XA-PA4 PC-Software

XA-PA4
PC Software for XA-A Series Controllers

User’s ManualRev 2.50

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XA-PA4 PC-Software

XA-PA4 License Agreement

Thank you for choosing XA-PA4.
The following agreement must be agreed to use Software program, XA-PA4, developed by
SUS Corporation (hereinafter referred to as SUS). Unless the agreement was made, the
XA-PA4 must be uninstalled from User’s PC.
１． This License Agreement is effective immediately after users started to use XA-PA4.
２． All copyrights for XA-PA4 are reserved by SUS.
３． XA-PA4, which is developed by SUS, may be used only for purposes of licensee’s
business. Only authorized users may be allowed to use.
４． Unless prior agreements were made in written documents created by SUS, XA-PA4
and any associated documents shall not be duplicated, modified or quoted to others.
５． Licensees acknowledge that SUS shall be not liable for any results caused by use of
XA-PA4 by users. (Reference to XA-PA4 Waiver Clause) Licensees acknowledge that
Licensees shall waive indemnifications for any damages arising out of the use of XA-PA4
by users.
６． SUS may terminate this Agreement in the event where the Licensee is in default of anyof the terms and conditions of this Agreement and/ or made any serious incidents todiscontinue this Agreement.
７． SUS may change any specifications of XA-PA4 without a prior notice. SUS will notprovide any warranty for XA-PA4.

XA-PA4 Waier Clause●Due to the use of XA-PA4, Licensees acknowledge that SUS shall not be liable for any
troubles or damages to Licensees’ properties including, but not limited to, Licensees’ PC,
peripheral equipment and/ or data.

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Table of Contents
Introduction .................................................................................................................................... 4
Instructions and Directions for Use of XA-PA4 .............................................................................. 4
XA-PA4 Outline.............................................................................................................................. 5
XA-PA4 Operation Environment .................................................................................................... 6
XA-PA4 Installation ........................................................................................................................ 7
Uninstallation ............................................................................................................................... 11
Communication Cable Connection .............................................................................................. 13
Start XA-PA4................................................................................................................................ 13
Communication Port Configuration.............................................................................................. 14
XA-PA4 Display ........................................................................................................................... 15
Menu............................................................................................................................................ 16
Toolbar ......................................................................................................................................... 26
Status & Reset Button.................................................................................................................. 28
Status Bar .................................................................................................................................... 29
Position Data Edit ........................................................................................................................ 30
JOG Teaching .............................................................................................................................. 33
Motion Test .................................................................................................................................. 36◆ Selective Move ................................................................................................................... 36◆ Continual Move................................................................................................................... 37
Position correction function.......................................................................................................... 39
Program ....................................................................................................................................... 42
Monitoring/ Program Execution ................................................................................................... 44
Settings........................................................................................................................................ 46
Online Device Change.......................................................................................................... 46
Offline Device Change.......................................................................................................... 46
Parameters .................................................................................................................................. 47
Contact regarding XA-PA4........................................................................................................... 49

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Introduction
XA-PA4 is PC software to support XA-A series controllers by SUS Corp.
Data such as position data, program data, parameter data, etc. can be edited simply andeffectively. Also, the edited data can be saved in a file and/ or printed out.
With this software, we hope that you feel comfortable to use XA-A series controllers.

Instructions and Directions for Use of XA-PA4● Make sure to turn OFF the power of XA-Ax when communication cables are connected
and disconnected.
(When USB-RS232C conversion cables are used, do NOT disconnect thecommunication cables and/ or USB-RS232C conversion cables during this PC
software running.)● Use a communication cable specified by SUS (PC232-8-CAB) when XA-PA4
communicates data with User’s PC.
● Do NOT turn OFF the power of XA-Ax while the XA-PA4 is communicating data with
User’s PC. Connect the communication cables firmly to avoid disconnection of cables
during the data communication.
● When USB memories are used for the data storages, do NOT eject them while thissoftware is running.
● At JOG teaching for position data, the communication may stop if buttons for
Forward and Backwards were repeatedly and quickly clicked. Avoid such usage ofthe buttons.

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XA-PA4 Outline
The following is the brief descriptions of functions supported by XA-PA4.

◆ Data Editing
The following data can be edited:(1) Position Data
(2) Program Data
(3) Parameters
Edited data can be saved in a file and/ or printed out. Data communication allows to read, writeand verify the edited data.

◆ Monitoring/ Program Execution and Abort
It allows monitorring input/ output, and current values and program status.
Output can be forced to toggle.
In addition, it allows monitoring flags, variables, and position varaiables.
It allows selecting a certain program and executing/ stopping it.

◆ XA Motion Test
● Selective Move
Certain target position Nos. can be selected up to maximum 15 positions and any motion
order can be set as you prefer.
Timer (100 msec increment) can be set for the next motion.
● Continuous MoveIt allows moving to one position No. or continuous multiple position Nos.
Timer (100 msec increment) can be set for the next motion.

◆ Teaching
It allows teaching a target position for XA. The target position can be taught in a jog
through communication or MDI.
A position No. can be selected on the same screen. After that, the position can be verified
by moving XA to the position No.

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XA-PA4 Operation Environment
In order to operate XA-PA4, the following environment is required.

◆ Supporting OS and PC Models
OS and PC Models that support this software are as follows:
Windows 2000
Windows XP(32Bit)Windows Vista (32Bit)
Windows 7(32Bit/64Bit)
Windows 8(32Bit/64Bit)
Windows 8.1(32Bit/64Bit)
Windows 10(32Bit/64Bit)
in IBM PC and PC/AT compatible PC (DOS/V)※ Regardless of the above OS, this software may not perform correctly depending on the type of PC.
※ Note that this software may not perform correctly in 64Bit OS.

