position offset. 
 
(1) The following DIALOG is displayed. 
 
(2) Click [OK]. The following DIALOG is displayed. 
 
(3) Select [Yes]. The following DIALOG is displayed. 
 
 
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(4) Click [OK] if adjusting position manually. (Stop setting processing by [Cancel].) 
The following DIALOG is displayed. 
 
(5) When selecting [Yes], Set. (Return to process 4 when selecting [No].) 
※ The amount of home position offset to have turned on once again to or to have been set to it 
after returning in home position becomes effective. 
2. After adjusting a position in the servo on condition, set amount of home position offset. 
 
(1) First, drive to the position where to be set as home position. 
(2) Select [Home position offset amount] from the operation mode menu. 
The following DIALOG is displayed. 
 
(3) Click [OK]. The following DIALOG is displayed. 
 
(4) Select [No]. The following DIALOG is displayed. 
 
(5) Home position offset amount is established when selecting [Yes]. 
(Stop the setting process when selecting [No].) 
※ The amount of home position offset to have turned on once again to or to have been set to it 
after returning in home position becomes effective. 
 
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2.3.10 Resetting alarm [Alarm reset] 
Reset alarm which occurs at present. 
2.3.11 Displaying present operation situation [Display of operation situation] 
Begin to display the real time the operation situation of ABSODEX. 
2.3.12 Displaying I/O condition of the present input/output signal [I/O display] 
The following DIALOG is displayed. 
 
1. Display I/O condition of the present input/output signal CN3 
Click [Display]. 
Begin to display the real time of I/O condition. 
2. End the display of I/O condition 
Click [Close]. 
The DIALOG closes. 
※ I/O display doesn't sometimes change when input/output time is too short. 
 
 
 
 
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2.4 Copy mode 
Select [Copy mode(C)] from the main menu. Following item is displayed. 
 
The contents with each items of copy mode are as follows. 
 
2.4.1 Copying files from ABSODEX [ABSODEX - File] 
Copy programs and parameters from ABSODEX in files. 
Following DIALOG is displayed. 
 
Input file name and click [Save]. 
 
 
 
 
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2.4.2 Copying a file to ABSODEX [File - ABSODEX] 
Copy file data to ABSODEX. 
Select from the following three items. 
[Program and Parameter] 
All programs and parameters in the file are copied to ABSODEX. 
[Only Program] 
All programs in the file are copied to ABSODEX. 
[Only Parameter] 
Parameters in the file are copied to ABSODEX. 
 
Following DIALOG is displayed. 
 
Select file and click [Open]. 
 
Follow the indication as the DIALOG to confirm is displayed. 
 
After copying is finished, the dialog box shown below is displayed. 
 
 
 
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2.5 Terminal mode 
Select [Terminal mode(T)] from main menu. The following input DIALOG is displayed. 
 
1. Operation 
(1) Enter a communication code in the position where the cursor blinks, and press the Return 
key. 
Or click [Send]. 
(2) Sending data is displayed after ">" and reception data is displayed in line under it. 
At the normal time,"0" is displayed and at time of error, “＊” is displayed. 
2. When inputting from communication code list 
(1) Move the cursor to the communication code list and move the cell to the communication 
code to be entered, and press the Return key. Or double click the mouse button. 
(2) If necessary, enter data next to the communication code, and press the Return key. 
Or click [Send]. 
(3) Reception data is displayed. 
3. When sending using the communication code which was inputted before 
(1) Select communication code as the record of sending and receiving is displayed when 
pushing ↑ key. 
(2) To change data, edit the data directly and press the Return key. 
Or click [Send]. 
(3) Sending data and new reception data are registered on record as the latest data. (To 100) 
 
 
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4. Ending terminal mode 
Click [Close]. 
Follow indication as the following DIALOG is displayed. 
 
End work when clicking [OK]. 
All records are erased. 
 
 
 
 
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2.6 Auto tuning 
The auto tuning function is applicable to the GS and S type drivers. 
The auto tuning function is unavailable for the GH and H type drivers. 
Select [Auto tuning] from the main menu. Then next dialog shows up. 
 
2.6.1 Set up 
1. Responsibility 
Tunes responsibility. 
Convergence at stops and holding force will increase when the set value is larger. 
2. Friction load 
Choose larger value in case the friction load is high. 
3. Oscillation angle 
Tunes osillation on angle. 
4. Gain setting 
Set gain value chosen by auto tuning will be displayed, 
5. Alarm states 
Alarm state will be displayed. 
 
 
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2.6.2 Execute 
Auto tuning will start when [Execute] is clicked. 
Servo off will be confirmed. 
Click [OK] if there is no problem. 
 
There is a confirmation before it starts oscillations. 
If it is OK, please click [OK]. 
 
When the osillation of actuator stops, auto tuning is considered completed. 
(It may take a few to ten plus seconds depending on the load.) 
 
※ If the gain adjustment DIP switches G1 and G2 on the driver panel are not "0" - "0," the dialog box 
shown below is displayed. 
 
