SmartJog 4.

User Manual
Important User Information Solid state equipment has operational characteristics differing from those of
electromechanical equipment. Because of this difference, and also because of
the wide variety of uses for solid state equipment, all persons responsible for
applying this equipment must satisfy themselves that each intended application
of this equipment is acceptable.
In no event will Rockwell Automation Korea, Ltd. be responsible or liable for
indirect or consequential damages resulting from the use or application of this
equipment.
The examples and diagrams in this manual are included solely for illustrative
purposes. Because of the many variables and requirements associated with any
particular installation, Rockwell Automation Korea, Ltd. cannot assume
responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation Korea, Ltd. with
respect to use of information, circuits, equipment, or software described in this
manual.
Reproduction of the contents of this manual, in whole or in part, without
written permission of Rockwell Automation Korea, Ltd., is prohibited.
Throughout this manual, when necessary, we use notes to make a user aware
of safety considerations.

Identifies information about practices or circumstances that can

WARNING cause an explosion in a hazardous environment, which may lead to
personal injury or death, property damage, or economic loss.

Identifies information that is critical for successful application and

IMPORTANT
understanding of the product.

Identifies information about practices or circumstances that can

ATTENTION
lead to personal injury or death, property damage, or economic loss.
Attentions help a user identify a hazard, avoid a hazard, and
recognize the consequence

Labels may be located on or inside the equipment, for example, a

WARNING drive or motor, to alert people that dangerous voltage may be
present.

Labels may be located on or inside the equipment, for example, a

BURN HAZARD drive or motor, to alert people that surfaces may be at dangerous
temperatures.

Trademarks not belonging to Rockwell Automation Korea, Ltd. are property of their respective companies.
 Table of Contents

Chapter 1
Installation Step 1 Select Language. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Step 2 Execute Installation Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Step 3 License Agreement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Step 4 Choose SmartJog Installation Folder. . . . . . . . . . . . . . . . . . . . . . . . 1-3
Step 5 Installation Complete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

Chapter 2
Interface Overview Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
New . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Close. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Save As . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Firmware Download. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Recent File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Connect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Connect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Read All Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Write All Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Disconnect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Delete All Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Comm Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Motor Sizing Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Servo ID Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Menu Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Log Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Tool Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Status Bar. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
About SmartJog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Quick Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
Menu Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
Work Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
Log Message Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

Chapter 3
Using SmartJog Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Create New or Open Project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Connect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

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Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Location Complete/Speed Coincidence . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Up To Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Servo Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Change Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Read Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Write Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Compare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Default Parameter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Digital . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Analog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Sampling Time Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Additional Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
Trigger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Trigger Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Trigger Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Sampling Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Trigger Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Trigger Edge. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Trigger Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Trigger Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Trigger Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Tool Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
Black Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
System and Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
Fault History Clear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
Reload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
Jog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Jog Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
Automatic Offset Adjusting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
Manual Offset Adjusting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
Auto Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
Parameter Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

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Fault Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

D/A Converter Channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Remove Current Feedback Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Alternate Gain Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Absolute Encoder Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Parameter Group7 Clear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
Drive Reboot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
Indexing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
Index Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
User Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
Clear All . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
Load Default. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
Read All Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
Write All Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
Jog Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
Index Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
Fault & Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

Chapter 4
Firmware Upgrade Step 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Step 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Step 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Step 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
Step 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

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 Chapter 1

Installation

Step 1 Select Language Execute the installation file, and then a user will be prompted to select the
language as shown below. Select the language for the installation and click
'Next'.

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Step 2 Execute Installation After language selection, the SmartJog Installation Wizard appears. click 'Next'
to continue.
Wizard

Step 3 License Agreement After reviewing the terms of the agreement, click 'Yes' to continue. Clicking
'No' will end the installation.

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Step 4 Choose SmartJog If a user want to change the folder in which to install the program, click
'Browse' to open the Choose Folder dialog box and select the folder a user
Installation Folder want. The default destination folder for SmartJog is as shown below. If a user
do not want to change the folder, click 'Next'.

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Step 5 Installation SmartJog is installed in the selected folder. click 'Finish' to close the wizard.
Complete

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 Chapter 2

Interface Overview

The SmartJog main window is divided into Menu, Menu tree, Work Space and
Log Message window.

