SMC Networks LECSC Series Operation Manual Download

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LEC-OM06008

(Doc no. JXC

※

-OMT0056-A)

PRODUCT NAME

AC Servo Motor Driver

(CC-Link Type)

MODEL / Series / Product Number

LECSC Series

（

Simplified edition

）

Summary of Contents for LECSC Series

Page 1: ...LEC OM06008 Doc no JXC OMT0056 A PRODUCT NAME AC Servo Motor Driver CC Link Type MODEL Series Product Number LECSC Series Simplified edition...

Page 2: ...No No No No JXC OMT0056 LEC OM06007 JXC OMT0056 A LEC OM06008...

Page 3: ...of parameter block 23 5 3 2 Change of parameter block 23 5 3 3 Parameter Configuration Method Ex Control mode Selection 24 5 3 4 Recommended Parameter Values by Actuator Model 25 5 3 5 Absolute positi...

Page 4: ...waveform 72 5 12 Display All Monitor List 73 6 CC Link setting 75 6 1 Station number setting 76 6 2 Communication baud rate setting 77 6 3 Occupied station count setting 77 6 4 Parameter setting by P...

Page 5: ...operation indication of the point table method Example 112 8 2 Remote register method 116 8 2 1 Positioning operation indication of the remote register method Example 116 9 Troubleshooting 121 9 1 Al...

Page 6: ...the responsibility of the person who has determined its compatibility with the product This person should also continuously review all specifications of the product referring to its latest catalog inf...

Page 7: ...ck for possible failure by using a mechanical protective function and periodical checks to confirm proper operation Note that the CAUTION level may lead to a serious consequence according to condition...

Page 8: ...tance or replacement parts Please consult your nearest sales branch For any failure or damage reported within the warranty period which is clearly our responsibility a replacement product or necessary...

Page 9: ...to the EMG Forced stop of the input output signal CN6 1 When wiring I O connector LE CSNA or I O cable LEC CSNA 1 is required EMG Forced stop cannot be controlled with CC Link Please put the wiring f...

Page 10: ...ssory of Mitsubishi Electric System Service Co Ltd Product number K05A 502 306 00 6 USB cable LEC MR J3USB 7 Setup software MR Configurator2TM LEC MRC2E 8 Main circuit power supply connector CNP1 Acce...

Page 11: ...te register Point table control by writing the point table data to the driver Remote register method setting See 8 2 Remote register method CC Link setting See 6 CC Link setting Home position return S...

Page 12: ...te 3 Flicker display Alarm reset or warning Note 1 When alarm warning No is displayed Flicker display Flicker display When alarm occurs alarm code appears Servo amplifier power OFF Waiting for CC Link...

Page 13: ...ning ON the servo on RYn1 Note 3 A Alarm Warning The alarm No warning No that occurred is displayed Refer to section 10 4 8 8 8 CPU error CPU watchdog error has occurred Note 4 0 0 b Note 4 Test opera...

Page 14: ...le Note 4 MC NFB RA Servo motor Servo amplifier Emergency stop Note 6 Servo on RA Emergency stop OFF MC ON MC SK Note 6 Note 7 1 Power supply input terminal Supply specified power supply 2 Connect the...

Page 15: ...e pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse differential line driver 24VDC power supply Note 4 Note 8 Proximity dog Forward rot...

Page 16: ...DI 1 EMG etc Servo amplifier Switch Approx 5mA DICOM VCES 1 0V ICEO 100 A 24VDC 10 150mA Approx 5 6k 2 Digital output interface DO 1 A maximum of 2 6V voltage drop occurs in the driver If polarity of...

Page 17: ...in layout of the communication connector CN1 on the driver unit is shown below DA DG DB SLD FG Servo amplifier CN1 CN1 The driver and programmable driver CC Link master unit are wired as shown below R...

Page 18: ...er MR J3 T option unit CC Link connector CN1 Termination register Programmable controller CC Link master unit 4 Insert the power line Insert the core of the cable into the opening and tighten it with...

Page 19: ...ear numerator 1 PA07 CDV Electronic gear denominator 1 PA08 ATU Auto tuning mode 0001h PA09 RSP Auto tuning response 12 PA10 INP In position range 100 m PA14 POL Rotation direction selection 0 2 Exten...