Adjust the DIP switches to "0" - "0" and click [OK]. 
Click [Execute] in the auto tuning dialog box again to execute. 
 
 
 
 
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3. Code list 
3.1 NC code 
Code Function Data Range Remarks 
O Program number 0 to 999 0 to 255 can be selected from I/O. 
"o" is automatically added. 
N Sequence number 0 to 999 Can be omitted. 
G Preparation function 0 to 999 Refer to Section 3.2 "G code." 
A ±9999999 Unit: pulse 
 ±6658.380 Unit: angle 
 
G90， 
G91， 
G91.1 
±4716 Unit: number of indexes 
 ±540672 Unit: pulse 
 ±360.000 Unit: angle 
 
Instruction to 
move 
coordinate 
axis 
G90.1， 
G90.2， 
G90.3 
1 to Designated number of 
segments Unit: number of indexes 
 Designation of segment 
numbers 1 to 255 
 Continuous rotation speed ±300.00 (Note) Unit: rpm 
F 0.01 to 300.00 (Note) Unit: rpm 
 
Designation of speed 
0.01 to 100.00 Unit: sec 
M Auxiliary function 0 to 99 Refer to Section 3.3 "M code." 
P Dwell 0.01 to 99.99 Unit: sec G40P□□．□□ 
 Designation of 
sub-program number 0 to 999 Program No. M98P□□□ 
 Gain magnification 0, 50 to 200 Unit: % G12P□□□ 
0% input will set servo-off. 
 
Acceleration anddeceleration for continuous 
rotation 
0.01 to 50 Unit: sec G08P□□□ 
 G09P□□□ 
 Parameter data setting Range defined by parameters
Unit: the unit defined by each 
parameter; 
 G79S□□P□□□
L Numbers of repetition 1 to 999 Repeats the block as specified. 
J Jump 0 to 999 J0 causes a return to the top of the 
program. 
S Parameter data setting 1 to 99 Setting parameter No.; 
 G79S□□P□□□
（Note） The minimum rotation speed of the actuator is 0.11rpm. 
The rotation speed varies according to the model. 
For details, refer to "ACTUATOR SPECIFICATIONS" in the driver instruction manual. 
 
 
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3.2 G code 
Group Code Function Description 
A ＊ G01 Positioning 
To position at A with speed F. 
 
 G01 A F ; 
Note: A command can make positioning without G01.
 G07 Continuous rotation 
Under continuous rotation at the speed A (rpm). 
 
 G07 A± ; Unit of A: rpm 
"+" indicates clockwise rotation, while "-" indicates 
counterclockwise rotation. 
Note: Select less than 80 rpm for G07 continuous rotation.
 G28 Home positioning Enable home positioning 
 G72 Pulse string input 
Motion with accordance with the pulse string input by 
CN3. 
The program stop input or start input will terminate the 
execution of G72. 
 G92 Setting of coordinate 
system 
Enables setting or changing coordinate system. 
Like G92A0, with the code A suffixed to G code, the 
coordinate system is set so that the current position is the 
value to follow A. 
 G92.1 Setting of coordinate 
system 
To set the home position of G92 user coordinate at 
power-on is the value which follows A. 
B G04 Dwell 
Delay to shift to the next block. 
 
 G04 P . ; 
 G08 Acceleration time for 
continuous rotation 
Acceleration takes place for the time specified by P for 
continuous rotation. 
 
 G08 P0.5; acceleration time 0.5sec. 
 G09 Deceleration time for 
continuous rotation 
Deceleration takes place for the time specified by P for 
continuous rotation. 
 
 G09 P0.5; deceleration time 0.5sec. 
 G12 Change of Gain 
Magnification Rate 
Gain magnification rate determined by Switch Gain 1, 2 
 
 G12 P100; 100% 
 G12 P0; cause servo-off at 0%. 
 G79 Parameter data setting 
Substitute the parameter number with "S" for the value of 
P. 
 
 G79S1P2; To substitute the parameter 1 for 2. 
C G101 Designation of Segment 
Numbers 
One rotation is equally segmented to set A unit to index 
number G106. 
 
 G101A10; ←One rotation = 10 segments 
 G01A1; ←Unit of A is index number 
Note: Do not specify "G101" in the same block as the 
A-group. 
 G104 Designation of pulses Unit of A is pulse. 
 ＊ G105 Designation of angles Unit of A is angle. 
 G106 Designation of index Unit of A is numbers of index. 
If not set by G101, program error will occur. 
The asterisk (＊) indicates the power-on setting. 
 
