MSCON Controller Instruction Manual First Edition
Please Read Before Use Thank you for purchasing our product. This Instruction Manual describes all necessary information items to operate this product safely such as the operation procedure, structure and maintenance procedure. Before the operation, read this manual carefully and fully understand it to operate this product safely. The enclosed CD or DVD in this product package includes the Instruction Manual for this product.
Contents Safety Guide ·····················································································································1 Precautions in Operation ··································································································8 International Standards Compliances ············································································· 11 Name for Each Parts and Their Functions······································································13 Actuator Axes····
Chapter 3 Operation ·······································································································61 3.1 Basic Operation ·········································································································· 61 3.1.1 Basic Operation Methods ···················································································· 61 3.1.2 Parameter Settings ······························································································ 65 3.
Chapter 6 Absolute Reset and Absolute Battery ··························································241 6.1 Absolute Reset·········································································································· 241 6.2 Absolute Battery········································································································ 243 6.2.1 Absolute encoder backup specifications ··························································· 243 6.2.
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ Perform the work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger product is not handled correctly, will result in death or serious injury.
Precautions in Operation 1. Make sure to follow the usage condition, environment and specification range of the product. Not doing so may cause a drop of performance or malfunction of the product. 2. Use the following teaching tools. Use the PC software and the teaching pendant stated in the next clause as applicable for this controller. [Refer to 1.1.2 Teaching Tool.] 3. Backup the data to secure for breakdown. A non-volatile memory is used as the backup memory for this controller.
7. For the rotary actuator, it is necessary to pay attention to cable breakage due to twisting and other factors. Especially for the type with a through hole in the center of rotation, and when using it with cables going through the hole, and also for the actuator with 360q rotation, special care is required because there is no limit to the rotation in one direction. 8.
Also, if one tries to read the signal that is being re-written by the other, the signal may be read wrongly. Make sure to read the signal after the rewriting is complete. (It is recommended to have more than 2 scan periods to wait.) Make sure not to have the output side to change the output until the other side completes the reading. Also, a setting is made on the input area not to receive the signal less than a certain time to prevent a wrong reading of noise. This duration also needs to be considered.
International Standards Compliances MSCON comply with the following overseas standards.
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Name for Each Parts and Their Functions 8) Driver for Axis No.2 and No.3 7) Driver for Axis No.0 and No.1 9) Driver for Axis No.4 and No.5 6) Fan unit 10) Operation mode setting switch 11) SIO connector 5) Screw terminal for protective grounding 12) System I/O connector 4) Motor power supply input connector 13) Gateway status LED 3) Regenerative resistor unit connector 14) Field network status LED 2) Power supply status LED 15) Fieldbus connector 1) Control power supply input connector No.
14 1) Control power supply input connector [Refer to 2.2 [2] Power Supply Circuit and Brake Circuit] Supply 24V DC power for control. For an actuator equipped with a brake, also supply 24V DC power for brake control. (Do not attempt to connect it when there is no actuator with a brake.) 2) Power supply status LED It shows the status of control power source and driving source. [Refer to 3.6 Power Supply and Cutoff for the details.] 3) Regenerative resistor unit connector [Refer to 2.
7) 8) 9) Actuator driver for Axis No.0 and No.1 Actuator driver for Axis No.2 and No.3 Actuator driver for Axis No.4 and No.5 One piece of a driver CPU board and one piece of a power stage board make one pair. It is possible to control two axes with one set. Three classes are available to insert at the maximum. Driver CPU Board Power Stage Board x Brake Release Switch (BK RLS/NOM) This is a switch to compulsorily release the brake of the actuator equipped with a brake.
10) Operation mode setting switch This is a switch to change the operation mode between Automatic Operation (AUTO) and Manual Operation (MANU). The operation modes are provided to avoid the duplication of the operation using PC software or a teaching pendant (described as teaching tool from now on) and the operation with Fieldbus. For the details of the mode selection, refer to 12) System I/O connector. 11) SIO connector This is a connector dedicated for the teaching tool connection.
Actuator Axes Refer to the pictures below for the actuator axes that can be controlled. 0 defines the home position, and items in ( ) are for the home-reversed type (option). Caution: There are some actuators that are not applicable to the origin reversed type. Check further on the catalog or the Instruction Manual of the actuator.
(5) Gripper Type Finger Attachment (6) Rotary Type (300q Rotation Specification) 0° 300° (360q Rotation Specification) - + (360q Rotation Specification) - + For Multiple Rotation Type with the origin reversed type, the directions of + and – are the other way around.
Starting Procedures When using this product for the first time, work while making sure to avoid omission and incorrect wiring by referring to the procedure below. “PC” stated in this section means “PC software”. Check of Packed Items Are all the delivered items present? No ψ Contact your local IAI distributor. ωYes Installation and Wiring [Refer to 1. and 2.] Install the controller and actuator and perform wiring according.
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Chapter 1 1.1.1 Product Check Parts Chapter 1 Specifications Check 1.1 Specifications Check The standard configuration of this product is comprised of the following parts. If you find any fault in the contained model or missing parts, contact us or our distributor. No. Part Name 1 Controller Model Quantity Refer to “How to read the model plate”, “How to read the model” Remarks 1 Accessories 2 Control Power Supply Connector MC1.5/5-STF-3.