Page 20: ...stallation Method Perform installation according to the MR Configurator2TM instruction manual Manual ib0300160 pdf contained on the setup software MR Configurator2TM CD ROM The MR Configurator2TM soft...

Page 21: ...up the Setup software MR Configurator2TM Connect the PC and LECSC using the USB cable Turn on the power of the LECSC Start application MR Configurator2 Once the application starts the screen below wi...

Page 22: ...e model selection list Please select the model MR J3 T if using the LECSC Please select the station for the USB connection Please to match the value of parameter PC20 and the station Please select the...

Page 23: ...ifier connected with the USB cable Is the USB driver installed Is the USB driver which is compliant to Windows version installed Is the setting of Port for USB connection corresponding Please to match...

Page 24: ...J3USB must be purchased as an additional item From the Parameter menu select Parameter Setting the parameter setting window will open The explanation of the parameter item is displayed in MR2 Help Whe...

Page 25: ...ng If you do not the power to OFF it does not reflect the data in the driver Note2 Selected Items Write It writes the parameter values of the corresponding frame to the driver Single Axis Write It wri...

Page 26: ...01 in the case of setting to Incremental value command system Set the parameters of the PA01 to 0001 in the Basic tab Click on the Single Axis Write button Turn the power OFFand ON again The Parameter...

Page 27: ...ess than stroke 1000 200 Stroke 1000 or more Stopper type home position return stopper time msec PC09 100 200 Stopper type home position return torque limit value PC10 15 30 Regenerative option PA02 0...

Page 28: ...orque limit value PC10 15 30 Regenerative option PA02 0000 0000 Non 0002 LEC MR RB 032 Rotation direction selection PA14 0 1 Counter motors side 0 Counter motors side 1 Counter motors side 0 Counter m...

Page 29: ...osition return stopper time msec PC09 100 200 Stopper type home position return torque limit value PC10 15 30 Regenerative option PA02 0000 0000 Non 0002 LEC MR RB 032 0003 LEC MR RB 12 Rotation direc...

Page 30: ...msec PC09 100 200 Stopper type home position return torque limit value PC10 15 30 Regenerative option PA02 0000 0000 Non 0002 LEC MR RB 032 Rotation direction selection 4 PA14 0 0 Counter motors side...

Page 31: ...pe home position return torque limit value PC10 15 30 Regenerative option PA02 0000 0000 Non 0002 LEC MR RB 032 0003 LEC MR RB 12 Rotation direction selection 4 PA14 0 0 Counter motors side 1 Counter...

Page 32: ...wer is cycled on after setting Set this parameter when using the absolute position detection system Selection of absolute position detection system refer to section 5 7 0 Used in incremental system 1...

Page 33: ...lt in a parameter error Set value 0 1 2 Set the position data Specify the point table No Settheservomotorspeed Note Specify the point table No Position command Speed command 0 0 0 Note In this case al...

Page 34: ...meter Configuration PA06 PA07 Parameter Initial value Unit Setting range No Symbol Name PA06 CMX Electronic gear numerator 1 0 to 65535 PA07 CDV Electronic gear denominator 1 1 to 65535 Set the values...

Page 35: ...parameter perform Verify Click the Verify button on the Parameter Setting window Verfication Setting screen will display Please select the comparison target Amplifier Compare with the parameters set...

Page 36: ...ter storage method Click the Set To Default button on the Parameter Setting window Please click Yes button Parameter Block screen will display Set the default using an editable parameter as the browsa...

Page 37: ...splayed by selecting Jog Mode from the Test Mode menu in the setup software Click OK When using this function all external input signal operation will be diabled If controlling using a PLC or other up...

Page 38: ...rotation direction of the actuator does not change if you change the setting of parameter PA14 Rotation direction selection The actuator moves in the direction of Forward CCW button and Reverse CW bu...

Page 39: ...automatic ON selection 1 3 Ex If the servo on SON is automatically turned on with PD01 the actuator will always be in the servo on state when the control circuit power supply is turned on Therefore i...

Page 40: ...number BIN 0100 to Hexadecimal HEX 4 Binary number BIN 0000 to Hexadecimal HEX 0 If you want to the LSP and LSN to automatic ON Binary number BIN 1100 to Hexadecimal HEX C If you want to the EMG to a...

Page 41: ...t to PD01 to 1C04 in the I O setting tab Click on the Single Axis Write button Cycle the power for the changed Parameters to be enabled In this configuration the stroke end LSP LSN forced stop EMG and...