- 33 - 
 
 
Group Code Function Description 
D G10 Designation of rotation 
number 
Unit of F is rpm. 
Moving speed is specified by the maximum rotation 
number. 
 ＊ G11 Designation of time Unit of F is second. 
Moving time is specified. 
E ＊ G90 Absolute dimension The value of A to be made absolute value from the home 
position of coordinates. 
 G90.1 One rotation absolute 
dimension 
The actuator moves to the nearer direction with the value 
A as the one (1) rotation absolute value from the 
coordinate home position. The user coordinate after 
completion of positioning is adjusted within -180° to 
179.999°. 
The specified range of A is within ±360°. 
Specifying 180° will cause the actuator to rotate CCW. 
 G90.2 CW direction absolute 
dimension 
The actuator moves to the CW direction with the value A 
as the one (1) rotation absolute value from the coordinate 
home position. 
The user coordinate after completion of positioning is 
adjusted within -180° to 179.999°. 
The specified range of A is within ±360°. 
(The actuator motions between 0 to 360° in the CW 
direction.) 
 G90.3 CCW direction absolute 
dimension 
The actuator moves to the CCW direction with the value A 
as the one (1) rotation absolute value from the coordinate 
home position. 
Same as G90.2 except for the rotation direction changes 
to CCW. 
The user coordinate after completion of positioning is 
adjusted within -180° to 179.999°. 
The specified range of A is within ±360°. 
(The actuator motions between 0 to 360° in the CCW 
direction.) 
 G91 Incremental dimension 
The value of A to be made incremental value from the 
current position. 
Designate the direction of rotation, using the sign attached 
to the value following "A”. 
A positive value (without a sign) indicates clockwise 
rotation, while a negative value (-) indicates 
counterclockwise rotation. 
 G91.1 One rotation incremental 
dimension 
The value of A is the incremental value from the current 
position. 
Designate the direction of rotation, using the sign attached 
to the value following "A”. 
A positive value (without a sign) indicates clockwise 
rotation, while a negative value (-) indicates 
counterclockwise rotation. 
The user coordinate after completion of positioning is 
adjusted within -180° to 179.999°. 
The asterisk (＊) indicates the power-on setting. 
 
 
 
 
- 34 - 
 
3.3 M code 
Group Code Function Description 
A M00 Program Stop 
After completion of the current block, the program stops. 
When the start signal is input again, program execution 
starts with the next block. 
 M30 End of Program The program terminates to return the head block of the 
program. 
B M98 Sub-program call 
Executes sub-program. 
 
 M98 P ←sub-program number 
Nest is feasible up to four times. 
 M99 End of sub-program 
Indicates the end of sub-program. 
After executing the block containing M99, the main 
program is resumed. 
C M68 Braking Motion 
De-energize the valve for the brake and dose not make 
servo system integral control. 
Turn off across the BK+ and BK- terminals of the driver. 
 M69 Brake Releasing 
Energize the valve for the brake and makes servo system 
integral control. 
Turn on (24VDC) across the BK+ and BK- terminals of the 
driver. 
D M20 
to M27 I/O Output 
M signal in bit corresponding to the first digit is output to 
CN3, and M code strobe output will turn ON 
simultaneously. 
Three (3) M codes can be written in the same block, and 
can be output simultaneously. 
E M70 Segment position output
When "G101" is used, the M code output corresponding to 
the indexing position (bits 0 to 7: binary format) and the 
segment position strobe output are simultaneously output 
at CN3. 
The segment position for n segmentation is expressed 
1 to n. 
 
 
 
- 35 - 
4. Parameter 
Various parameters are available for ABSODEX to set motion conditions. 
The setting remains in the memory even after the power is turned off. 
Parameter 
No. Description Setting 
Range Initial Value Unit
1 
Cam curve 
Selects a cam curve. 
1 to 5 corresponds to the following curves. 
 1:MS, 2:MC, 3:MT, 4:TR, 5:MC2 
1 to 5 1 － 
2 
Acceleration and deceleration time of MC 2 curve 
Sets acceleration and deceleration times of MC 2 curve. 
Acceleration and deceleration zones will form the characteristics 
of MS curve. 
0.01 to 50.0 1 sec 
3 
Home position offset amount 
The home position of the user coordinate system at power-on 
shifts to the actuator home position. 
-540672 
 to 540671 0 Pulse
4 
Home positioning direction 
Selects the direction of rotation of the home positioning action. 
 1:CW, 2:CCW 
1 to 2 1 － 
5 
Home Positioning speed 
Sets the maximum home positioning speed. 
Communication code "S4”, home positioning instruction input, 
and NC code "G28" will enable home positioning. 
1.0 to 100.0 2.0 rpm 
GS, S, H 0.1 to 1.0 0.1 
6 (Note) 
Acceleration and deceleration time for home 
positioning 
Sets acceleration and deceleration times for home 
positioning. 
Acceleration and decelerationtake place in 
accordance with the curve. 
GH 0.1 to 2.0 1.0 
sec 
7 
Home return stop 
Determines if the home return is to be made by "stop" input. 
 1: Stop, 2: Invalid 
1 to 2 2 － 
8 Software limit coordinate A 
Sets the motion range in the (+) direction. 
-9999998 
 to 9999999 
9999999 
(about 6667゜) Pulse
9 Software limit coordinate B 
Sets the motion range in the (-) direction. 
-9999999 
 to 9999998 
-9999999
(about -6667゜) Pulse
10 
Software limit effective or not effective 
 1: Effective, 2: Not effective 
Even with not effective, alarm will be given if the range -9999999 
to +9999999 (pulse) (±18 rotations) is exceeded. 
1 to 2 2 － 
(Note) To obtain initial values matching the corresponding model, be sure to execute [Reading(ABSODEX)] before 
entering or editing parameters. 
If parameters are not loaded in advance, initial values held in Teaching Note overwrite the settings. 
 