◆ CPU & Memory
Pentium 200MHz (or equivalent products) or better is recommended.
Extended memory, 512 MB, or more is recommended.

◆ HDD Available Space
Available space 10 MB or more is required.

◆ Display
Resolution 1024 x 768 or better
256 colors or more

◆ Serial Port (RS-232C)
One of RS-232C serial ports, COM 1 through 16, is required to be available.
※ When RS-232C serial ports are not available, the communication can be made through USB port
by using USB-RS232C converter.

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XA-PA4 Installation
XA-PA4 requires to be installed in HDD of PC. This section instructs how to install XA-PA4.
1

Download (or save) the setup programfor XA-PA4 in your PC. Two types offiles are available to download.
(http://global.sus.co.jp/download).
The file names are as follows:
XA-PA4_###.exe
XA-PA4_###_nf.exe(Bundled
Software with NetFramework4.0)
Both files are self-extracting ones. If
NetFramework4.0 is not installed onyour PC, connect to the Internet andinstall the bundled software.
※### represents the number of thesoftware version.

2

Click on a link for the self-extracting file
“XA-PA4_###.exe” to download. Selectan option “Save this program to HDD”
and click OK.

Confirm

Click3

Create a new folder, if necessary.
Specify the appropriate folder todownload the file.
Here, a new folder called “temp” wascreated as an example and specified asa location to save the file. Then, click“Save” to save the file.

Specify a folder

Click

Verify file nameSUS Corporation-7-

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4

Look for the downloaded file in“MyComputer” or “Explore” and double
click on it.

Double Click5

After double clicking on it, specify anappropriate folder to extract it. As an
example, the file is extracted in the“temp” folder where the downloaded file
was saved.

Confirm

Click

6

Double click on “XAPA4vXXX_setup.exe”
in the extracted files and start installing.

Double Click※ If the system files and shared files are accessed by other applications during the installation, the installation
may be unsuccessful. Close all other applications prior to the installation.
※ When an older version of XA-PA4 was installed in PC, the newer version cannot be installed in the same PC.
The older version of XA-PA4 is to be uninstalled. Refer to “Uninstallation” in page 11.

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7

Once the setup screen came up,
clickon “Next”.

Click
8

Read and agree on the License
Agreement of XA-PA4. Then, click OK.
※

If not agreed, the installation will beterminated.

After agreed, click “Next”.

9Type in user name and company.
Then, click “Next”.
Input

Click

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10 The software program will be installed
under “Program Files” as a default. A
new folder “XA-PA4V###E” will be
automaticallycreatedandthesoftware will be installed there.
If the installation location is correct,
click “Next”.

To change a folder location to
install

If a folder is to be changed, click“Change Folder” and specify a folder
to install.
Click※ ### represents the version number.

11

If the information such as theinstallation location, user name, andcompany name is correct,

Click

12 Click “Finish”.

Click

13 After the installation, the folder andfiles for downloading such as “temp”
folder,”XA-PA4_###E.exe”,
and“Setup.exe” may be deleted.

May be deleted.

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Uninstallation
Uninstallation means to delete all files associated with the software from HDD in PC. Heredescribes how to uninstall XA-PA4 from HDD in PC.

Windows 2000、Windows XP
1

Go to [Start]–[Control Panel] fromStart menu. Open Control Panel.

Click

2

Double click on “Add and Remeve
Programs”.

Click
3

Select “XA-PA4 Ver ###” from “Addand Remeve Programs”.
Click “Remove”.

Click

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4

Before removing XA-PA4, a validation
window will display “Do you want toremove XA-PA4 Ver#.## from yourcomputer?”
Click “Yes” to remove.

Click

Windows Vista ,1

Windows 7

Go to [Start]–[Control Panel] fromStart menu. Open Control Panel.
Click

2

Doubleclick
Programs”.

on“Uninstall

Click

3

Select “XA-PA4” in “Programs andFunctions” and right click on“Uninstall”.
Right Click“User Account Control” window will
be displayed. Click “Yes”.

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Communication Cable Connection
PC Side・Connect Dsub9 pin connectors of communication cables (PC232-8-CAB) to serial ports (COM1
to 16).
・Use conversion connectors if the serial ports are not Dsub9. (The conversion connectors areprovided by others.)
・Use USB-232C conversion cables (USB-RS232C) if any serial ports are not available in yourPC.
<NOTE> If USB-232C conversion cables were relocated, the serial port number will bechanged accordingly. Once the cables were relocated, update the serial port
numbers in the PC software each time.
For more details, see “Communication Port Setup”.
Controller Side
Connect MiniDin side of the communication cable (PC232-8-CAB) to the controller. Hold thecontroller and connect the cable gently.

Start XA-PA4
After the installation is completed, a shortcut icon for XA-PA4 will be created in Start
menu. Click on the shortcut icon to open the software. Unless the default location ischanged, the icon will be registered in the following location.
[Start]–[Program]–[XA-PA4 V###] ※ ### represents the version number.

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Communication Port Configuration
In order to successfully communicate data between PC and XA-A Series Controllers, COM
numbers assigned by OS should match with communication port numbers in PC software.
First, verify what number of COM the communication port is assigned in Windows.
Windows Setting Comfirmation[Start]-[Settings]-[Control Panel]-[System]-[Device Manager]
It allows comfirming the COM number in the Device Manager.
For a device from Sanwa Supply,

For a device from Corega,“ATEN USB to Serial Bridege (COM *)“CG USBRS232R COM Port (COM *)Example:COM5Then, comfirm XA-PA4 Communication Port.
XA-PA4 Communication Port Setting
On Menu Bar, [View] -[Option]
Select the same COM No. as the XA-PA4 communication port No. in the Device Manager. Here,COM 5 for a device from Sanwa Supply is displayed as the example.