Page 42: ...interface and current Source PNP interface wiring and I O signal allocation 5 5 3 Signal Allocation using Setup Software The Parameter Setting window will be displayed when parameter list is selected...

Page 43: ...41 5 5 4 Allocation Examples 1 Example of Clear CR Settings Changing pins CN6 2 from Proximity dog DOG to Clear CR Changing PD06 from 002B to 0006 0 6...

Page 44: ...Click on the Single Axis Write button Cycle the power off then on for the parametersto be enabled Please allocate pins CN6 2 separately See LECSC Operation Manual section 6 4 2 for details on allocat...

Page 45: ...checked When parameters for PD06 PD11 have been changed It is necessary to confirm these are correctly assigned From the Monitor menu of the Setup Software select I O Monitor The I O Monitor window o...

Page 46: ...ion selection 1 and PD14 External DI function selection 3 in Hexadecimal HEX When using signal of the servo on SON by the I O signal CN6 When using signal of the Automatic manual selection MD0 by the...

Page 47: ...d PD14 to 0801 in the I O setting tab Click on the Single Axis Write button Cycle the power for the changed Parameters to be enabled This setting should allocate CN6 each input signal according to the...

Page 48: ...indow opens Click OK When using this function external input signal operation will be disabled When controlling from a PLC or upper level device the power must be turned off and then on Check Command...

Page 49: ...ctuator moves in the direction of Forward CCW button and Reverse CW button Check the command impulse unit electronic gear enabled The electronic gear duty set to PA06 PA07 will be enabled See LECSC Op...

Page 50: ...rate if this is set to 0 If the rotation speed is too low this may cause vibration check the actuator while changing settings Movement speed mm s must be converted into rotation speed r min See below...

Page 51: ...d for each actuator The acceleration deceleration time must be converted from the acceleration deceleration speed See below for the conversion formula Calculating Acceleration deceleration conversion...

Page 52: ...ction 5 3 4 for setting values for PA06 PA07 in each actuator If parameters PA06 PA07 are set according to LECSC Operation Manual Simplified Edition section 5 3 4 the travel distance of the actuator p...

Page 53: ...celeration time deceleration time etc must be configured There are 31 points of point tables to be used when 1 station is occupied and 255 points when 2 stations are occupied 5 7 1 Point table List Us...

Page 54: ...table chosen 3 Operation is performed in accordance with consecutive point tables without a stop When a different rotation direction is set smoothing zero command output is confirmed and the rotation...

Page 55: ...a stroke more than 1000mm set parameter PA05 Feed function selection to 0001 and the Feed length multiplication STM Multiplier value to x10 Set the feed length multiplication STM Multiplier of target...

Page 56: ...TM Multiplier Feed length multiplication STM Multiplier Feed unit m Target position input range mm 1 999 999 to 999 999 10 9999 99 to 9999 99 100 99999 9 to 99999 9 1000 999999 to 999999 For actuators...

Page 57: ...n data mm Set to a value within the stroke range If electronic gear parameters PA06 PA07 are set according to LECSC Operation Manual Simplified Edition section 5 3 4 The smallest unit for actuator mov...

Page 58: ...below for the conversion formula Example using a 20 mm Lead Actuator with target travel speed of 500 mm sec The rotation speed must be a value between 0 and the allowable actuator speed The actuator...

Page 59: ...nt ms 3000 r min 60 S 8 mm 1000 3000 mm s2 133 ms The acceleration time constant deceleration time constant defines the time in ms when the motor rotations of 3000 min are met The acceleration time co...

Page 60: ...nt table number Press Start The actuator will set the position at which the power was turned on as the home position 0 and move towards the defined point table position Check parameters PA06 PA07 para...

Page 61: ...are select Save As Please specify location to be saved Please enter any file name Click Save Files Saved prm2 Settings files for parameters PA PB PC PD Note Always upload current parameters from the d...

Page 62: ...saved Parameters From the Parameter Setting window in the setup software select Open Please specify location of the file Please select the file you wish to import parameters prm2 Click Open Parameter...

Page 63: ...ase enter any file name Click Save Project will be saved in the specified folder If you change the drive path name it will be saved in the drive path name project name folder you have changed Note Alw...

Page 64: ...om the Project menu in the setup software select Open Please select the drive path name project name that you want to read parameters are stored Please select the file you wish to import project mrc2...