 
 
 
- 36 - 
 
Parameter 
No. Description Setting 
Range Initial Value Unit
11 
No answer time 
Sets the answer input waiting time. 
Alarm is given, if there is no answer for the set time. 
Effective only when parameters 12 and 13 are set to require an 
answer. 
When 999 is set, waiting is infinite. 
1 to 100 
999 60 sec 
12 
M answer setting 
 1: Required : Answer input will turn M code output OFF. 
 2: Not Required : M code output is made at 100msec. 
1 to 2 2 － 
13 
Answer input for positioning and home position return 
 1: Required: 
 Answer input will turn positioning completion output OFF. 
 2: Not Required: 
 Positioning completion output is made at100msec. 
1 to 2 2 － 
14 Jog speed 
Sets the maximum jog motion speed. 0.01 to 100.0 2.0 rpm 
15 Jog acceleration and deceleration times 
Sets acceleration and deceleration times. 0.1 to 1.0 1.0 sec 
16 In-position range 
Sets allowable accuracy of positioning. 1 to 10000 2000 
(about 1.34゜) Pulse
17 
In-position sampling times 
Sets numbers of confirmation times when at in-position. 
Confirming in-position for specified sampling times will output 
positioning completion and in-position signals. 
1 to 2000 1 Time
18 (Note1) Position deviation amount 
Indicates the current position deviation amount. 
Setting not 
feasible － Pulse
19 Upper limit for position deviation amount 
Parameter 18 exceeding this value will cause Alarm 1. 1 to 540672 10000 
(about 6.7゜) Pulse
AX4022G
AX4045G
4866 
(about 270rpm)
AX4075G 2883 
(about 160rpm）GS
AX2006G
AX2012G
AX2018G
1 to 5974 
5947 
(about 330rpm)
S 1982 
(about 110rpm)
 150rpm
specification
1～3064 
3064 
(about 170rpm)
GH 1982 
(about 110rpm)
H 1982 
(about 110rpm)
20 (Note2) 
Speed over limit 
The motion amount [pulse] exceeding the set 
value for every 2msec will cause Alarm 1. 
 180rpm
specification
1～3604 
3604 
(about 200rpm)
Pulse
(Note 1) Monitoring in parameter mode only; you cannot enter the parameter. 
(Note 2) To obtain initial values matching the corresponding model, be sure to execute [Reading(ABSODEX)] 
before entering or editing parameters. 
If parameters are not loaded in advance, initial values held in Teaching Note overwrite the settings. 
 
- 37 - 
 
Parameter 
No. Description Setting 
Range Initial Value Unit
21 
Deceleration rate for emergency stop 
Speed deceleration will take place for every 1msec for an 
emergency stop. 
The time t until rotation stops by an emergency stop while 
rotating at N rpm can be calculated by the following formula: 
 T= 18.0224 × N/(PRM21) [msec] 
1 to 180 2 p/ms2
22 
Servo-OFF delay after emergency stop 
Sets delay time for servo-off by emergency stop (CN3-17) input 
causing deceleration and stop when PRM 23 is set to 3 (servo-off 
after stop). 
0 to 2000 1000 msec
23 
Emergency stop input 
 1: Maintain servo-on state after stop. 
 2: Not effective 
 3: Servo-off after stop 
1 to 3 2 － 
24 (Note1) Actuator temperature rise 
Temperature rise of the actuator calculated by electronic thermal.
Setting not 
feasible － ℃ 
25 (Note1) 
Upper limit of actuator temperature rise 
Parameter 24 exceeding the set temperature will cause the alarm 
4. 
Setting not 
feasible 70 ℃ 
26 NC program output during auto run 
 1: No output, 2: Output 1 to 2 1 － 
AX4075
AX4150
AX4300
AX4500
250 
27 (Note2) 
Delay time after brake output 
Motion to be delayed when motion instruction after 
brake release is specified by M69. 
Others 
0 to 1000 
100 
msec
28 
Brake initial status 
Sets whether or not the brake is released upon power-on. 
 1: Brake on, 2: Release 
1 to 2 2 － 
29 
Mode setting for power-on 
 1: Auto run 
 2: Single block 
 6: Pulse string input 
1, 2, 6 1 － 
30 
Advance in timing output 
Enables to output timing output in advance of the segment 
position. Setting is made by the percentage of the angle of the 
segment to output timing at the angle corresponding to the 
percentage. 
0 to 99 0 % 
31 Timing output width 
Enables to set pulse width for timing output. 1 to 200 20 msec
32 
Timing output 
Enables to set timing output when continuous and equal segment 
rotations are both specified. 
 1: To output, 2: Not to output 
1 to 2 1 － 
(Note 1) Monitoring in parameter mode only; you cannot enter the parameter. 
(Note 2) To obtain initial values matching the corresponding model, be sure to execute [Reading(ABSODEX)] 
before entering or editing parameters. 
If parameters are not loaded in advance, initial values held in Teaching Note overwrite the settings. 
 