1.1.3 Instruction Manuals related to this product, which are contained in the DVD. Chapter 1 Specifications Check No. 1 2 3 4 1.1.4 Name MSCON Controller Instruction Manual PC software RCM-101-MW/ RCM-101-USB Instruction Manual Touch panel teaching CON-PTA/PDA/PGA Instruction Manual Teaching Pendant CON-T/TG Instruction Manual Manual No. ME0304 ME0155 ME0295 ME0178 How to read the model plate Actuetor Type / SERIAL No. Connected actuator type Model Serial number 22 No.
1.1.5 How to read the model Axis No.
Chapter 1 Specifications Check 1.2 Basic Specifications Number of Controlled Axes Max. 6-axis Control Power Voltage 24V DC r 10% Control Power Current Consumption Add the Control Power In Rush Current Drive (Motor) Power Supply Voltage Drive (Motor) Power Supply In-Rush Current (Note1) Max. 2.4A (Note1) Max.
1500V AC for 1 min. (for MSCON individually) Cooling Method Forced air-cooling External Dimensions 225W × 154H × 115D Weight (when drivers for 6 axes mounted) Incremental Type Approx. 1900g Absolute Type Approx. 2000g (including batteries) Surrounding air temperature 0 to 40 qC Surrounding humidity 85%RH or less (non-condensing) Surrounding environment [Refer to 1.7 Installation and Storage Environment.] Surrounding storage temperature 20 to 70 qC Note: 0 to 40 qC for absolute battery.
Chapter 1 Specifications Check 1.3 1.3.1 Selection of Power Source and Power Supply Supportive Devices Power Capacity and Heat Generation Shown in the table is the relation between the motor wattage and motor power capacity of an actuator that can be connected to MSCON. Actuator Motor Wattage Motor Power Capacity [VA] Peek Max. Motor Power Capacity [VA] Heat Generation [W] 12 41 123 1.7 20 50 150 2.0 30D (Excluding RS) 47 141 2.0 30R (for RS) 138 414 4.0 60 146 438 4.
1.3.3 • • • It may be mandatory by law to install a leakage breaker. A ground fault circuit interrupter needs to be selected carefully considering the purposes of prevention of fire and protection of human (Determined by law). Leak current varies depending on the capacity of connected motor, cable length and the surrounding environment. Measure the leak current at the point where a ground fault circuit interrupter is to be installed when leakage protection is conducted.
1.4 1.4.1 Specifications for each Fieldbus Specifications of DeviceNet Interface Item Specification Chapter 1 Specifications Check Communication Protocol DeviceNet2.0 Group 2 Dedicated Server Network-Powered Insulation Node Baud Rate Automatically follows the master Communication System Master-Slave System (Polling) Number of Occupied Channels Refer to 3.4.
1.4.3 Specifications of PROFIBUS-DP Interface Item Specification PROFIBUS-DP Baud Rate Automatically follows the master Communication System Hybrid System (Master-Slave System or Token Passing System) Number of Occupied Stations Refer to 3.4.1 PLC Address Construction by each Operation Mode Communication Cable Length Max. Total Network Length Baud Rate 100m 12,000/6,000/3,000kbps 200m 1,500kbps 400m 500kbps 187.5kbps 1200m 9.6/19.2/93.
1.4.5 Specifications of MECHATROLINK II Interface Chapter 1 Specifications Check Item Specification Slave Type Intelligent I/O Baud Rate MECHATROLINK II 10Mbps Max. Transmittable Distance 50m Min. Distance between Stations 0.5m Number of Occupied Bytes Refer to 3.4.1 PLC Address Construction by each Operation Mode Transmission Frequency 1 to 8ms Data Length MECHATROLINK II Settable Node Address Range Communications Cable Connector Note1: 1.4.
External Dimensions 10.5 10.5 102 3-φ5 5 204 225 10.5 Front View 10.5 4 (77 from DIN rail center) 5 (9) 10.5 9 4 136 145 9 102 Chapter 1 Specifications Check 4.5 Incremental Type 4.5 1.5.1 154 1.5 10.
Absolute Type 10.5 102 10.5 102 3-φ5 10.5 9 5 204 225 10.5 Front View 115 10.5 (77 from DIN rail center) 4 10.5 (134) Side View 32 (22.3) 5 (9) 4.5 4 136 145 154 9 Chapter 1 Specifications Check 4.5 1.5.
1.6 1.6.1 Option Regenerative Resistor Unit [Reference for connectable number of units] Total Wattage for Motors of 6 Axes Actuator horizontally Actuator vertically oriented oriented to 450 to 200 to 900 to 600 – to 800 – to 900 Chapter 1 Specifications Check This unit is necessary to be connected in the case that the regenerative energy cannot be consumed by the regenerative resistor built into the MSCON.
[RESU-*Type External Dimensions: Screw Attachment Type] 17.15 1.5 φ5 1.5 4.5 R 2. 5 136 145 154 Chapter 1 Specifications Check 4.5 16.85 106.5 5 30.7 34 1.5 φ5 4.5 [RESUD-*Type External Dimensions: DIN Rail Attachment Type] 8.5 1.5 136 5 30.7 34 34 (9) 4.5 4 R 2.
1.7 Installation and Storage Environment Chapter 1 Specifications Check This product is capable for use in the environment of pollution degree 2*1 or equivalent. *1 Pollution Degree 2: Environment that may cause non-conductive pollution or transient conductive pollution by frost (IEC60664-1) [1] Installation Environment Do not use this product in the following environment.