Page 65: ...63 5 10 Saving Loading Point table 5 10 1 Saving Point table From the Point Table window in the setup software select Save As Please specify location to be saved Please enter any file name Click Save...

Page 66: ...ad saved Point table From the Point table window in the setup software select Open Please specify location of the file Please select the file you wish to import point table ptb2 Click Open Point table...

Page 67: ...h graph monitor With the setup software MR Configurator2TM LEC MRC2E monitor graph function the motion waveform during electric actuator operation can be obtained as described below Click Monitor Grap...

Page 68: ...ger conditions and horizontal axis of the graph 3 types analogue waveform analogue 1 to 3 and 4 types of digital waveform digital 1 to 4 can be set 1 Time Set the horizontal axis time axis of the grap...

Page 69: ...are displayed Click of Level Condition to set the condition For Motor speed when the operation direction is positive Level should be100 and when the operation direction is negative Level should be 10...

Page 70: ...e droop pulse on the deviation counter is displayed in units of 1 pulse Note Any area beyond the display range 32768 pulses to 32767 pulses is clamped and displayed in red 1pulse 8 Speed command The s...

Page 71: ...will occur when margin is zero pulses 16pulse 18 Settling time The settling time for position control is displayed The method for measuring the settling time can be selected from the separate axis se...

Page 72: ...waveforms can be captured and displayed Click the Start button every time measurement fresh capture is required The advantage of this method of capturing the waveform is a waveform will not be updated...

Page 73: ...er conditions in 5 11 1 2 are satisfied the operation waveforms can be captured When the time set in 5 11 1 1 has passed after the acquisition start the acquisition of the waveforms will complete and...

Page 74: ...ed and save the data Waveform data file extension gpf2 will be prepared If the waveform condition needs to be checked it can be displayed on the graph window Click the Save Image button Select the fol...

Page 75: ...displayed for LECSC No Name Function Display range Unit 1 Current position The actual current position where the machine home position is assumed as zero is displayed 9999999 to 9999999 10STM mm 2 Com...

Page 76: ...rameter PA02 correctly according to the regenerative brake option The guideline is 80 or less 0 to 100 12 Effective load ratio The continuous effective load current is displayed The effective value is...

Page 77: ...C X16 X12 X5 1 Connection cable CC Link Ver 1 10 compliant cable Shielded 3 core twisted pair cable Transmission format Conforming to HDLC Remote station number 1 to 64 Note Cable length Communication...

Page 78: ...tion of programmable driver remote device station c Max number of connected units 42 Note that the following conditions must be satisfied 1 a 2 b 3 c 4 d 64 a Number of 1 station occupying units b Num...

Page 79: ...a maximum of 31 points are usable 255 points become usable when 2 stations are occupied Remote register based positioning is applicable only when 2 stations are occupied Refer to LECSC Operation Manu...

Page 80: ...CC Link parameter by PLC EX When Mitsubishi Electric Corporation GX works2TM master unit QJ61BT11N is used When refresh device X1000 Y1000 W0 or W100 occupies 2 stations If other equipment is used ref...

Page 81: ...d LSP 3 RXn4 Limiting torque TLC RYn5 Reverse rotation stroke end LSN 4 RXn5 Reserved RYn6 Automatic manual selection MDO RXn6 Electromagnetic brake interlock MBR RYn7 Temporary stop Restart TSTP RXn7...

Page 82: ...ion 4 DI3 RXnD Dynamic brake interlock DB RYnE Point table No selection 5 DI4 RXnE Position range output POT RYnF Clear CR RXnF RY n 1 0 to Reserved to Reserved RX n 1 F RY n 1 F RX n 2 0 Position ins...

Page 83: ...bit RWwn 7 Reserved RWwn 7 Reserved Note 1 n depends on the station number setting 2 Specify the code of the lower 16 bit as the monitor code of 32 bit data 3 When the parameter No PC30 setting is 0 s...

Page 84: ...a home position return Keeping RYn1 ST1 ON for JOG operation performs rotation in the forward rotation direction Forward rotation indicates the address increasing direction 2 In incremental value com...

Page 85: ...2 When starting operation turn RYn4 LSP RYn5 LSN to ON Turning it to OFF causes a sudden stop resulting in servo lock A stopping method can be changed in parameter No PD20 When not using the forward r...