 
- 38 - 
 
Parameter 
No. Description Setting 
Range Initial Value Unit
33 
Output 1 during indexing 
Enables to set the output 1 (CN3-46) to be made at what 
percentage of motion during positioning motion. 
0% setting for no output. 
0 to 99 0 % 
34 
Output 2 during indexing 
Enables to set the output 2 (CN3-47) to be made at what 
percentage of motion during positioning motion. 
0% setting for no output. 
0 to 99 0 % 
35 
Pulse rate change 
Enables to set multiplier of pulses in the G72 and M6 pulse string 
input modes. 
 1: 1 time, 2: 2 times, 3: 4 times, 4: 8 times, 5: 16times 
The setting enables to determine pulses of actuator movement 
for 1 pulse of pulse string input. 
1 to 5 1 － 
36 
Selection switching of I/O program numbers 
Enables to select program numbers: 
 1: 4 bit 2 times (BCD) (No. range 0 to 99) 
 2: 4 bit 2 times (Binary) (No. range 0 to 255) 
 3: 5 bit 1 time (Binary) (No. range 0 to 31) 
1 to 3 1 － 
37 Segment position range width for equal segment designation 
Sets the vicinity of segment position of equal segment (G101). 1 to 270336 1500 Pulse
38 
Rotation direction for equal segment designation 
Specifies rotation direction for G91A0F of equal segment 
designation (G101). 
 1: CW 
 2: CCW 
 3: Nearer head direction 
 4: Alarm C outside the vicinity of equal segment position 
1 to 4 3 － 
39 
Torque limit 
Enables to set the upper limit of torque output by percentage 
against the maximum torque. 
1 to 100 100 % 
42 
Pulse string input 
 1: Pulse/Direction 
 2: UP/DOWN 
 3: A/B phase 4 times 
 4: A/B phase 2 times 
Applicable only to [GS] and [S]
1 to 4 1 － 
45 (Note) 
Power-on coordinate recognition range 
Specify the power-on coordinate recognition range. 
The output axis is supposed to be located at a position between 
"setting - 540671" and setting when the power is turned on. 
Applicable only to [GS] and [S]
0 to 540671 270335 Pulse
46 (Note) 
Home position output (Z-phase output) range 
Enter the output range of the home position output (pulse string 
mode only). 
With default value 2000, the home position output remains turned 
on during travel for ±2000 pulses before and after the user home 
position. 
Enter "0" to turn on the home position output at exactly 0 pulse in 
the user coordinate. 
0 to 10000 2000 Pulse
(Note) Cannot enter or monitor in the parameter mode. 
Select the [Terminal mode] to enter or monitor this parameter. 
 
 
- 39 - 
 
Parameter 
No. Description Setting 
RangeInitial Value Unit
GS, S, H 200 
62 (Note1) Cut-off frequency for low pass filter 1 
GH 
10 to 500 
100 
Hz 
63 Cut-off frequency for low pass filter 2 10 to 500 500 Hz 
64 Cut-off frequency for notch filter 1 10 to 500 500 Hz 
65 Cut-off frequency for notch filter 2 10 to 500 500 Hz 
66 
Filter switch 
Switches to determine if filters are used. 
0 to 15 1 － 
67 
Integral limiter 
Integral limiter in the controller. 
A smaller value reduces the overshoot immediately before 
stoppage and improves stability of a system with a large inertia 
moment load. 
The best integration limiter setting varies according to gain 
adjustment. 
1 to 540672 100000 Pulse
68 
PI output limiter 
Do not set this parameter. 
1 to 1000 800 － 
69 (Note2) 
Random gain 
Do not set this parameter. 
1 to 2000 500 － 
70 
Q value of notch filter 1 
Sets the band width of notch filter 1. 
0.1 to 9.9 1 － 
71 
Q value of notch filter 2 
Sets the band width of notch filter 2. 
0.1 to 9.9 1 － 
72 (Note2) 
Integral gain multiplier 
The multiplier of the integral gain can be changed. 
A smaller value improves stability for large inertia loads and/or 
less rigid loads. 
A larger value shorten the convergence time, it deteriorates the 
stability of the control system. 
The new setting becomes effective after the power is turned off 
and then turned on again. 
Applicable only to [GH]
0.1 to 10.0 0.3 － 
(Note 1) To obtain initial values matching the corresponding model, be sure to execute [Reading(ABSODEX)] 
before entering or editing parameters. 
If parameters are not loaded in advance, initial values held in Teaching Note overwrite the settings. 
(Note 2) Cannot enter or monitor in the parameter mode. 
Select the [Terminal mode] to enter or monitor this parameter. 
 