1.8 Noise Elimination and Mounting Method Chapter 1 Specifications Check (1) Noise Elimination Grounding (Frame Ground) Controller MSCON Connect using FG connection terminal on the main unit. Controller Copper Wire: Connect to an ground cable with 2 diameter 1.6mm (2mm : AWG14) or more.
20mm or more 20mm or more 30mm or more 10mm or more 20mm or more 10mm or more 50mm or more 20mm or more 50mm or more 150mm or more Waste Heat To install the unit, use the attachment holes on the top and bottom of the main body and affix with screws, or attach to DIN rails. (Regenerative resistance unit is separated to screw attachment type and DIN rail attachment type. Have an appropriate way to affix the unit for each type.
38 Chapter 1 Specifications Check
Chapter 2 2.1 Wiring Wiring Diagram (Connection of construction devices) Drive Power Supply (100/200V AC Please prepare separately) Emergency Stop Circuit Control Power Supply (24V DC Please prepare separately) PC software (to be purchased separately) Communication power supply (if necessary) (24V DC ̖Please prepare separately) Actuator Host System (Master Unit) (PLC, etc.
2.2 Chapter 2 Wiring [1] L Circuit Diagram Sample circuit diagrams are shown below. Drive (Motor) Power Supply Circuit Note: N Drive power supply voltage (100V/200V AC) cannot be changed after the product is delivered.
[3] Emergency Stop Circuit It is the example of circuit layout when an emergency switch of the teaching pendant is used to the emergency stop circuit of the equipment.
[4] Motor • Encoder Circuit MSCON Chapter 2 Wiring M0 to 5 Motor Connector PG0 to 5 Encoder Connector Motor Cable (Note 1) Encoder Cable (Note 2) Note 1: Applicable Moter Cable types ƑƑƑ: cable length Example) 030 = 3m Model Name Cable Reference CB-RCC-MAƑƑƑ-RB Robot cable from 0.5 to 20m For Single Axis Robot CB-RCC-MAƑƑƑ Standard cable from 0.5 to 20m Connection CB-X-MAƑƑƑ-RB Robot cable from 0.5 to 20m CB-X-MAƑƑƑ Standard cable from 0.
[6] Regenerative Resistance Circuit MSCON [7] RB Regenerative Resistor Unit Connector Regenerative Resistor Unit (RESU-2, RESUD-2) CB-SC-REU010 Chapter 2 Wiring RB IN RB OUT CB-ST-REU010 Regenerative Resistor Unit (RESU-1,RESUD-1) Caution: Do not attempt to connect 5 units or more of the regenerative resistance unit.
[8] Field Network Circuit (For Field Network Type) Refer to the instruction manual of the master unit for each field network and constructed PLC for the details of the circuit. Chapter 2 Wiring 1) DeviceNet Type Master Unit RD WT Connect the terminal resistor if the unit is placed at the end of the network.
4) CompoNet Type Terminal Resistance Master Unit Slave Device BS+ BS+ BS+ BDL BDL BDL Connect the terminal BDH BDH BDH of the network. BS- BS- BS- 121Ω MSCON CompoNet Type Chapter 2 Wiring resistor if the unit is placed at the end 24V Power Supply Supply power separately to the slave devices that requires the communication power supply. It is not necessary to supply communication power to MSCON, however, there is no problem even if communication power is supplied.
6) MECHATROLINK Type Master Unit 4 Chapter 2 Wiring 3 2 1 SH MECHATROLINK Cable DATA /DATA NC Connect shield to connector shell Slave Device 4 4 3 3 2 2 1 1 MECHATROLINK Cable SH MSCON MECHATROLINK Type SH DATA DATA /DATA /DATA NC NC A4 B4 A3 B3 A2 B2 A1 B1 Connect shield to connector shell 7) EtherCAT Type Master Unit Slave Device MSCON EtherCAT Type EtherNet Straight Cable Category 5e or more Double shielded cable braided with aluminum foil recommended Note: Terminal
2.3 Wiring Method 2.3.1 Wiring of Control Power Supply and Drive Power Supply Input Connector Accessory Connector (Plug) (1) Control Power Supply Input Connector 㩷 㩷 BK PWR Power Supply Input Connector Cable Side Model Remarks MC1.5/5-STF-3.81 Controller Side MC1.5/5-GF-3.81 Enclosed in standard package Manufactured by PHOENIX CONTACT + 24V 0V FG Front view of connector on controller side Pin No.
(2) Drive (Motor) Power Supply Input Connector 㩷 㩷 Power Supply Input Connector Cable Side Model Remarks MC2.5/3-STF-7.62 Controller Side MC2.5/3-GF-7.62 Enclosed in standard package Manufactured by PHOENIX CONTACT Chapter 2 Wiring PE L N Signal Name Pin No. Front view of connector on controller side 㩷 48 1 N 2 L 3 PE Contents Applicable Cable KIV3.5 to 1.
2.3.2 Wiring Layout of System I/O Connector Accessory Connector (Plug) Emergency Stop Circuit 㩷 㩷 System I/O Connector Cable Side Model Remarks FMCD1.5/4-ST-3.5 Enclosed in standard package Manufactured by PHOENIX CONTACT EMGS1 A/M- S2 EMG+ A/M+ Front view of connector on controller side Controller Side MCDN1.5/4-G1-3.5P26THR Pin Signal No.