Menu

Work Space
Menu Tree

Log Message Window

Detailed description of each menu is shown below.

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Menu File

New

You can select a new model to edit from the Model List window and create a
project. The project is named Untitled.

After the model is selected, the model name and menu tree appear on the left
side of the window.

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If a user click 'New' while editing another project, a user will be prompted to
save the project, and then a user can select a model.

Open

You can read a project file (*.prm) stored in PC. A project file contains servo
drive model information and parameters. If a user click 'Open' while editing
another project, a user will be prompted to save the project, and then the
Open File dialog box appears. Choosing a project file without clicking 'New'
will select a model automatically based on model information saved in the
project.

Close

You can close a project a user are editing. The tree menu for editing models on
the left disappears.

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Save

You can save a project a user are editing as *.prm in PC. After saving, the file
name is displayed on the window title.

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Save As

It functions as Save, but saves the project a user are editing with a different
name.

Firmware Download

It executes a separate program for the firmware update of servo drive. For
more information, refer to Firmware Upgrade.

Recent File

Just like the recent file function of a text editor, a user can select and read a
project from a list of recently-opened project files.

Exit

You can close the project and program.

Connect

Connect

For an untitled project, a user can open a communication port and read all
parameters. After a project is selected, clicking 'Connect' will open only the
communication port and does not read the parameters of servo drive. The
connect function is not activated until a project is created.

Read All Parameters

You can read all parameters of servo drive and update all the contents of the
window when communication is active.

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Write All Parameters

You can download all the contents of the Edit Parameter window into servo
drive where communication is active.

Disconnect

It closes a communication port.

Delete All Events

You can delete the contents of the Log Message window at the bottom of the
SmartJog window.

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Tool

Comm Setting

You can configure communication port, baud rate, data bits, parity, stop bits
and time-out.

Motor Sizing Program

You can execute a separate program to select motor size according to load
conditions.

Servo ID Setting

When a user use CSD3 Plus V3.00 or higher, RS-485 Multi-Point

communication is supported, so a user need to set the ID of packet
transmitted from PC based on servo ID. Changing CSD3 Plus servo ID
(Pr-0.12) on-line will change the packet ID automatically.

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View

Menu Tree

You can display the Item Tree menu window on the left side of the SmartJog
window.

Log Message

You can display the Log Message window at the bottom of the SmartJog
window.

Tool Bar

You can display the Tool Bar icons at the top of the SmartJog window.

Status Bar

You can display the Status Bar at the bottom of the SmartJog window.

Help

About SmartJog

You can display a window with basic information (version, manufacturer and
copyright) on SmartJog.

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Quick Help

It executes the user manual of SmartJog.

Menu Tree

The left most menu tree is for CSDJ Plus, CSDP and CSDP Plus series
models, the center menu tree is for CSD3 and CSD3 Plus series models, and
the right most menu tree is for CSD3 Plus series model with Indexing
Firmware. Selecting a menu in the tree structure will display the contents in the
work space.

Work Space When selecting an item in the menu tree, different contents appear in the Work
Space. For more information on the Work Space, refer to Using SmartJog.

Log Message Window The result of the changes a user made in the Work Space is displayed in the
Log Message window. Selecting Connect Menu-Delete All Events will remove
what is in the Log Message window.

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 Chapter 3

Using SmartJog

Connection Configuration

Click Tool Menu → Comm Setting or the Comm Setting icon to open the
Communication Setting window, and configure communication port, baud
rate, data bits, parity, stop bits and time-out. It is recommended to use the
default settings except for communication port and baud rate. The baud rate
that each model supports is shown below.
Model Firmware Version Baud Rate
CSDJ Plus, CSDP 9600 bps only
V2.1 or lower 9600 bps only
CSDP Plus
V2.2 or higher 9600bps, 14400bps, 19200bps, 38400bps, 56000bps, 57600bps
CSD3 57600 bps only
V2.50 or lower 57600 bps only
CSD3 Plus
V2.60 or higher 9600bps, 14400bps, 19200bps, 38400bps, 56000bps, 57600bps

1 Publication SMARTJOG-UM001B-EN-P February 2009

3-2 Using SmartJog

Create New or Open Project

Click File Menu → New or the New icon and select a model, which will create
an untitled project and display the tree menu. Selecting Parameter Group will
display parameter values, which are defined as default values in SmartJog.