Select an appropriate COM No.
Then, click OK.

Communication port settings will be saved in PC, once it is set. This setting will be no longer
required after that, unless the USB-232C conversion cable is plugged in another slot. If the USB
connector was plugged in another slot, check and/ or update the serial port No. settings in yourPC each time.
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XA-PA4 Display●This is brief explanations for each portion of the window.

(2) Toolbar(5) Edit for Position Data

Buttons to execute commands. Frequently
used buttons are displayed. The buttons
allow executing each command by clicking
once. (See page 26 – 27)

Edit position data by inputting
values or jog teaching. (Seepage 30 -.)(3) Status & Reset Button
RS-232C serial port status,
communication progress, andalarm status for the controller
are displayed. (See page 28.)(1) Menu
Menu to execute each commandis displayed. (See page 16 – 25.)(6) Edit for Program Data

(4) Status Bar
The information for the controller version,
position data input rage, and eachactuator is displayed. (See page 29.)

Program data (see page 39.) is edited.

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Menu
Comments on Each Menu

【File】[New - Position Data][File]-[New]-[Position Data]

This is for creating new position data. Specify the start position number and end
position number. The specified data range will be displayed.
The data can be inserted or deleted from the end.
If the position data has changes before creating new one, the validation will be
displayed whether the data is to be saved.
If the data is to be saved, click “Yes”. If not, click “No”.
[New - Program Data][File]-[New]-[Program Data]

This is for creating new program data.
Specify new program No. in a program No. selection window.
Depending on the specified program No., the required number of steps to create theprogram may vary. (No.1 - No.15: 500 steps、No.16 – 50: 100 steps)[Open - Position Data][File]-[Open]-[Position]

Position data saved in a file will be loaded and displayed.
Specify the name of the position data file (*.xad).
The data within a range saved in the file will be displayed.
[Open - Program Data][File]-[Open]-[Program Data]

Program data saved in a file will be loaded and displayed.
Specify the name of the program data (*.prg).
The program data saved in the file will be displayed in the new program screen.
[Close][File]－[Close]

A currently active screen will be closed.

SUS Corporation- 16 -XA-PA4 PC-Software[Save][File]-[Save]

Data in either the active position data screen or the program screen will be saved.
If no file name is specified (i.e. when the title of the position data is displayed as[New]), save as a new file name.
[Tip]● [Save] icon on a toolbar performes the same.
[Save as][File]-[Save as]

Data in either the active position data screen or the program screen will be saved as a
specified name.
For position data, specify the start position No. and the end position No. to be saved.
[Tip]
The extension of position data files is “.xad”.
If the file name is specified as “data1”, the file is saved as “data1.xad”.
The extension of program data files is “.prg”.
If the file name is specified as “prog1”, the file is saved as “prog1.prg”.
[Printer Settings][File]-[Printer Settings]

It allows setting printers. Select a printer as preferred.
[Print][File]-[Print]

Data in either the active position data screen or program screen will be printed.
Specify the start position No. and the end position No. to be printed.
[Tip]
Print the data saved in a file AFTER loading in this PC software.
[Close][File]-[Close]

XA-PA4 will be closed.
If any changes were made for active position data or program data, the validation will
be displayed whether to be save. Otherwise, it will close with no validation.

SUS Corporation- 17 -XA-PA4 PC-Software【Edit】[Copy][Edit]-[Copy]

It allows copying position data or program data in an active screen.
It will not allow copying cells over multiple columns.
[Paste][Edit]-[Paste]

It allows pasting copied data to an active position data or program data screen.
Multiple cells can be pasted, but it will not allow pasting over multiple columns.
If copied multiple rows are multiple of copied rows, repeated data will be pasted.
[Insert Row]

[Edit]-[Insert Row]

It allows inserting rows to a table of position data or program data in an active screen.
If multiple rows are selected and inserted, the selected number of rows will beinserted.
[Delete Row]

[Edit]-[Delete Row]

It allows deleting rows to a table of position data or program data in an active screen.
If multiple rows are selected and deleted, the selected entire rows will be deleted.

SUS Corporation- 18 -XA-PA4 PC-Software【View】[Enlarge Icons][View]－[Large Icons]

It allows toggling Large/ Small of icons on the menu bar.
Set a size as preferred.
[Parameters][View]-[Parameters]

A parameter window is displayed and allows editing parameters. Main functions are as
follows:(1) Reading parameters from controllers,(2) Writing parameters to controllers,(3) Loading parameters from a saved file, and(4) Saving parameters in a file.
See “Parameters” in page 44 regarding contents and commands of each item forparameters.

SUS Corporation- 19 -XA-PA4 PC-Software[Options][View]-[Options]◆ Communication Port No.
Communication port No. will be configured. Communication ports from COM1 to
COM16 are configurable.
As a default, COM1 is configured. If the configuration was incorrect and the PC
communicated with the controller, XA-PA4 may be terminated.
When the communication was not successful, verify the communication port
configuration and retry the communication.
Refer to “Communication Port Configuration” on page 14.
◆ Position Calculation
Target position data is processed based on pulse. Thus, if the unit is displayed as
mm and the input position is indivisible by the pulse, a position that is divisible bypulse will be automatically found. The input position will be modified to the closest
position.
If the input value was halfway between positions, it allows configuring to round up
or down the position to the appropriate position (mm).
◆ Display Unit
It allows configuring a display unit either in mm or pulse for target positions. If thedisplay unit has changed from mm to pulse, the pulse for each position will be
re-calculated based on the displayed value in mm. Thus, the value will be updated.
※ Target positions are processed in pulse inside controllers and PC. There aresome restrictions such as for position inputs.
◆ Language
It allows setting a language to display. Select English or Japanese.
If the language settings have changed, close XA-PA4 and restart XA-PA4.
After restarted, the settings will be reflected.