2.3.3 Actuator Connection Chapter 2 Wiring To the encoder connector and motor connector on each actuator, connect the relay cables. [Refer to the Note.] Check in the instruction manual of each actuator for the details of the relay cables. (1) Encoder Connector 㩷 Encoder Connector Cable Side Controller Side PG Front view of connector on controller side 50 Pin No.
(2) Motor Connector 㩷 Motor Connector Cable Side Controller Side 㩷 PE M V Pin No. W 1 2 3 4 Front view of connector 㩷 on controller side Signal Name PE U V W Remarks Contents Applicable Cable Protective ground terminal Motor cable U-phase Motor cable V-phase Motor cable W-phase Cable dedicated for IAI products Caution: There is an axis number shown on the actuator cables (Encoder Cable: PG0 to 5, Motor Cable: M0 to 5). Refer to the figure below to plug the actuators correctly.
2.3.4 Battery Connection (For Absolute Type) If the actuator is the absolute type, connect the harness of the absolute battery unit laid on the bottom of the main unit to the specified absolute battery connector. Chapter 2 Wiring Top: for Axis No.0 Bottom: for Axis No.1 Top: for Axis No.2 Bottom: for Axis No.3 Top: for Axis No.4 Bottom: for Axis No.5 㩷 BAT Front view of connector on controller side 52 Absolute Battery Connector Model Cable Side IL-2S-S3L-(N) Controller Side IL-2P-S3FP2-1 Pin No.
2.3.5 Connection of Regenerative Resistance Unit Connect the regenerative resistance unit with a cable enclosed with it referring to the figure below. The cable to connect with MSCON and that to connect each regenerative resistance unit differ to each other in the model code.
Connection Cable 1) Regenerative resistance connection cable for SCON (CB-SC-REU010) Cable length : 1m Chapter 2 Wiring 3 1 1 Wiring 3 Display of Cable Mode Code Controller Side Color Light Blue KIV Brown 1.0mm2 (AWG17) Green/Yellow Signal RB+ RBPE No. Regenerative Resistor Unit Side No. Signal 1 2 3 1 2 3 Coler Wiring Light Blue KIV Brown 1.
2.3.6 Connection of SIO Connector Connect an applicable teaching tool such as the PC software. Chapter 2 Wiring 㩷 SIO connector Cable Side Controller Side Pin No.
2.3.7 Wiring Layout of Field Network Connector Check the instruction manuals for each Field Network master unit and mounted PLC for the details. 1) DeviceNet Type Chapter 2 Wiring RD (V+) WT (CAN H) Shield BL (CAN L) BK (V-) Red White Blue Black Front view of connector on controller side 56 DeviceNet Connector Cable Side Controller Side Pin No. Model Remarks SMSTB2.5/5-ST-5.08 AU Enclosed in standard package Manufactured by PHOENIX CONTACT MSTBA2.5/5-G-5.
2) CC-Link Type Shield (SLD) YW (DG) BL (DA) 㩷 FG CC-Link Connector Cable Side Model SMSTB2.5/5-ST-5.08 AU Controller Side MSTBA2.5/5-G-5.
3) PROFIBUS-DP Type Use the type A cable for PROFIBUS-DP (EN5017). Green A line (Negative side) 6 1 Chapter 2 Wiring Red B line (Positive side) 5 9 Cable Shield 㩷 PROFIBUS-DP Model Remarks Connector Cable Side D-sub 9-pin connector (Male) Please prepare separately 6 Controller Side D-sub 9-pin connector (Female) 1 9 5 Front view of connector on controller side 58 Pin No.
4) CompoNet Type Chapter 2 Wiring RD (BS+) WT (BDH) BK (BS-) BL (BDL) 㩷 㩷 4 3 2 1 CompoNet Connector Model Connector that Cable Side complies with CompoNet standards Controller Side XW7D-PB4-R Pin No.
Chapter 2 Wiring 6) MECHATROLINK Type 㩷 MECHATROLINK Connector Model Remarks Cable Side Connector that complies with MECHATROLINK standards Controller Side DUSB-ARB82-T11A-FA Manufactured by DDK B1 A1 B4 A4 Front view of connector on controller side Pin No.
Chapter 3 3.1 Operation Basic Operation 3.1.1 Basic Operation Methods PLC (Master) Transfer data with Fieldbus Command target position, speed, etc. Confirmation of movement complete (read status signal) Slave Slave Actuator Controller (Slave) Teaching pendant 61 Chapter 3 Operation This controller is to be controlled with fieldbus. Even though there are several types for an actuator, such as slider type, rod type, rotary type, gripper type, etc.
[Basic Operation Procedures] 3.1 Basic Operation [1] Establish the parameter settings on all the connected axes by using a teaching tool such as the PC software. 1) When using an operation pattern in those described in the next page except for Remote I/O Mode, set the Parameter No. 25 PIO Pattern to 8. When using Remote I/O Mode (Note 1), establish the setting in Parameter No. 25 PIO Pattern considering the suitable operation mode to be used. [Refer to 3.4.10 Control Signals in Remote I/O Mode.
Ɣ Operation Mode Available 7 types of operation modes are available to select from. The settings are to be established with Gateway Parameter Setting Tool. Shown below are the outline. Operation Pattern Positioner 1 Contents Electric Cylinder Dedicated Cable PLC Target Position Target Position No. Control Signal Communication with Fieldbus Current Position Completed Position No. Status Signal +24V This is the operation mode of the position data of 256 points at maximum set in the position table.