Click File Menu → Open or the Open icon to open the Open File dialog box,
where a user can select a project file already stored in PC. After selecting a
project file, Click 'Open' to automatically select the model stored in the project
file and update parameter values in the Work Space.

Connect

In an untitled project or after opening a project, click 'Connect to start

SmartJog'. In an untitled project, click Connect Menu → Connect or the
Connect icon to open a port and read all information of servo drive to update
the Work Space. After opening a project, execute Connect to open a port and
read all information except parameters to update the Work Space.

Status Status Menu displays the status of servo drive and is read-only. Detailed
description of each item is shown below.

Publication SMARTJOG-UM001B-EN-P February 2009

 Using SmartJog 3-3

Control Mode

It indicates the control mode currently in use.

Location Complete/Speed Coincidence

It displays in connection with the location complete/speed coincidence

signals. There is a delay because the communication update cycle is slower than
the actual I/O output.

Up To Speed

It displays in connection with the /TG-ON signal which detects the rotation
status of a motor. It displays whether the actual motor speed is higher or lower
than the set value based on the rotation detection level set in SEt-16 for CSDJ
Plus, CSDP and CSDP Plus, and based on the level set in Pr-5.03 for CSD3
and CSD3 Plus.
For CSDJ Plus and CSDP, it is displayed as Torque Limited/Torque not Limited
in case of SEt-43 Digit.4=1.

Servo Status

It displays servo-ON/OFF, servo error and servo warning content.

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3-4 Using SmartJog

Parameter

Change Parameter

Double-click the parameter to change to highlight the entire parameter value.

After changing the value, click 'Enter' to download and change the parameter
value of servo drive.

Select Connect Menu → Read All Parameters to read all parameters of servo
drive and update SmartJog.
Select Connect Menu → Write All Parameters to download the entire contents
of the Edit Parameter window into servo drive.

Read Parameters

Unlike Read All Parameters, it reads only the parameter value of a selected
group and updates the Work Space.

Write Parameters

Unlike Write All Parameters, it downloads only the parameter value of a

selected group into servo drive.

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 Using SmartJog 3-5

Compare

Click the 'Compare' button to display the Select Project window.

Selecting a project will display the Compare window where a user can compare
the parameters of the current servo drive with the parameters stored in the
project. After enabling the check boxes, click 'Copy Checked Parameter Values'
to change parameters selectively. For those parameters which are changed only
when power is re-supplied, read the Warning window and try again to copy
their values. If a user copies the parameters, which are changed only when
servo is off, in servo-ON state, the Warning window appears and the values
will not be changed.

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3-6 Using SmartJog

Default Parameter Setting

This function is available only in off-line state. It resets the Parameter Work
Space back to the default factory settings.

Monitor Digital

Setup

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 Using SmartJog 3-7

Click the 'Setup' button to select variables to monitor. CSD3 and CSD3 Plus
support four channels, while CSDJ Plus, CSDP and CSDP Plus support three
channels. You can disable the check boxes all together by clicking the 'Clear'
button. After selecting channels, click the 'Setup' button to exit.

Start
Click the 'Start' button in the Digital Monitor main window to start
monitoring.

Analog

The screen structure of CSD3, CSD3 Plus and CSDP Plus Analog Monitor is
as shown above. CSDJ Plus and CSDP have a separate channel setup button as
shown below. The value in the middle adjusts the time division of the graph.

The Y axis consists of two channels, which indicate CH1 and CH2 from the
right. The X axis indicates the tick order, not time.

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3-8 Using SmartJog

Setup
You can open the combo list to select a channel and change line color.

Start
To draw a graph, click the 'Start' button, which will be then changed into the
Stop button.