Page 86: ...mal or error RYn8 RYn8 Instruction code execution demand COR Turning RYn9 COR ON executes the processing corresponding to the instruction code stored in remote register RWwn 2 After completion of inst...

Page 87: ...at a stop is rotated even one pulse by an external factor it develops torque in an attempt to compensate for a position shift When the shaft is locked mechanically after Movement completion RXnC MEND...

Page 88: ...emental value RY n 2 B Reset RES Keeping RY n 1 A or RY n 3 A RES ON for 50ms or longer allows an alarm to be deactivated Some alarms cannot be deactivated by Reset RY n 1 A or RY n 3 A RES Refer to s...

Page 89: ...ut turns OFF in any of the following cases 1 Servo on RYn0 SON is turned OFF 2 Forced stop EMG is turned OFF 3 Reset RY n 1 A or RY n 3 A RES is turned ON 4 Alarm occurs 5 Forward rotation stroke end...

Page 90: ...fer to Speed instruction execution demand RY n 2 0 RX n 2 0 Speed instruction execution completion Refer to Position instruction execution demand RY n 2 1 This device is required when using the extern...

Page 91: ...urns on at the same time When demanding 32 bit data specifying the lower 16 bit code No and turning RYn8 to ON sets the lower 16 bit data to RWwn and the upper 16 bit data to RWrn Data is stored in th...

Page 92: ...2 0 is turned ON the point table No is set to the driver On completion of setting RX n 2 0 turns ON When the point table is not used set the position command data When the lower 16 bits are set to RW...

Page 93: ...Wwn to RWwn 3 are executed normally RWrn 3 Reading data Data corresponding to the read code set to RWwn 2 is set When 2 stations are occupied Remote register Signal name Description RWrn Monitor 1 dat...

Page 94: ...wer 16bit 16bit 0006h Command remaining distance upper 16bit 16bit 0007h 0007h 0008h 0008h Point table No 16bit No 0009h 000Ah 000Ah Feedback pulse value lower 16bit 16bit pulse 000Bh Feedback pulse v...

Page 95: ...me Monitoring RXn8 turns to ON at the same time Monitor data 1 RWrn Data demanded by Monitor 1 RWwn Monitor data 2 RWrn 1 Data demanded by Monitor 2 RWwn 1 For 32 bit data set the lower 16 bits of the...

Page 96: ...per 16 bit RWrn 1 Upper 16 bits of data demanded by Monitor 1 RWwn Monitor data 2 lower 16 bit RWrn 5 Lower 16 bits of data demanded by Monitor 2 RWwn 1 Monitor data 2 upper 16 bit RWrn 6 Upper 16 bit...

Page 97: ...tion data in the point table set in parameter No PA05 Travel multiplying factor 0300 1000 0200 100 0100 10 0000 1 0010h Current alarm warning reading Reads the alarm No or warning No occurring current...

Page 98: ...TL1 bitA CSL bitE bit3 DI5 bit7 PC bitB INC bitF 0042h Input device status 2 Reads the statuses OFF ON of the input devices bit 0 to bit F indicate the OFF ON statuses of the corresponding input devic...

Page 99: ...load inertia moment to servo motor shaft inertia moment Return unit times Ratio of load inertia moment 00B0h Home position within 1 revolution position lower 16bit CYC0 Reads the lower 16 bits of the...

Page 100: ...p name is stored 0301h 1 to 03FFh 255 Data form of parameter Reads the data format of each No of the parameter group read with code No 0200h The decimal value converted from the 2 lower digits of the...

Page 101: ...constant set to the requested point table No is returned 0801h 1 to 08FFh 255 Deceleration time constant of point table No 1 to 255 The decimal value converted from the 2 lower digits of the code No...

Page 102: ...xecution completion RXn9 turns to ON at the same time Read the read data set to Reading data RWrn 3 while Instruction code execution completion RXn9 is ON The data set to Reading data RWrn 3 is held u...

Page 103: ...No 8200h to RAM These values are cleared when power is switched off The decimal value converted from the 2 lower digits of the code No corresponds to the parameter No An error code is returned if an i...

Page 104: ...on time constant data RAM command of point table Writes the acceleration time constants of point table No 1 to 255 to RAM These values are cleared when power is switched off The decimal value converte...