Operation Pattern Remote I/O Contents Overview (Note 1) Five types of control same for PIO are available. Note : It is to be switched with PIO patterns (driver board parameters) Electric Cylinder Dedicated Cable PLC Target Position No. Control Signal Communication with Fieldbus 3.1 Basic Operation Completed Position No. Status Signal +24V Note 1: 64 Available PIO pattern numbers: 0, 1, 2, 4 and 5 [See 3.4.10 Control Signal for Remote I/O Mode.
3.1.2 Parameter Settings Parameter data should be set appropriately according to the applicaiton requirements. Parameters are variables to be set to meet the use of the controller in the similar way as settings of the ringtone and silent mode of a cell phone and settings of clocks and calendars. Parameters should be set to meet the use of the controller prior to operation. Once set, they may not set every operation. Refer to Chapter 7 for the parameter types and the details. 65 3.
3.2 Initial Setting 3.2 Initial Setting The operation mode is to be set using Gateway Parameter Setting Tool (Ver. 1.2.0.0 or later). Registration of positions and setting of parameters are to be conducted on RC PC Software (Note1). Note1: See the instruction manual of the PC software for the applicable version. Shown below is the process for the setup. Follow the instruction to conduct the setting properly. (Preparation) Install RC PC Software and Gateway Parameter Setting.
[Step 4] The main window opens. The main window opens even when MSCON could not be detected. 3.2 Initial Setting Main windows (Initial condition) [Step 5] Reading is started from MSCON to PC. Click on the Read button and a confirmation window appears. Click on the “Yes” button. If the writing is finished in normal condition, writing complete window appears. Click OK.
The parameters input to MSCON are listed as shown below. Indicate the Field Network node addresses in Address. 3.2 Initial Setting [Step 6] Caution In the following slave, set the value the number of occupied station is added to the current station number. [Step 7] 68 Select whether to use Remote I/O Mode or any other mode (such as Positioner Mode). When Remote I/O Mode is selected, any other mode except for Remote I/O Mode cannot be selected for all the axes on MSCON.
[Step 8] 3.2 Initial Setting [Step 9] Select an operation mode for each drive unit (in 2 axes unit). Select an operation mode for Drive Unit 0 (AX0: 1st axis, AX1: 2nd axis) first. (Only Remote I/O Mode can be selected if Remote I/O Mode was selected in Step 7.) For MSCON with the number of driver axes 3 or more, select the operation mode of Drive Unit 1 (AX2: 3rd axis, AX3: 4th axis).
3.2 Initial Setting [Step 13] [Step 14] [Step 15] 70 Write the edited operation mode setting parameters to MSCON. Click on the “Transfer” button shown below and a confirmation window pops up. Click on the “Yes” button. If the writing is finished in normal condition, writing complete window appears. Click OK. A confirmation window for Gateway Unit reboot opens. Click “Yes” to accept the reboot.
3.3 Setting of Position Data The values in the position table can be set as shown below. In the case that only positioning is necessary, all you have to do is to input the position data, and nothing else is required as long as the indication of acceleration and deceleration is needed. For the speed and acceleration/deceleration, the data set to the parameters is automatically reflected to the setting.
3) Velocity [mm/s]···· Set the velocity in the operation. Do not attempt to input a value more than the maximum velocity or less than the minimum velocity *1. *1 Minimum velocity [mm/sec] = Lead length [mm] / Number of encoder pulse / 0.001 [sec] 4) Acceleration [G] ·· Set the acceleration at start. 5) Deceleration [G] ·· Set the deceleration at stop. 3.3 Setting of Position Data (Reference) How to set the acceleration is described below The same idea can be applied to the deceleration.
[Example of PIO pattern 5] The figure below shows the position table and the position at which each of the LS signals is turned ON. If the actuator passes any of the positioning bands in the operation by another position number or manual operation in the servo-off state, the relevant LS signal is always turned ON. No. Position [mm] Velocity [mm/s] 0 1 2 0.00 70.00 150.00 250.00 250.00 250.00 Acceleration [G] 0.20 0.20 0.20 150mm LS2 is ON 150 r 5mm 9) Zone + [mm] (Note) Deceleration [G] 0.20 0.
10) Zone - [mm] (Note) ·········· Set the coordinate value on the negative side at which position zone output signal PZONE is turned ON. Note: If set to Zone + < Zone -, PZONE Signal turns ON out of the ranges of Zone + and Zone -. 11) Acceleration/deceleration mode ········ Select a proper acceleration/deceleration pattern depending on the load. Set Acceleration/Deceleration Operation value Pattern 0 Trapezoid Velocity 3.
12) Incremental········· Set to 1 for pitch feed (relative movement = incremental feed). The value set for the position in 1) indicates the pitch feed distance. With the value set to 0, positioning is defined to the position in 1) based on the absolute coordinate system. Caution: In the pitch feed, do not perform a command with a pitch smaller than the minimum encoder resolution (lead/encoder pulse number) or that less than positioning accuracy repeatability.
Caution: y No retaining torque is provided in automatic servo OFF. Pay sufficient attention to the setting because the actuator may be moved by external force applied to it. y Do not use the automatic servo OFF if the next moving command is relative distance specification (pitch feed). Failure to follow it may cause position shift to occur. y Do not use the automatic servo OFF in pressing. If used, the pressing force is lost.