 
- 40 - 
5. Alarms 
LED 
Display No. Description Alarm Output Remarks 
 
0 NC program error Alarm 1 Program selection error 
Program data error 
 
1 Position deviation over or 
speed over 
Alarm 1 
Alarm 2 
Settings of parameters 19 and 20 are 
exceeded. 
 
2 Regenerative resistor 
overheat 
Alarm 1 
Alarm 2 
 
4 Actuator overload 
(electronic thermal) 
Alarm 1 
Alarm 2 
 
5 Power module abnormal Alarm 1 
Alarm 2 Overcurrent, Module overheat 
 
6 Main power abnormal Alarm 1 
Alarm 2 
 
7 Communication error 
(data input error) Alarm 1 
 
8 CPU error (Indefinite) Hardware of CPU in the driver may be 
faulty. 
 
9 An emergency stop input 
has been made. Alarm 2 
 
A Brake abnormal Alarm 2 
An attempt was made to move while 
the brake is on. The brake is applied 
during a travel. 
 
C Software limit over Alarm 2 
Parameters 8 and 9 settings are 
exceeded. 
Or ±18 revolutions are exceeded. 
 
E Emergency stop by dialog 
terminal Alarm 2 
 
F Resolver abnormal Alarm 1 
Alarm 2 Error in position detector 
 
H No M answer 
No positioning answer Alarm 2 Parameter 11 setting is exceeded. 
 
P Memory abnormal Alarm 2 Data writing error to internal memory. 
 
U Auto tuning abnormal Alarm 1 
Alarm 2 Applicable only to [GS] and [S]. 
 
3 Actuator and driver 
combination error Alarm 1 
Applicable only to [GS] and [GH]. 
The combination between the actuator 
and driver is incorrect. 
 
L Actuator communication 
error 
Alarm 1 
Alarm 2 
Applicable only to [GS] and [GH]. 
Failure to receive actuator data 
 With no alarm displayed, 
 
 (r and dot) will be displayed on LED. 
 For servo off (M5 executed), 
 
 (dot only) will be displayed on LED. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
- 41 - 
6. Communication Code 
6.1 Operation Mode Switching 
Code Description Input Data Type Remarks 
M1 Automatic mode M1[CR] Power-on mode. (Note) 
Mode in which programs are run continuously.
M2 Single block mode M2[CR] Mode in which programs are executed block 
by block. 
M3 MDI (Manual Data Input) 
mode M3[CR] Mode in which NC code input through RS232C 
port is instantaneously executed. 
M4 Jog mode M4[CR] Communication codes S5 and S6 enable job 
motion. 
M5 Servo off mode M5[CR] Selecting M1 to M4 and M6 will turn the servo 
ON. 
M6 Pulse string input mode. M6[CR] 
In this mode, operation proceeds according to 
pulse string input signals. 
Disable motions by using the NC program, and 
changing parameters. 
To change, switch to M1 to M5. 
※ "CR" is the carriage return code (0DH). 
※ Because restriction torque of actuator passes away in servo off mode, it is necessary to cancel the 
output axis by hand. 
※ When changing mode to other operation mode (M1~M4) from servo off mode, alarm output becomes on. 
After that, it being in normal condition, alarm output cleared. 
※ When using MDI mode, NC program capacity is equal to or less than 95%. 
When exceeding 95%, delete the part of NC program. 
 
 
 
 
- 42 - 
6.2 Motion Instructions 
Code Description Input Data Type Remarks 
S1 Start S1[CR] Same function as CN3 program start input 
(Auto run mode, single block mode) 
S2 Program stop S2[CR] Same function as CN3 program stop input 
S3 MDI & execution 
S3_[NC data] [CR]
Example: 
S3_A100F0.5[CR]
One block of NC code is input and executed. 
S4 Home return S4[CR] Same function as home return instruction 
input. 
S5 Jog (CW) S5[CR] 
S6 Jog (CCW) S6[CR] 
Rotation continues according to parameters 14 
and 15 until S2 (CN3 program stop input) or 
S20 (Continuous rotation stop input) 
communication code is supplied. 
S7 Alarm reset S7[CR] Effective only for alarm. 
Same function as CN3 reset input. 
S10 Answer response S10[CR] Valid only when an answer is waited for. 
Same function as CN3 reset input. 
S20 Continuous rotation stop S20[CR] 
Continuous rotation G7 jog action stop 
Same function as CN3 continuous rotation 
stop input 
※ "CR" is the carriage return code(0DH), and "_" is the space (20H). 
※ Input movement order A with the speed order F when input MDI data. 
 