Command Buttons[Settings]: It allows changing settings. Then, the option window will be closed.
[Cancel]：It allows canceling setup changes. Then, the option window will be closed.

SUS Corporation- 20 -XA-PA4 PC-Software【Position Data】[Read][Position Data]-[Read]

It allows reading position data from controllers.
The data will be read by setting up the start position No. and the end position No.
[Check][Position Data]-[Check]

It allows checking if the position data in the screen is out of configured range.
[Write][Position Data]-[Write]

It allows writing position data on the screen to controllers.
The data will be written by setting up the start position No. and the end postion No.
[Verification][Position Data]-[Verification]

It allows verifying position data in the screen with one in controllers.

SUS Corporation- 21 -XA-PA4 PC-Software【Program】[Read][Program]-[Read]

It allows reading program data from controllers.
The data will be read by specifying program No.
[Check][Program]-[Check]

It allows checking program data in the screen.
[Write][Program]-[Write]

It allows writing program data in the screen to controllers.
The data will be written by specifying program No.
[Verification][Program]-[Verification]

It allows verifying program data in the screen with one in controllers.
[Delete][Program]-[Delete]

It allows specifying program Nos. and deleting them from controllers.
Multiple programs can be selected and deleted in the screen.

SUS Corporation- 22 -XA-PA4 PC-Software【Controller】[Version Verification][Controller]-[Version Verification]

It displays the version of XA-A Series Conroller.
Eample：<Main> 100<Axis 1> 101[Alarm Reset]

It displays that the main version of XA-A Series
Controller is represented as “100”, Axis 1 as “101”, etc.
(If the version information was not successfully
obtained, ”no version information” will be displayed.)[Controller]-[Alarm Reset]

It allows resetting alarms of controllers in communications.

【Monitoring/ Program Execution】
Input/ Output Status
Once the Monitoring/ Program Execution screen was opened, the input/ output status will
start to be monitored and displayed. A symbol “〇”represents that the input/output is ON. A
symbol “－” represents the input/output is OFF.
Output Change
During monitoring, the output status can be toggled by double clicking on a certain output
display.
Current Value Display
Current values for each axis are displayed.
Monitoring for Flags, Variables, and Position Variables
Flags, variables, and position variables for each program can be monitored.
Program Execution/ Abort
Program progress status can be monitored. Also, it allows executing or aborting a programby selecting program No.
Alarm Reset
If an alarm went off during monitoring, an alarm-reset button will be displayed. Once thecause of the alarm is removed and the alarm reset button is clicked, the alarm will be reset
and the monitoring will be resumed.
● [Monitoring/ Program Execution] allows communicating with controllers. Connect
PC to XA-A Series Controllers with communication cables.

SUS Corporation- 23 -XA-PA4 PC-Software【Settings】[Online][Settings]-[Online]

It allows PC to go online.
[Offline][Settings]-[Offline]

It allows PC to go offline.
[Settings]-[Online Device Settings][Online Device Settings]

When changing a device in PC software, it allows updating only necessary parameters tochange the device by communicating with controllers.
If the device is not configured successfully, the position will not be displayed correctly. Verify
if correct devices are used.
[Offline Device Settings][Settings]-[Offline Device Settings]

It allows changing a device only on PC without communicating with controllers.
If the device is not configured successfully, the position will not be displayed correctly. Verify
if correct devices are used.

SUS Corporation- 24 -XA-PA4 PC-Software【Window】[Cascade][Window]-[Cascade]

When multiple program windows are displayed, the windows will be cascaded.
[Tile Horizontally][Window]-[Tile Horizontally]

When multiple program windows are displayed, the windows will be tiled horizontally.
[Tile Vertically][Window]-[Tile Vertically]

When multiple program windows are displayed, the windows will be tiled horizontally.

【Help】[Contents][Help]-[Contents]

Contents of the help file are displayed.
[About][Help]-[About]

The software version information is displayed.

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Toolbar(1) (2) (3) (4) (5) (6) (7) (8) (9)(10)(11)(12) (13) (14) (15) (16) (17)(18)(1) Create New Position Data: represents [File]-[New]-[Position Data]
Position data in a screen is initialized and new position data is created.
(2) Open Position Data File : represents [File]-[Open]-[Position Data]
Position data saved in a file is loaded and displayed.
(3) Create New Program Data: represents [File]-[New]-[Program Data]
Program data in a screen is initialized and new program data is created.
(4) Open Program Data File : represents [File]-[Open]-[Program Data]
Program data saved in a file is loaded and displayed.
(5) Save: represents [File]-[Save]

If the file has a filename, the position data will be overwritten. If the file does not have afilename, the file is to be saved as a new filename.
(6) Save As: represents [File]-[Save As]

If the file has a filename, the position data will be overwritten. If the file does not have afilename, the file is to be saved as a new filename.
(7) Insert Row: represents [Edit]-[Insert Row]

It allows inserting rows to a table in an active position data screen or program screen. Clickon a location where the rows are to be inserted and execute it.
(8) Delete Row: represents [Edit]-[Delete Row]

It allows deleting rows from a table in an active position data screen or program screen.
Select rows to be deleted and execute it.
(9) Copy: represents [Edit]-[Copy]

Click on rows or cells to be copied and execute it.
(10) Paste: represents [Edit]-[Paste]

Click on locations where the data is to be pasted and execute it.