3.4 Fieldbus Type Address Map 3.4.1 PLC Address Construction by each Operation Mode The address domain to be occupied differs depending on the operation mode. Refer to the example in Section 3.4.2 for the assignment.
Note1: For CC-Link, n and n+1 are for input and output bit addresses, and n+8 is for the top address of data register. Note2: This is the domain occupied unconditionally. Therefore, this domain cannot be used for any other purpose. 3.4 Fieldbus Type Address Map Caution: Ɣ Remote I/O Mode cannot be used together with other modes. Ɣ Only Positioner 3 Mode and Remote I/O Mode are available to be selected in MECHATROLINK and CompoNet. (CompoNet occupies 32 bytes no matter of the number of axes.
y MSCON Output ĺ PLC Input (n is PLC input top word address from MSCON) (Note 1) MSCON Gateway Response Area PLC Input Area Simple Direct Mode Positioner 1 Mode Direct Indication Mode Direct Indication Mode 2 Positioner 2 Mode n Gateway Status 0 n+1 Gateway Status 1 n+2 Response Command n+3 Data 0 n+4 Data 1 n+5 Data 2 n+6 Occupied Area Current Position (Axis No.0) 3.4.11 (Note 2) Current Position (Axis No.0) Current Position (Axis No.0) Command Current (Axis No.
3.4 Fieldbus Type Address Map 3.4.2 Example for Address Map Construction for each Field Network Shown below is an example for the address map by the combination of operation modes for each Fieldnetwork. Refer to it for the address assignment. The example for the address map shown below is provided for each field network, however is described together for the networks of the same address assignment.
[Combination Example 3] When number of Simple Direct Mode axes is 0 and number of Direct Indication Mode 6 (n is the top channel number for each PLC input and output between MSCON and PLC) PLCĺMSCON CH No. n to n+1 n+2 to n+7 n+8 to n+11 n+12 to n+15 n+16 to n+19 n+20 to n+23 n+24 to n+27 n+28 to n+31 n+32 to n+35 n+36 to n+39 n+40 to n+43 n+44 to n+47 n+48 to n+51 n+52 to n+55 Contents Gateway Control Demand Command Axis No.0 Control Information Axis No.1 Control Information Axis No.
2) CC-Link 3.4 Fieldbus Type Address Map [Combination Example 1] When number of Simple Direct Mode axes is 6 and number of Direct Indication Mode 0 (Extended Cyclic Setting/Number of Occupied Stations 4 times/2 stations) PLCĺMSCON MSCONĺPLC Address Contents Address Contents RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status Demand Response RY 20 to 6F RX 20 to 6F Command Command RY 70 to 7F Unavailable RX 70 to 7F Unavailable RY 80 to BF Unavailable RX 80 to BF Unavailable Axis No.0 Control Axis No.
3) PROFIBUS-DP, EtherNet/IP, EtherCAT (MECHATROLINK is not applicable for this mode) [Combination Example 1] When number of Simple Direct Mode axes is 4 and number of Direct Indication Mode 0 (n is the top channel number for each PLC input and output between MSCON and PLC) PLCĺMSCON MSCONĺPLC Node address Node address Contents Contents (Byte Address) (Byte Address) n to n+3 Gateway Control n to n+3 Gateway Status Demand Response n+4 to n+15 n+4 to n+15 Command Command Axis No.0 Status Axis No.
3.4 Fieldbus Type Address Map [Combination Example 2] When number of Simple Direct Mode axes is 4 (axis No.0 to No.3) and number of Direct Indication Mode 2 (axis No.4, No.5) (n is the top channel number for each PLC input and output between MSCON and PLC) PLCĺMSCON MSCONĺPLC Node address Node address Contents Contents (Byte Address) (Byte Address) n to n+3 Gateway Control n to n+3 Gateway Status Response Demand n+4 to n+15 n+4 to n+15 Command Command Axis No.0 Control Axis No.
[2] Address Map for Positioner 2 Mode Shown below is the address map for each Field network when six axes of MSCON are operated in Positioner 2 Mode. 1) DeviceNet (CompoNet is not applicable for this mode) (n is the top channel number for each PLC input and output between MSCON and PLC) PLCĺMSCON CH No. n to n+1 n+2 to n+7 n+10 to n+11 n+12 to n+13 n+14 to n+15 n+16 to n+17 n+18 to n+19 CH No.
3) PROFIBUS-DP, EtherNet/IP, EtherCAT (MECHATROLINK is not applicable for this mode) (n is the top node address for each PLC input and output between MSCON and PLC) PLCĺMSCON Node address (Byte Address) n to n+3 n+4 to n+15 3.4 Fieldbus Type Address Map n+16 to n+19 n+20 to n+23 n+24 to n+27 n+28 to n+31 n+32 to n+35 n+36 to n+39 Contents Gateway Control Demand Command Axis No.0 Control Information Axis No.1 Control Information Axis No.2 Control Information Axis No.3 Control Information Axis No.