 
 
 
 
- 43 - 
6.3 Data Input and Output 
Code Description Input Data Type Output Data Type 
L1 Alarm Number Output L1 [CR] 
[Alarm Number] [CR] [LF] 
Example: 
ALM1_ALM2･･･ [CR] [LF] 
NO ALARM [CR] [LF] 
L2 I/O Status Output (Note) 
L2_[I/O address] [CR] 
4 digits, HEX display 
Example: 
L2_E080004 [CR] 
[I/O data] [CR] [LF] 
4 digits, HEX display 
Example: 
0280 [CR] [LF] 
L3 
Current Position Output 
Unit: Pulse 
Coordinate: 
Actuator coordinate
L3 [CR] 
[Position Data] [CR] [LF] 
6 digit maximum (0 to 540671) 
Example: 
1234 [CR][LF] 
L4 
Current Position Output 
Unit: Degree 
Coordinate: 
Actuator coordinate
L4 [CR] 
[Position Data] [CR] [LF] 
7 digit maximum (0 to 359.999) 
Example: 
180.001 [CR] [LF] 
L5 
Current Position Output 
Unit: Pulse 
Coordinate: 
G92 coordinate
L5 [CR] 
[Position Data] [CR] [LF] 
8 digit maximum 
(-9999999 to +9999999) 
Example: 
4321 [CR] [LF] 
L6 
Current Position Output 
Unit: Degree 
Coordinate: 
G92 coordinate
L6 [CR] 
[Position Data] [CR] [LF] 
9 digit maximum 
(-6658.380 to +6658.380) 
L7 Parameter Data Input 
L7_[Parameter Number] 
_[Data] [CR] 
Example: 
L7_1_3 [CR] 
"3" is entered to parameter 1. 
0 [CR] [LF] 
L8 Not to be used 
L9 Parameter Data Output 
L9_[Parameter Number] [CR] 
Example: 
L9_1 [CR] 
[Data] [CR] [LF] 
Example: 
3 [CR] [LF] 
L10 Program Number Output L10 [CR] 
[Currently entered program 
number] 
[CR] [LF] 
(Note) The I/O address is mapped at each bit of input signal address E080008 or output signal address 
E080004. For signal-to-bit correspondence, refer to "HOW TO USE I/O" in the driver instruction 
manual. 
※ "CR" indicates the carriage return code (0DH), "LF" the line feed code (0AH), and "_" the space (20H). 
 
 
- 44 - 
 
Code Description Input Data Type Output Data Type 
L11 NC Program Input 
L11＿［NC data］[CR] 
Example: 
 L11_o100N1A90F1;N2G91A45; 
 N3G90A45;N4J1;M30;[CR] 
0 CR LF 
L12 NC Program Output 
L12_[NC Program Number] [CR] 
Example: 
L12_200 [CR] 
[NC Data] [CR] [LF] 
Example: 
o200N1G90A0F2M1;M30; [CR] 
[LF] 
L13 NC Program Number 
Directory Output 
L13 [CR] 
[Using MemoryCapacity] 
[NC Program Number] [CR] [LF]
Example: 
2[%]1 2 5 10･･･[CR] [LF] 
L14 Not to be used 
L15 Not to be used 
L16 Designation of Program 
Number 
L16_[Program Number] [CR] 
Example: 
L16_100 [CR] 
0 [CR] [LF] 
L17 Delete of Program Number 
L17_[Program Number] [CR] 
Setting program number to 9999 
will delete all programs. 
Program number 12345 will 
initialize the system. 
0 [CR] [LF] 
L18 Change of Program 
Number 
L18_[Current Program Number] 
_[New program number] [CR]
Example: 
L18_100_200 [CR] 
o100 changed to o200. 
0 [CR] [LF] 
L19 Output of the Next Block of 
Program to be Executed L19 [CR] [NC Program] [CR] [LF] 
L20 Not to be used 
L21 Mode Output L21 [CR] 
[Mode] [CR] [LF] 
Example: 
M1 [CR] [LF] 
L22 
or 
later 
Not to be used 
※ "CR" indicates the carriage return code (0DH), "LF" the line feed code (0AH) and "_" the space (20H). 
 
 
 
 
- 45 - 
7. Example of RS-232C Interface Cable Connection Diagram 
7.1 PC side Dsub 9-pin (DOS/V machine) 
PC Side (DOSV machine) Driver Side
Signal name Pin No. Pin No. Signal name 
DCD 1 1 TXD 
RD 2 2 RXD 
TD 3 3 RTS 
DTR 4 6 CTS 
GND 5 5 FGND 
DSR 6 7 EMG 
RTS 7 8 DGND 
CTS 8 9 +5V 
RI 9 
 
4 NC 
 
Connector ： Dsub 9 pin 
Pulug XM2D-0901 (OMRON) 
Hood XM2S-0913 (OMRON) 
Connector ： Dsub 9 pin 
Pulug XM2A-0901 (OMRON) 
Hood XM2S-0911 (OMRON) 
FG
 
RS-232C Cable Connection Diagram (Dsub 9-pin) 
Our product model: AX-RS232C-9P 
 
7.2 PC side half pitch 14-pin (old PC9801 series) 
PC Side (PC9801 Series) Driver Side
Signal name Pin No. Pin No. Signal name 
RXD 1 1 TXD 
TXD 9 2 RXD 
CTS 4 3 RTS 
RTS 10 6 CTS 
GND 13 5 FGND 
RSEN 12 7 EMG 
GND 14 8 DGND 
 9 +5V 
 