Reset
Click the 'Stop' button to stop the monitor. Clicking the 'Reset' button once
will reset the graph, and clicking it one more time will reset the axis of
coordinates.

Sampling Time Period

The CSDJ Plus and CSDP drive does not send its data in a fixed time period.
The SmartJog shows a graph by recieving data which is requested in 9600 bps
speed, so its time period is not consistent accoridng to the data size and its
resolution is poor. Its average time period is 31.25 ms. The average time period
of CSD3, CSD3 Plus and CSDP Plus is as followings depending on its
communication speed.
Baud Rate Average Time Period
9600 bps 20 ms
14400 bps 15 ms
19200 bps 10 ms
38400, 56000, 57600 bps 5 ms

57600 bps is recommended for CSD3 Plus and CSDP Plus Analog Monitor.
Staircase phenomenon may appear with other speeds.
SmartJog V4.0 CSDP Plus Analog Monitor is available with CSDP Plus
Firmware V2.1 or higher.

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 Using SmartJog 3-9

Additional Features

Tool Bar

1. Resume All

You can restore the graph back to the previous stop state after pausing,
zooming or scrolling.
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Zoom In Back to the previous stop state

2. Pause All

You can pause the rolling of the graph, but the SmartJog graph data
reception continues.

3. Scroll

You can move the entire graph to go to a location a user wants to monitor
by clicking the screen and moving your mouse.

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Scroll the entire graph

You can move the graph for each channel by clicking the axis of
coordinates and moving your mouse. Clicking the X axis will move the
entire graph.

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3-10 Using SmartJog

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Scroll downward for CH1

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Move the entire graph to the left

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 Using SmartJog 3-11

4. Zoom

You can zoom in or out in the direction of the Y axis by clicking CH1 or
CH2 on the Y axis and moving your mouse.

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‫ٻ‬ Zoom out of CH1 on the Y axis

You can zoom in or out in the direction of the X axis by clicking the X axis
and moving your mouse.

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Zoom in on the entire X axis

5. Zoom Out

You can zoom out of the graph on the screen.

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Zoom Out

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3-12 Using SmartJog

6. Zoom In

You can zoom in on the graph on the screen.

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Zoom In

7. Zoom Box

You can drag & drop the location a user wants to zoom in on after pausing
the graph and selecting Zoom Box.

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Zoom in on the yellow circle on the left image

8. Cursor

You can click and move the vertical line cursor left or right to see x and y
values on the graph. Right-click at the cursor data display to display the
pop-up menu and select the cursor's channel.

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 Using SmartJog 3-13

The x value unit of the cursor is tick data, not time, so a user can calculate
the time between cursors by multiplying the number of tick deviations
between cursors by the sampling cycle.

9. Copy to Clipboard

You can copy a graph to the Clipboard in Windows.

10. Save to File

You can save a graph as a bitmap file.

11. Print
You can print a graph.

12. Print Preview

You can preview a graph before printing.

Save a graph as a discrete data file

You can see data in Microsoft Excel or a text editor by saving a graph as a
discrete data file. Right-clicking on the graph screen will display the Edit
pop-up menu.

Select the Edit menu and then go to the Control → File I/O tabs. Click
the 'Save' button in the Data Group box to enter a file name and save,
which will save graph data as a *.dat file.

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Pop-up Menu for Each Axis

This section describes the function of the pop-up menu which appears
when right-clicking on the X or Y axis.

1. Tracking Enabled

If data exceeds the limit of the Y axis on the graph, scale is automatically
changed to enable or disable the graph drawing function.

2. Zoom to Fit

You can zoom in on a graph to full scale.

3. Edit

It displays a dialog box where a user can change the settings of the
Oscilloscope Windows Control. This is the same as the dialog box where a
user can save a graph as a discrete data file. It is recommended to use the
default settings.

Trigger

Because the sampling cycle of Trigger Monitor is at least 200us, a user can
monitor excessive response characteristics during operation in a more detailed

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 Using SmartJog 3-15

way than Analog Monitor. Only CSD3, CSD3 Plus and CSDP Plus V2.1 or
higher support it.