Page 105: ...mal value converted from the 2 lower digits of the code No corresponds to the point table No Convert the values into hexadecimal before setting 8E01h 1 to 8EFFh 255 Acceleration time constant data EEP...

Page 106: ...d RYn9 Write in execution Respond code RWrn 2 Set the write instruction code 8000h to 911Fh to Instruction code RWwn 2 and the data to be written data to be executed to Writing data RWwn 3 in hexadeci...

Page 107: ...r related to Instruction code Writing data Error related to Position instruction data Point table No Error related to Speed instruction data Point table No Code No Error Details 0 Normal answer Instru...

Page 108: ...et PC set parameter write inhibit PA19 to 000C Home position return parameter When performing home position return set each parameter as follows Choose the home position return method with parameter N...

Page 109: ...ion Since the machine part collides with the machine be fully lowered The machine and stopper strength must be increased Home position ignorance Servo on position as home position The position where s...

Page 110: ...d position speed setting Only when two stations are occupied Position speed specifying system selection RY n 2 A Turn RY n 2 A ON Stopper type home position return Parameter No PC02 3 Stopper type hom...

Page 111: ...he point table selection earlier considering the delay time of CC Link communication 2 Turns ON when the torque reaches the value set to Forward rotation torque limit parameter No PA11 Reverse rotatio...

Page 112: ...ions occupied Parameter No PA30 Remote register based position data setting point table No speed setting auxiliary function invalid Remote register based position data speed data setting auxiliary fun...

Page 113: ...t be used Incremental value command specifying system Remote input absolute value incremental value selection RY n 2 B Remote input absolute value incremental value selection RY n 2 B Continuous posit...

Page 114: ...aluecommandsystem Automatic operation mode selection MD0 Automatic manual selection RYn6 Turn RYn6 ON Point table selection DI0 to DI7 Point table No selection 1 RYnA Point table No selection 2 RYnB P...

Page 115: ...le No selection 2 DI1 RYnB RYnB Point table No selection 3 DI2 RYnC RYnC Point table No selection 4 DI3 RYnD RYnD Point table No selection 5 DI4 RYnE RYnE Point table No selection 6 DI5 RY n 2 3 Point...

Page 116: ...the position data set to the point table Turning RYn1 ON for a home position return immediately starts a home position return Keeping RYn1 ON for JOG operation performs rotation in the forward rotatio...

Page 117: ...2 to RX n 2 9 Ready RXn0 Trouble ALM 6ms or more 3ms or less Note 2 4ms or more 6ms or more Note 2 4ms or more Point table No 1 Point table No 2 Movement completion RXnC Note 1 Reverse rotation start...

Page 118: ...Remote register based position speed specifying system is selected In the case always set an acceleration deceleration time constant in the point table No 1 Automatic operation mode MD0 Automatic manu...

Page 119: ...ble No 1 0000h Refer to name and function column 4 Selection of automatic manual MD0 Signal name Device name Description Device No Remarks 1 station occupied 2 stations occupied Automatic manual selec...

Page 120: ...0 turns ON When the point table is not used set the position command data When the lower 16 bits are set to RWwn 4 and the upper 16 bits to RWwn 5 and RY n 2 0 is turned ON the position command data i...

Page 121: ...xecutes positioning once on the basis of the position data set to the point table Turning RYn1 ON for a home position return immediately starts a home position return Keeping RYn1 ON for JOG operation...

Page 122: ...on start RYn1 6ms or more ON ON OFF ON OFF Note 2 Position instruction execution demand RY n 2 0 Note 2 Speed instruction execution demand RY n 2 1 ON OFF Position instruction execution completion RX...

Page 123: ...1 Overload warning 1 At power on AE3 Absolute position counter warning A17 Board error AE6 Servo emergency stop warning A19 Memory error 3 AE8 Cooling fan speed reduction warning Flash ROM A1A Motor c...

Page 124: ...ition history is listed for alarms that occurred in the past Click Diagnosis Alarm Display of the setup software to display Alarm Display window Alarms warnings currently occurring in the driver displ...

Page 125: ...LEC OM06006 Dec 2015 6th printing No LEC OM06007 No JXC OMT0056 Sep 2016 10th printing No LEC OM06008 No JXC OMT0056 A Jun 2017 11th printing 4 14 1 Sotokanda Chiyoda ku Tokyo 101 0021 JAPAN Tel 81 3...

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