SUS Corporation- 26 -XA-PA4 PC-Software(11) Read Position Data

: represents [Position Data]-[Read]

Position data is read from controllers and displayed.
(12) Read Program Data: represents [Program]-[Read]
Program data is read from controllers.
(13) Data Check:

It allows checking data in an active position data screen or program screen. Click on ascreen to check data and execute it after displaying the screen up front.
(14) Write Data

: represents [Position Data]-[Write] or: represents [Program]－[Write]

It allows writing data an active position data screen or program screen to controllers. Clickon a screen to write data and execute it after displaying the screen up front.
(15) Data Verification: represents [Position Data]-[Verification] or: represents [Program]-[Verification]

It allows verifying data in an active position data screen or program screen with controllers.
Click on a screen to verify data and execute it after displaying the screen up front.
(16) Print: represents [File]-[Print]

It allows printing position data or program data displayed in a screen.
(17) Monitoring/ Program Execution: represents [Monitoring/ Program Execution]
It allows monitoring current values, flags, variables, and position variables from external I/Oand or each axis. Also, the program progress status will be monitored.
(18) Teaching:

Open a position data screen and go to a Jog/ Teaching screen. With a communication
cable, go online and execute it.

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Status & Reset Button
(5)

(1)

(2)

(3)

(4)

(6)

(7)

(1) Online/ Offline Button
It allows toggling between Online and Offline
Verify if COM Nos. of communication ports match with the PC software configuration when
the communication is made for the first time. Refer to “Communication Port Configuration”
on page 14 for details.
(2) Serial Port Status Display● Color of Light： White ・・・Serial Port (RS-232C) is closed. Not communicated. (Offline)
Green・・・Serial Port (RS-232C) is open. Communicating or ready tocommunicate (Online)(3) Alarm Status Display● Color of Light：White・・・Normal
Red ・・・Alarm occurred(4) Alarm Reset Button
After alarms occurred for controllers, it allows resetting alarms by clicking on it.
(5) Communication Progress
Communication progress will be displayed in a progress bar.
(6) Communication Status
Communication status will be displayed.
(7) Cancel on Communication Process
When communication process takes some time, a cancel button will be displayed. The
process can be cancelled by clicking on it.

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Status Bar

(1)

(2)

(3)

(1) Version Information And Contents of Errors for Controller, etc.
The version will be displayed when the version was read from the controller. When errors
occurred, the contents will be displayed. If the controller is not communicating with PC,
nothing will be displayed.
Example: Controller’s version 100(If the controller’s version information was not successfully read, “no version
information” will be displayed.)
It allows displaying the input range of the cell and the units of input items by clicking on thecell to input position data.
※Controller’s version will not be displayed during offline.

(2) Device Information 1 for Actuator at Selected Axis
It allows displaying the required pulse for the actuator at the selected axis to move by
1mm.
(3) Device Information 2 for Actuator at Selected Axis
It allows displaying the conversion value of motion distance by one pulse for the actuator at
the selected axis.

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Position Data Edit
The position data screen allows editing position data. (Disabled axis will neither be displayed noredited.)Position data can be read from files or controllers. It can also be saved in files or written tocontrollers. In addition, it allows verifying with position data displayed in the screen.
Refer to page 32 for position data configuration.
In order to edit position data, there are two ways.
(Method A) Go to [Position Data] – [Read] on the menu bar.
(Method B) Go to [New] – [Position Data] on the menu bar.
If the controller is communicatable, Method A, which is easier, is recommended.
(Method A) Go to [Position Data] – [Read] on the menu bar.
In this example, positions No. 1 through 15 are specified and read from controllers.
※ The controllers will communicate with PC. Make sure to connect communication cables before
executing.

Device (Disabled axis will be hidden.)

The information such as a stroke and velocity type will be read for each axis by communicatingwith controllers. In addition, position data configured by controllers will be displayed.

SUS Corporation- 30 -XA-PA4 PC-Software(Method B) Go to [New] – [Position Data] on the menu bar.
Go to [New] – [Position Data] on the menu bar. The
following screen will be displayed.
<Online>If controllers are ready to communicate with PC, selectthe online option.
Once the online option is selected, information such as astroke and velocity type will be read throughcommunication with controllers. Position data will be
newly created. Thus, the data will be configured as “N (nomotion)” for all.
<Offline>
If controllers are not ready to communicate with PC, select the offline option.
When the offline option was selected,(i)
Select a stroke and velocity type.
(ii)
Load parameter files.
One of the above will be required to select.
As an example, (i) Select a stroke and velocity type was selected.
The following screen will be displayed to select axis configurations for XA-A series
Controllers and a velocity type/ stroke.

If a wrong device were selected, the target position
would not be configured correctly. Before editing,make sure if the appropriate device is correctly
configured.

Displayed position data in the screen will be all“N (no motion)”.

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Position Data
Target positions (including +/- signs and “N”) are to be determined for each position No. Input setup values
by selecting appropriate cells in the PC software.
※ Neither velocity nor acceleration is to be configured in Position Data. They are configured in programs.

Items

Configurations And Input Restrictions
Target positions for each position No. are configured in a unit of mm (orpulse). (The unit of position is configurable as options.)
However, note that values with +/- make differences for target positions.

TargetPosition(Position)

Configurable input range
・0 to stroke length in mm
・Configurable values are from 0 to manufacturer specific value limit(parameter: value configured in STROKE) in pulse.
N: No motion+/- (signed): Move from current position to positive side or negativeside.
Unsigned ： Move to absolute positions based on home position.
(Depending on the command, there are some difference. Verify with thecommands.)
Depending on the input methods (signed/ unsigned) mentioned above
for target positions, note that the motions will be different.

Comments

Input comments when comments are required for each position No.
Select a cell and input comments by keyboard. To edit, select the celland press a space key.
Maximum number of characters to input is 20.
※ The comments will not be written to controllers. Thus, nothing will be displayed in
the screen when position data was read from controllers.
It is recommended that position data be saved in a file before writing it to controllers.