Setup

Trigger Channel
Click 'Trigger Channel Setup' to select a channel to monitor.

Trigger Source
Click 'Setup' in Trigger Source to select the trigger standard signal. The I/
O signal can be the standard. It is recommended to select the same
channel as one of the trigger channels.

Sampling Time
You can set the sampling cycle of trigger data. The total time spent to
draw a graph can be calculated by multiplying the division setting value by
200us and the number of data. With the default settings, a user can draw
up to 300 ms.

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Trigger Data
You can set the amount of data that will be received after the completion
of the trigger data sampling.

Trigger Edge
You can select whether to capture at Positive (Rising) Edge or Negative
(Falling) Edge of the trigger source signal.

Trigger Position
You can specify the horizontal position of the trigger source signal by
dividing the entire graph
into 10 sections.

Trigger Level
You can draw a graph based on the trigger source signal corresponding to
the trigger level value
at the trigger position.

Trigger Source
The examples of Trigger Source:Velocity Feedback, Positive Edge, Trigger
Position 5, Trigger Level 5 are shown in the below picture.

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 Using SmartJog 3-17

Start
If a user clicks the 'Start' button, 'Triggering...' blinks until servo drive buffers
trigger data. When 'Trigger OK' appears, drawing a graph begins after
receiving the buffered data.

The graph below shows the result of setting Trigger Source as Speed
Instruction, Division as 5, Amount of Data as 30, Trigger Edge as Positive,
Trigger Position as 50% and Trigger Level as 5. The speed instruction is rising
in the middle of the graph.
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Tool Bar
It functions in the same way as in Analog Monitor.

Reset
It functions in the same way as in Analog Monitor.

Black Box

CSD3 and CSD3 Plus can save a variable value around the time when a fault
occurs, which allows a user to check the values of variables at the time of a
fault. Only CSD3 and CSD3 Plus support it.

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Setup

You can open the combo list for channel selection and set channels. CSD3
Plus does not support regenerative current. Only CSD3 supports it.

Load
Clicking the 'Load' button will receive data saved at the time of an error and
make a graph. You need to click the 'Load' button more than twice to create a
perfect graph because of the Auto Tracking function of a graph.

Reset
It functions in the same way as in Analog Monitor.
The graph below shows Speed Feedback (CH1), Torque Instruction (CH2)
and DC Bus Voltage (CH3). Three Y axes indicate CH1, CH2 and CH3 from
the right.

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WUWW WUWW WUWW WUWX WUWX WUWX WUWX WUWX WUWY WUWY WUWY WUWY WUWY WUWZ WUWZ WUWZ

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 Using SmartJog 3-19

System and Error

It displays the fault history and system information of the currently-connected

servo drive. On the left is the system information and fault history for CSD3
and CSD3 Plus, and on the right is those for CSDJ Plus, CSDP and CSDP
Plus.

Fault History Clear

Click the 'Fault History Clear' button to delete the fault history saved in servo
drive.

Reload

Click the 'Reload' button to update the fault history and system information.

Jog You can use SmartJog to execute special functions that servo drive can execute
independently.

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3-20 Using SmartJog

Jog Operation

This function operates servo drive independently without using the higher
control device. Clicking the 'Jog On' button in servo-OFF state will turn servo
on and switch to Jog operation mode. Clicking the 'Forward' button will make
a counterclockwise rotation, and Clicking the 'Reverse' button will make a
clockwise rotation.
Clicking the 'Save' button after changing the value in the Velocity field will
change the operation speed. Or a user can change the operation speed with the
Jog operation speed parameter in the Parameter Group2 related to speed
control. The acceleration/deceleration time parameter is also applied.

Test Run

This function provides forward/reverse velocity rotation on a fixed time

period. The operation speed and acceleration/deceleration time change are the
same as Jog Operation.

Automatic Offset Adjusting

You can remove the offset of the analog speed/torque instruction voltage. It is
recommended to use it in servo-ON state.