2) CC-Link (Extended Cyclic Setting/Number of Occupied Stations: 1 times/4 stations) PLCĺMSCON MSCONĺPLC Address Contents Address Contents RY 00 to 1F RY 20 to 6F RY 70 to 7F RWw 00 RWw 01 RWw 03 RWw 04 RWw 05 RX 00 to 1F RX 20 to 6F RX 70 to 7F RWr 00 RWr 01 RWr 02 RWr 03 RWr 04 RWr 05 Gateway Status Response Command Unavailable Axis No.0 Status Information Axis No.1 Status Information Axis No.2 Status Information Axis No.3 Status Information Axis No.4 Status Information Axis No.
[4] Address Maps in Remote I/O Mode Shown below are the address maps when operation of 6-axis MSCON is made with Remote I/O Mode. 1) DeviceNet, CompoNet (n is the top channel number for each PLC input and output between MSCON and PLC) PLCĺMSCON CH No. n to n+1 n+2 to n+7 3.4 Fieldbus Type Address Map n+8 n+9 n+10 n+11 n+12 n+13 Contents Gateway Control Demand Command Axis No.0 Control Information Axis No.1 Control Information Axis No.2 Control Information Axis No.3 Control Information Axis No.
3) PROFIBUS-DP, EtherNet/IP, MECHATROLINK, EtherCAT (n is the top node address for each PLC input and output between MSCON and PLC) PLCĺMSCON Node address (Byte Address) n to n+3 n+4 to n+15 n+16, n+17 n+18, n+19 n+22, n+23 n+24, n+25 n+26, n+27 Gateway Control Demand Command Axis No.0 Control Information Axis No.1 Control Information Axis No.2 Control Information Axis No.3 Control Information Axis No.4 Control Information Axis No.
3.4.3 Gateway Control Signals (in common for all operation modes) When operating the system with Fieldbus, the axes are controlled via MSCON. The top 2 words of input and output in each operation mode are the signals Gateway control and status monitoring.
(2) List for Input and Output Signal Signal Type PLC Output Symbol b15 MON b14 – b13 RTE b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 Contents Operation control with communication is available while it is ON Unavailable Retained condition of ERR-T or ERR-C during an operation is cancelled if it is ON It is the cancel signal when ERR-T or ERR-C occurrence is set to latch in Gateway Parameter Setting Tool Details – – – – Unavailable – – Unavailable (Make it to all.) – 3.
(ON = Applicable bit is “1”, OFF = Applicable bit is “0”) 3.4 Fieldbus Type Address Map Signal Type Bit Symbol b15 RUN b14 LERC b13 ERRT b12 MOD b11 ALMH b10 ALML b9 㧙 b8 EMG PLC Input Status Signal 0 Status Signal 1 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 ALMC1 to 128 – – MNT5 MNT4 MNT3 MNT2 MNT1 MNT0 – – LNK5 LNK4 LNK3 LNK2 LNK1 LNK0 Contents This signal turns ON when Gateway is in normal operation.
3.4.4 Control Signals for Direct Simple Direct This mode is not applicable for CompNet and MECHATROLINK specifications. To select the mode, use Gateway Parameter Setting Tool. This is the operation method to indicate the target position by directly inputting a value, and indicate a position number for other operational conditions. The settable No. of position data items is max 256 points. The main functions of MSCON capable to control in this mode are as described in the following table.
(2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 4 words for each I/O bit register. Ɣ The control signals and status signals are ON/OFF signals in units of bit. Ɣ For the target position and current position, 2-word (32-bit) binary data is available and values from -999999 to +999999 (unit: 0.01mm) can be used. Negative numbers are to be dealt with two’s complement.
PLC Input (m is PLC input top word address for each axis number). 䎃 䎃 Address m Current Position (Lower word) Address m+1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 3.4 Fieldbus Type Address Map Current Position (Upper word) 1 word=16 bit (Note) If the target position is a negative value, it is indicated by a two’s complement.
(3) I/O signal assignment Bit Symbol Target Position 32 bits Data – Specified Position No. 16 bits Data PC1 to PC128 b15 BKRL b14 b13 b12 b11 b10 b9 – b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 SON b3 RES b2 STP b1 HOME b0 CSTR PLC Output 3.4 Fieldbus Type Address Map Signal Type (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Control Signal 96 Contents 32-bit signed integer indicating the current position Unit 0.
(ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Symbol Current Position 32 bits – Completed Position No. (Simple Alarm Code) 16 bits PM1 to M128 b15 EMGS b14 CRDY b13 ZONE2 Status Signal b12 ZONE1 b11 PZONE b10 b9 – b8 MEND b7 BALM b6 - b5 PSFL b4 SV b3 b2 ALM MOVE b1 HEND b0 PEND Contents 32-bit signed integer indicating the current position Unit: 0.01mm (Example) If +10.23mm, input 000003FFH (1023mm in decimal system).
3.4.5 Control Signals for Positioner 1 Mode This mode is not applicable for CompNet and MECHATROLINK specifications. To select the mode, use Gateway Parameter Setting Tool. This is the method to operate with the operational condition of the indicated position number. The settable No. of position data items is max 256 points. The main functions of MSCON capable to control in this mode are as described in the following table. 3.
(2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 4 words for each I/O bit register. Ɣ The control signals and status signals are ON/OFF signals in units of bit. Ɣ For the current position, 2-word (32-bit) binary data is available and values from -999999 to +999999 (unit: 0.01mm) can be used. Negative numbers are to be dealt with two’s complement.
PLC Input (m is PLC input top word address for each axis number). 䎃 䎃 Address m Current Position Lower word 1 word=16 bit b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current Position Upper word (Note) If the target position is a negative value, it is indicated by a two’s complement.