Input Function to Modify Target Position
Target position data is processed inside controllers based on pulse.
Thus, in mm display for the position input, if positions indivisible by pulse were input,
divisible positions will be automatically found. Then, the input positions will be modified tothe closest values to them.
As a result, the data is slightly different from the input position data by keyboard. However,
it is not a defect of the PC software.
Generally, if the values are indivisible, the pulse will be rounded. If the indivisible pulse is
0.5 pulse, either rounding up or down to position data (mm) can be configured by[View]-[Option]-[Position Calculation] on the menu bar. The default settings are rounding up.
Thus, 0.5 pulse will be rounded up to 1.

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JOG Teaching
In JOG teaching screen, it allows teaching target positions.
Axes will move to a certain target position in jog feed or pulse feed. The position data will be
loaded to a table.
With a teaching function, it will be easier to edit target positions.

For more information on each command button, refer to page 36.

Teaching Procedure for Target Position① Position Data Display
In order to start teaching, it is required to display position data in the PC software.
There are two ways as follows:(Method A) [Position Data] – [Read] on the menu bar (Recommended)(Method B) [New] – [Position Data] on the menu bar
Display position data in one of the above methods.
Click② Start Teaching
Click on [JOG Teaching] in a position data screen
to start teaching.
Perform homing if homing is not completed.
If there are updated values (in red) in the position data, a validation will come up whether
to write them to controllers or not. If the updated values are to be reflected to controllers,
click OK.

Updated Values in Red

Click
SUS Corporation- 33 -XA-PA4 PC-Software③ Set Positions in Jog/ Constant Rate of Feed/ Direct Teaching※1
Select teaching and click on Forward/ Backward
buttons for each axis to set a certain position.
If XA-A Series Controllers come with encoders, press
Direct Teaching button. Direct Teaching can be
performed by turning off the excitation of the motor※2.
※1 Direct Teaching cannot be performed for axes without encoders.

Click※2 If the velocity type is a low velocity type (L), the axes cannot be pushed byhands. For the low velocity type, it is performed by rotating a manual slot.

④ Write Configured Position
Once the position was set, select a position No. to write the displayed current value in.
To select the position No., click on a row of the position No. to be written.
After selecting the position No., click on [Position Write] button. The written value will be
written to controllers.
Until the teaching is completed, the motion and the downloading will be repeated.

Click⑤ Motion Test
Select a position No. to move to and click on “Move” button.
In a motion test, generally, each axis will move in the following order.
Z axis goes up

X and Y axes ( and axis 4, if available) move

Z axis goes down

If [Z Axis Protection Disable] is checked, note that all axes will move simultaneously.
If the motion velocity is to be changed, click on [Settings] button and configure the velocity andacceleration.

⑥ Teaching Complete
Once all teaching is completed, click on [MDI] button or [Move] button.

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Definitions of Commands◆ [Position Write] Button
Read the current values of axes in, whose checkboxes are checked, and write them to aselected position No.

Teaching Buttons
The buttons can move enable axes among axes 1 through 4. Also, they can move only specificaxes by checking the checkboxes.
◆ Forward Button※
This button allows moving forward enable axes by jogging or constant rate of feed (1 pulse,
10 pulses, or 100 pulses)◆ Backward Button※
This button allows moving backward enable axes by jogging or constant rate of feed (1 pulse,
10 pulses, or 100 pulses)※ It may stop communicating if the Forward and Backward buttons were hit hard repeatedly. Do NOT hit the
buttons hard repeatedly.

◆ [Direct Teaching] Button And [ON]/ [OFF] Button for Motor
These buttons will be available if there are axes with encoders amoung axes 1 through 4.
When [Direct Teaching] button is clicked, [ON]/ [OFF] button for the motor excitation will beavailable. It allows turning off the motor excitation.

Motion◆ [Move] Button
This button allows moving axes to selected position Nos. It also allows selecting axes tomove.
◆ [Settings] Button
It allows setting velocity/ acceleration and holding positions for axis 3 (Z axis) in motion.

Definitions of Option Buttons
Axes behaviors are to be configured such as in whether jog feed or specific pulse feed forteaching.
○ JOG Feed
JOG Feed will be performed. While the move button is kept pressing, the axes will keep
moving. Once the button is released, they will stop.
JOG Feed Velocity
The motion velocity can be changed for teaching. Prior to the motion, the velocity setting (%)
is to be adjusted by an up/ down button. If the velocity is to be set as half as the configured
velocity, set it as 50 (%).
○ Constant Rate of Feed (100 pulses/ 10 pulses/ 1 pulse)
Every time the move button is clicked, it moves only by the selected pulses.

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Motion Test
Motion tests allow XA-A Series Controller to move to a specific position. There are two options
available. One is an alternative motion. The other is a sequencial motion.

◆ Selective Move
Certain position Nos. can be input in a preferred order. The motion can be performed insequence or one by one.
Fifteen positions can be input at maximum. The input range of position No. is from 1 to 3000.

[Move] Button
The motion will start. When “Continual” is selected, axes will start moving to input positions insequence. When “Step” is selected, axes will move to position by position in the input order.
If “Repeat” is checked, the axes will stop once the motion reached to the input position.
If “Repeat” is unchecked, the motion will not stop until [Stop] button is clicked.
[Pause] Button
The motion will pause. If [Move] button is clicked after that, the axes will move to next
position in the input order.
[Stop] Button
The motion will stop. If [Move] button is clicked after that, the axes will move to the first input
postion.
Move Way
Move way can be selected either “Continual” or “Step”“Continual” motion allows moving to input positions in sequence.
“Step” motion allows moving to position by position in input order.
[Repeat]If “Repeat” is unchecked, XA will stop once the motion reached to the input position. If
repetitive motions are required, “Repeat” checkbox is to be checked.
[Timer]If delay is required between motions, “Timer” checkbox is to be checked and the delay
duration is to be input in 100 msec increments. (e.g. “10” represents 1 sec.)[Clear] Button
It allows deleting all of input target positions all at once.