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 Using SmartJog 3-21

Manual Offset Adjusting

You can adjust the offset of the analog speed/torque instruction voltage
manually. Click the 'Increase' button to increase the offset counterclockwise.
Click the 'Decrease' button to increase the offset clockwise. Click the 'Save'
button to save the adjusted offset value. For CSD3 and CSD3 Plus, click 'ESC'
to restore the adjusted offset back to the previous value.

Auto Tuning

You can estimate the load inertia moment as compared with the motor shaft.
Make several forward/reverse operations repeatedly. For CSD3 Plus V3.00 or
higher, generate weak vibration to detect the resonance frequency after several
forward/reverse rotations.

Parameter Reset

It initializes parameters. After initializing, a user must re-supply power to keep

some parameters valid.

Fault Reset

It resets faults.

D/A Converter Channel

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3-22 Using SmartJog

You can set variables of the D/A output for CSDJ Plus and CSDP. CSD3,
CSD3 Plus and CSDP Plus do not support it.

Remove Current Feedback Offset

You can remove the offset of Analog to Digital Converter which measures
motor current. Only CSD3 and CSD3 Plus support it.

Homing

If a user clicks the 'Homing' button in servo-ON state, the motor rotates until
Z-pulse is outputted. The motor stops when Z-pulse is outputted. Only CSD3
and CSD3 Plus support it.

Alternate Gain Backup

You can back up the basic gains for CSD3 and CSD3 Plus, namely Pr-1.01, 02,
03, 04 and 05, in Pr-6.11, 12, 13, 14 and 15, respectively. Only CSD3 and
CSD3 Plus support it.

Absolute Encoder Reset

You can reset the multi-turn data and fault flag of an absolute encoder. For
absolute encoder-related faults, a user needs to click 'Fault Reset' separately
after Absolute Encoder Reset. Only CSD3 and CSD3 Plus support it.

Parameter Group7 Clear

This function resets Engineering Parameter Group Pr-7.xx. This is accessible

only with a password. Only servo drive engineers are allowed to use this
function. Only CSD3 and CSD3 Plus support it.

Drive Reboot

You can reset DSP by generating Watchdog Overflow forcibly. This functions
in the same way as re-supplying power to servo drive. Only CSD3 Plus V2.7 or
higher supports it.

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 Using SmartJog 3-23

Indexing The CSD3 Plus Servo Drive provides position control for one axis without a
motion controller. Firmware Version 7.10 is required to use indexing. Refer to
the CSD3 Plus Servo Drive Indexing Function User Manual (CSD3P-UM002) for
more information about indexing.

Index Table

You can set up the positions, units, and velocity profiles for max. 8 positions.

No. Position Accel(ms) Velocity(rpm) Decel(ms) Dwell(ms)

Pr-3.09
1 Pr-2.19 Pr-2.05 Pr-2.20 Pr-5.23
Pr-3.10
Pr-3.11
2 Pr-2.19 Pr-2.06 Pr-2.20 Pr-5.24
Pr-3.12
Pr-3.13
3 Pr-2.19 Pr-2.07 Pr-2.20 Pr-5.25
Pr-3.14
Pr-3.15
4 Pr-2.19 Pr-2.08 Pr-2.20 Pr-5.26
Pr-3.16
Pr-3.17
5 Pr-2.19 Pr-2.09 Pr-2.20 Pr-5.27
Pr-3.19
Pr-3.20
6 Pr-2.19 Pr-2.10 Pr-2.20 Pr-5.28
Pr-3.21
Pr-3.22
7 Pr-2.19 Pr-2.11 Pr-2.20 Pr-5.29
Pr-3.23
Pr-3.24
8 Pr-2.19 Pr-2.18 Pr-2.20 Pr-5.30
Pr-3.25

Unit
Position Unit. When the 1st digit of Pr-0.18 is '0', the unit is 'pulse'. If it is '1',
the unit is 'User Unit'.

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3-24 Using SmartJog

User Unit
The reference values which are used for unit conversion between user
unit(μm) and 'pulse' are dispalyed.
• User reference: A μm = B pulses
• Pulse
display the value of Pr-0.23

• um
display the value of Pr-0.24

Clear All
Displays all the values in the Index Table as '0'. There is no change to the value
of each parameter, but only its display is cleared to '0'.