 
4 NC 
 
Connector ： 14pin half pitch 
Pulug 10114-3000VE (Sumitomo 3M)
Hood 10314-42F0-008 (Sumitomo 3M)
Connector ： Dsub 9 pin 
Pulug XM2A-0901 (OMRON) 
Hood XM2S-0911 (OMRON) 
 
RS-232C Cable Connection Diagram (half pitch 14-pin) 
Our product model: AX-RS232C-14P 
 
- 46 - 
7.3 PC side Dsub 25-pin (old PC9801 series) 
PC Side (PC9801 Series) Driver Side
Signal name Pin No. Pin No. Signal name 
GND 1 5 FGND 
TXD 2 1 TXD 
RXD 3 2 RXD 
RTS 4 3 RTS 
CTS 5 6 CTS 
GND 7 8 DGND 
 7 EMG 
 9 +5V 
 
 
4 NC 
 
Connector ： Dsub 25 pin 
Pulug XM2A-2501 (OMRON) 
Hood XM2S-2511 (OMRON) 
Connector ： Dsub 9 pin 
Pulug XM2A-0901 (OMRON) 
Hood XM2S-0911 (OMRON) 
 
12.3 RS-232C Cable Connection Diagram (Dsub 25-pin) 
Our product model: AX-RS232C-25P 
 
 
※ Pins 7 and 9 of CN1 of the driver are designed to connect Dialogue Terminal (AX0170H). 
If another device is connected, leave pins 7 and 9 open to avoid breakage of the driver that may be 
caused by a possible connection error. 
※ For D-sub 25 and 9 pin on the PC side, the fitting screw may vary depending on the PC makers. Make 
sure of the screw type with the manufacturer. 
The hood model numbers are different depending on the size of the screws; 
 M2.6 (Metric) Hood: XM2S-□□11 (OMRON) 
 M3 (Metric) Hood: XM2S-□□12 (OMRON) 
 #4-40UNC (Inch) Hood: XM2S-□□13 (OMRON) 
 (□□ denotes 25 or 09.) 
	Cover
	Contents
	1. Introduction
	1.1 Making a setup in Teaching Note Windows edition
	1.2 Starting and ending Teaching Note Windows edition
	1.2.1 Starting Teaching Note Windows edition
	1.2.2 Ending Teaching Note Windows edition
	1.3 Precautions for use
	2. Operation dialogue
	2.1 File
	2.1.1 Making a new file [New]
	2.1.2 Opening file [Open]
	2.1.3 Saving editorial data to file [Save]
	2.1.4 Printing editorial data [Print]
	2.1.5 Opening communication port [Opening communication port]
	2.1.6 Ending Teaching Note Windows edition [Exit]
	2.2 Edit mode
	2.2.1 Clearing editorial data [Editorial data clearance]
	2.2.2 Reading data from ABSODEX [Reading(ABSODEX)]
	2.2.3 Storing editorial data into ABSODEX [Storage (ABSODEX)]
	2.2.4 Editing equal segment program
[Division equal segment program editing]
	2.2.5 Editing program with NC code [NC program editing]
	2.2.6 Setting parameters [Parameter setting]
	2.3 Operation order mode
	2.3.1 Starting program [Automatic operation starting]
	2.3.2 Stopping program [Automatic operation stopping]
	2.3.3 Selecting starting program number [Select program number]
	2.3.4 Home positioning [Home positioning]
	2.3.5 Controlling servo-on and servo-off [Servo On-Off]
	2.3.6 Starting program step by step [Single block starting]
	2.3.7 Entering and executing a single block of NC codes [MDI mode]
	2.3.8 Controlling brake [Brake operation]
	2.3.9 Setting home position offset amount [Home position offset amount]
	2.3.10 Resetting alarm [Alarm reset]
	2.3.11 Displaying present operation situation [Display of operation situation]
	2.3.12 Displaying I/O condition of the present input/output signal [I/O display]
	2.4 Copy mode
	2.4.1 Copying files from ABSODEX [ABSODEX - File]
	2.4.2 Copying a file to ABSODEX [File - ABSODEX]
	2.5 Terminal mode
	2.6 Auto tuning
	2.6.1 Set up
	2.6.2 Execute
	3. Code list
	3.1 NC code
	3.2 G code
	3.3 M code
	4. Parameter
	5. Alarms
	6. Communication Code
	6.1 Operation Mode Switching
	6.2 Motion Instructions
	6.3 Data Input and Output
	7. Example of RS-232C Interface Cable Connection Diagram
	7.1 PC side Dsub 9-pin (DOS/V machine)
	7.2 PC side half pitch 14-pin (old PC9801 series)
	7.3 PC side Dsub 25-pin (old PC9801 series)
>
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