SUS Corporation- 36 -XA-PA4 PC-Software◆ Continual Move
Axes can move to sequence multiple positions in sequence. (in a selection of “Continual”)
Axes can also move to only one specific position. (in a selection of “Step”)[Start Position No.]Specify the start position in the sequencial motion.
[End Position No.]Specify the end position in the sequencail motion.
※ The position Nos. can be configured by using a left-right button or slider.

[Move Way]“Continual” motion allows moving to configured target positions in sequence.
“Step” Motion allows moving to a position.
※ The position Nos. can be configured by using a left-right button or slider.

[Timer]If delay is required between motions, “Delay” checkbox is to be checked and the delay
duration is to be input in 100 msec increments. (e.g. “10” represents 1 sec.)[Repeat]If “Repeat” is unchecked, it will stop once the motion reached to the configured position. If
repetitive motions are required, “Repeat” checkbox is to be checked. The motion will be
repeated until [Stop] button is clicked.
[Move] Button
The motion will start.
“Continual” motion allows moving to configured target positions in sequence.
“Step” Motion allows moving to a position.
If “Repeat” is unchecked, the axes will stop once the motion reached to the input position.
If “Repeat” is checked, once the motion reached to the end position No., the axes will comeback to the start position No. The motion will be repeated until [Stop] button is clicked.
[Pause] Button
The motion will pause. If [Move] button is clicked after that, the axes will move to next
position in the input order.
[Stop] Button
The motion will stop. If [Move] button is clicked after that, the axes will move to the start
position No.

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Miscellaneous Common Screen
Motion Complete Position No.
When XA completed the motion, the position No. will be displayed. (After homing, “HO” will
be displayed.)

Current Value for Each Axis
When XA completed the motion, the current value for each axis will be displayed.

[Home] Button
Homing will be performed.

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Position correction function
It is a function to correct the position of the position data set. I will start in "Position correction"
button.
(※ correction only tilt correction)[Corrected image]（補正前）ポジショ
ンデータ

Correction

Base2
Base1
Position Data
Actual Position

Before correction
After correction

SUS Corporation- 39 -XA-PA4 PC-Software[Screen Description][Select Axis] combobox
It set the axis number axis that is connected to the X-axis · Y-axis.
[Select Base Pos] Combobox
You can set the PosNo to become base when performing correction to one base-2 base.
[Target Pos] Combobox
It want a range of PosNo target to be corrected.
[Position Data ]Show me the position data of the X-axis · Y-axis that is selected in the Selection.
Row background color is attached is PosNo that is selected in the base.
[Graphical Disp] button
It graphic display the location of the position data.

*The position that is selected in the base point fill.
*The position that is chosen now in the top of position dataof the highlight paint it over, and is indication.

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Various [Teaching] buttons
It is Teaching buttons to move it at the true position.
(as for the movement like Teaching screen)[basic point position] text box
I display the position of a chosen basic point.
[true position] text box
I set a position in text box now by pushing the "position uptake" button.
[position revision] a button
I calculate the position revision and overwrite the value that position data were corrected.
The confirmation screen which updates the data of the controller when I close a position revisionscreen
It is displayed.

[Correction procedure]Start

Set the X-axis · Y-axis in the axis selection

Set the base point in the base PosNo selection

Set the target PosNo to correct

The teaching button Move tothe real position of base point 1

Of base 1 "Position Get" run

The teaching button Move tothe real position of base point 2

Of base 2 "Position Get" run"Position correction" run

End

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Program
XA –PA4 allows editing programs.
Edited programs can be written to controllers and/ or saved in a file. They are also verified with
controllers and/ or printed.
※ For programs, refer to XA-A Series Controller User’s Manual.
Edit Program
There are two ways to edit programs.
(Method A) A program currently written are loaded and modified.
Go to [Program] – [Read] on the menu bar.
(Program Read button can be clicked from a toolbar.)
A program No. screen will be displayed for selection. Select a
program No. to read and click OK.
(During reading, do NOT click on other screens.)(Method B) A new program is created.
Go to [File] – [New] – [Program Data] on the menu bar. A program No. screen will be
displayed for selection.
Depending on the program No., the available number of steps may vary.
(No.1 to No.15: 500 steps, No.16 to No.50: 100 steps)
Once the program list is displayed, start editing.
Add New Row
After selecting the last row, press ↓ (downarrow) key. A new row will be added at thebottom.
Insert Row
Select a certain row where a new row is to beinserted. Then, follow the following procedure.
● Toolbar: [Insert] button● Menu: [Edit] – [Insert Row]
● Shortcut Key: Ctrl + Insert
Delete Row
Select a certain row to delete. Then, follow thefollowing procedure.
● Toolbar: [Delete] button● Menu: [Edit] – [Delete Row]
● Shortcut Key: Shift + Delete