Load Default
Reads the inital values of the parameters in the Index Table. The value of each
parameter is not reset to its initial value, but only its display is reset to its initial
value.

Read All Parameters

Reads the set values of the parameters in the Index Table. The pulse and μm of
the User unit are also displayed.

Write All Parameters

Saves the values in the Index Table into parameters. The pulse and μm of the
User unit are also saved into the parameters.

Teaching

A user can set up an arbitrary position, which is located manually or by Jog

operation, as an Index Position. When a user changes position, the position is
displayed in the Current Position in an appropriate Position Unit. If a user
wants to use the position as an Index Position, the user can select the Check
Box beside 'POS#?' of the Index Position box. Then the value in the Current
Position is displayed in the Position box. The position value which is displayed
in the Index Position can be saved by clicking 'Write All Parameter'. '0' is saved
to a parameter if there is no value in the correspodning box. Therefore, it is
recommended to read the saved position values by clicking 'Read All
Parameter' before Teaching.

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 Using SmartJog 3-25

The teaching window is shown below.

Jog Operation
Speed operation without a motion controller. A user can click Jog On button
in Servo-OFF status, then the status is changed to Servo-ON and the
operation mode becomes Jog operation. Clicking Forward button causes CCW
rotation and clicking Reverse button causes CW rotation.
If a user wants to change velocity, chanage velocity in the Velocity editing box
window and click save button. A user can change velocity with Jog Operation
Velocity parameter in the Velocity Control Parameter Group 2. This is also
applicable to acceleration/deceleration time parameter.

Current Position
Displays current position. This is displayed even during Servo-OFF or
Incomplete Homing.

Unit
Displays Position Unit.

Index Position
When a user selects the Check Box beside Index Position POS#1~8, the
Current Position value of Jog Operation의 Current Position is displayed in the
Index Position. When a user deselects the Check Box, there is no change to the
display.

Read All Parameters

Displays Index Position

Write All Parameters

Saves the values of Index Position into the drive

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3-26 Using SmartJog

Fault & Limit

Software Limit
Reads or sets up Software Limit
Menu Description
SW Positive Limit Reads or sets up Software Limit(+)
SW Negative Limit Reads or sets up Software Limit(-)
Read Reads Software Limit
Write Saves the Software Limit on the screen

Status
Displays the key status of Fault & Limit
Menu Description
HW- Displays the status of Hardware Limit (-)
HOME Displays the status of HOME
HW+ Displays the status of Hardware Limit (+)
SW- Displays the status of Software Limit(-)
FAUL Displays the status of Fault
SW+ Displays the status of Software Limit(+)
Fault Reset Resets Fault

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 Chapter 4

Firmware Upgrade

Step 1 Disconnect SmartJog and select File Menu-Firmware Download to execute

the Flash Downloader program. Agreeing to the terms of the license
agreement will proceed to the next step.

1 Publication SMARTJOG-UM001B-EN-P February 2009

4-2 Firmware Upgrade

Step 2 Select the product and firmware.

Step 3 After finishing communication setting, click 'Get Info' to update on-line
information.

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 Firmware Upgrade 4-3

Step 4 Click 'Ready' to display a window with instructions for each product. Review
and follow the instructions. click 'Start' to continue.

Step 5 A window appears to describe the firmware download status for each product.
If the status is okay, click 'Next' to exit.

Feedback Visit Allen-Bradley OEMax homepage at http://www.oemax.co.kr to give us

your opinions on possible improvements of your servo drive, servo motor and
software, as well as errors a user experienced. We will carefully review your
opinions and apply them to next updates.

Publication SMARTJOG-UM001B-EN-P February 2009

4-4 Firmware Upgrade

Publication SMARTJOG-UM001B-EN-P February 2009

Publication SMARTJOG-UM001B-EN-P - February 2009 5 Copyright © 2008 Rockwell Automation Korea. All rights reserved.