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Copy Row
Select rows to copy and follow the following procedure.
● Toolbar: [Copy] button● Menu: [Edit] – [Copy]● Shortcut Key: Ctrl + C
Paste Row
Select rows to paste copied data and follow the following procedure.
● Toolbar: [Paste] button● Menu: [Edit] – [Paste]● Shortcut Key: Ctrl + V
Check Program
It allows checking a program for errors. If there are errors, the row numbers and the contents will
be displayed.
● Toolbar: [Check Data] button● Menu: [Program] – [Check]
Write Program
It allows writing a program to controllers.
● Toolbar: [Write Data] button● Menu: [Program] – [Write]
Save Program Files
It allows saving a created program to a current file.
● Toolbar: [Save] button● Menu: [File] – [Save]
Save Program Files (Save As)
It allows saving a program to a file. Even if errors occurred in the program, it allows saving the
program after displaying the errors.
● Toolbar: [Save As] button● Menu: [File] – [Save As]
Verify Program
It allows verifying a program in a screen with a selected one in controllers.
● Toolbar: [Verification] button● Menu: [Program] – [Verification]
Print Program
It allows printing a program in a screen. Even if errors occurred in the program, it allows printing
the program after displaying the errors.
● Toolbar: [Print] button● Menu: [File] – [Print]

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Monitoring/ Program Execution
Go to [Monitoring/ Program Execution] on the menu bar. The monitoring window will be displayed.
It allows verifying input/ output status and current values, and changing the output status. In
addition, flags, variables, and position variables can be monitored by switching tabs. It also
allows executing and terminating a program while the program performance is being monitored.

I/O & Current Value
After starting monitoring, input status will be displayed in “INPUT”. Output status will be
displayed in OUTPUT. The display will be as follows:- :OFF/ON
Current values for each axis will also be displayed.
Change Output Status
Double click on the output status during monitoring. The status can be toggled.

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Flag/ Variable
It allows monitoring flags, variables, and position variables.

Click [Add] button to register flags and variables to be monitored.
Registered items will be saved even after closing the screen so that the registered items will be
displayed when the monitoring screen was opened next time.
Program Execution/ Termination
Click on Program tab in Monitoring/ Program Execution screen. It allows monitoring a running
program and executing/ terminating a program specifying the program No.
To open the Monitoring/ Program Execution screen, go to [Monitoring/ Program Execution] on
the menu bar. Click on Program tab in the Monitoring/ Program Execution screen.
Program Execution
Select a certain program No. in thetable at the upper left corner. Then,click [Run].
Program Termination
Select a currently running program in
the table at the bottom. It allows
terminating the program one by one
by clicking [Stop] button.
All Program Termination
Click on [Stop All]. It allows
terminating all the running program.

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Settings[Settings] on the menu bar allows modifying settings for device.
[Online Device Modification] allows modifying stroke, etc. and parameters associated withthem.
For more detail settings, go to [View] – [Parameters] and open a parameter window. It allows
modifying parameters.
※Appropriate values are configured for parameters based on devices. It is NOT
recommended to change parameters. If the parameters have been changed, thedevices may not perform correctly.

Online Device Change
It allows changing devices and configuring axes. This feature allows configuring theappropriate values to required parameters for devices by simple selection.
Change Procedure① Go to [Settings] – [Online Device Change].
② Select axis configuration and stroke/ velocity
type for each axis.
③ Click on [Change And Write].
(No motion by external input signals can bemade during writing.)④ The change is completed when a message
stating, “Writing was successful”, wasdisplayed.
※[Online Device Change] requires
communications with controllers. Make surethat
controllers
areconnected
incommunication cables.

Offline Device Change
It allows configuring axes in the offline state and stoke/ velocity type for each axis without
connecting XA-A Series Controller.
Change Procedure① Go to [Settings] – [Offline Device Change] on the menu bar.
② Select axis configuration and stroke/ velocity type for each axis.
③ Click OK

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Parameters
Parameter editing in a parameter screen is for detail settings.
In the parameter window, it allows reading parameters in from controllers, writing to controllers,and verifying data by displaying each item for parameters.
※ Appropriate values are configured for parameters based on devices. It is NOT
recommended to change parameters. If the parameters have been changed, thedevices may not perform correctly.
It is recommended to use [Online Device Modification] for device modifications
and associated parameter modifications.
Go to [View] – [Parameters]. A parameter window will be displayed.
Refer to XA-A Series Controller User’s Manual for each parameter details.
Text Box（White Blanks）

Special Parameters (Refer to page 45)

Each Command Buttons (Refer to page 45)

Combo Box (Feature Selection)

Edit Parameter
Input parameters in text boxes from keyboard.
If a combo box is available, click on the dropdown button. Select an item from the list.

<Note>
If “*” is located at the beginning of the item names, it means that they are items which areautomatically updated when Online Device Modification has performed. When Online Device
Modification was performed after detailed modifications for items with “*” were done, verify theconfigured values in the parameter screen again.

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Definitions of Commands◆ Controller[Read] Button
Parameters will be read from controllers and displayed.
[Write] Button
Parameters in the screen will be written to controllers.
No motion can be performed by external input signals during writing.
[Verify] Button
Displayed parameters will be verified with ones in controllers. The results will be displayed.
[Print] Button
Parameters saved in a file will be printed.
◆ File[Open] Button
Parameters saved in a file will be loaded and displayed in a screen.
[Save] Button
Parameters displayed in a screen will be saved as.
[Verify] Button
Parameters displayed in a screen will be verified with parameters in a file. The results will be
displayed.
[Print] Button
Parameters displayed in a screen will be printed.
◆ Common[Default] Button
It allows resetting parameters to factory settings. Select a device and click OK.
The factory settings will be set. Write them to controllers.

Special Parameters
Special parameters are not required to modify values in general. It is NOT recommended tomake any modifications. If the modifications are required, check on “Modify special
parameters” checkbox and modify the values.
<Note>In a situation where not all axes are connected, if configured values including for
disconnected axes were written to configured axes, axes connection error will occur when
the power turned on next time and from there on. In such a case, the axes are to beconnected or the parameters in the controllers are to be reset.
If the axes connection error occurs after turning the power on several times, pleasecontactus.

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Contact regarding XA-PA4
For contact regarding questions or concerns on XA-PA4, email us at the following address:

sus-sales@sus.co.jp

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