(3) I/O signal assignment Signal Type Specified Position No. Symbol 16 bits Data PC1 to PC128 b15 BKRL b14 b13 b12 b11 – b10 MODE b9 PWRT b8 JOG+ b7 JOG- b6 JVEL b5 JISL b4 SON b3 RES b2 STP b1 HOME b0 CSTR Contents 16-bit integer Available range for Setting: 0 to 255 To operate, it is necessary to have the position data that the operation conditions are already set in advance with a teaching tool such as the PC software.
(ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Bit Symbol Current Position 32 bits – Completed Position No. (Simple Alarm Code) 16 bits PM1 to PM128 b15 EMGS b14 CRDY b13 ZONE2 PLC Input 3.4 Fieldbus Type Address Map Signal Type Status Signal 102 b12 ZONE1 b11 PZONE b10 MODES b9 WEND b8 MEND b7 BALM b6 – b5 PSFL b4 SV b3 b2 ALM MOVE b1 HEND b0 PEND Contents 32-bit signed integer indicating the current position Unit: 0.01mm (Example) If +10.
3.4.6 Control Signals for Direct Indication Mode This mode is not applicable for CompNet and MECHATROLINK specifications. This is an operation mode to indicate directly with values for the target position, positioning width, speed, acceleration/deceleration and pressing current. Set a value to each input and output data register. Set to the parameters when using the zone signals.
(2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 8 words for each I/O bit register. Ɣ The control signals and status signals are ON/OFF signals in units of bit. Ɣ For the target position and current position, 2-word (32-bit) binary data is available and values from -999999 to +999999 (unit: 0.01mm) can be used. Negative numbers are to be dealt with two’s complement. Caution: Set the position data in the range of the soft stroke (0 to effective stroke length) of the actuator.
PLC Output (m is PLC output top word address for each axis number) Address m Target Position (Lower word) 1 word=16 bit b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Address m+1 (Note) If the target position is a negative value, it is indicated by a twỏs complement. If the target position is a negative value, make an input with two’s implement.
PLC Input (m is PLC input top word address for each axis number). 䎃 䎃 Address m Current Position (Lower word) 1 word=16 bit b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current Position (Upper word) (Note) If the target position is a negative value, the output is made with two’s implement.
(3) I/O signal assignment Bit Symbol Target Position 32 Bit data – Positioning Width 32 Bit data – Command Speed 16 Bit data – Acceleration/Deceleration 16 Bit data – Pressing Current Limit 16 Bit data – Contents 32-bit signed integer indicating the current position Unit: 0.01mm Available range for Setting: -999999 to 999999 Set the target position with the value from the home position. (Example) If +25.40mm, input 000009ECH (2540 in decimal system).
Bit Control Signal 108 Symbol b15 BKRL b14 INC b13 DIR b12 PUSH b11 GSL1 b10 PLC Output 3.
Symbol Current Position 32 Bit data – Command Current 32 Bit data – Current Speed 16 Bit data – Alarm Code 16 Bit data – b15 b14 EMGS CRDY b13 ZONE2 b12 ZONE1 b11 b10 b9 – b8 MEND b7 BALM b6 – b5 PSFL b4 SV b3 b2 ALM MOVE b1 HEND b0 PEND Status Signal (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Contents 32-bit signed integer indicating the current position Unit: 0.01mm (Example) If +10.23mm, input 000003FFH (1023mm in decimal system).
3.4.7 Control Signals for Direct Indication Mode 2 This mode is not applicable for CompNet and MECHATROLINK specifications. This is an operation mode to indicate directly with values for the target position, positioning width, speed, acceleration/deceleration and pressing current. Set a value to each input and output data register. Set to the parameters when using the zone signals. The main functions of MSCON capable to control in this mode are as described in the following table. 3.
(2) I/O Signal Allocation for each Axis The I/O signals for each axis consists of 8 words for each I/O bit register. Ɣ The control signals and status signals are ON/OFF signals in units of bit. Ɣ For the target position and current position, 2-word (32-bit) binary data is available and values from -999999 to +999999 (unit: 0.01mm) can be used. Negative numbers are to be dealt with two’s complement. Caution: Set the position data in the range of the soft stroke (0 to effective stroke length) of the actuator.
PLC Output (m is PLC output top word address for each axis number) Address m Target Position (Lower word) 1 word=16 bit b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target Position (Upper word) (Note) If the target position is a negative value, the input is made with two’s implement.
PLC Input (m is PLC input top word address for each axis number). 䎃 䎃 Address m Current Position (Lower word) 1 Word㧩16 bit b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Address m+1 (Note) If the target position is a negative value, the output is made with two’s implement.
(3) I/O signal assignment Signal Type (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Bit Symbol 32 Bit data – Positioning Width 32 Bit data – Command Speed 16 Bit data – Acceleration/Deceleration 16 Bit data – Pressing Current Limit 16 Bit data – PLC Output 3.4 Fieldbus Type Address Map Target Position 114 Contents 32-bit signed integer indicating the current position Unit: 0.
Signal Type Bit Symbol BKRL b14 INC b13 DIR b12 PUSH b11 GSL1 OFF b10 PLC Output b9 GSL0 NTC1 Servo Gain Parameter Set Select 0 Anti-Vibration Control Mode Select 1 Control Signal b8 b7 NTC0 MOD1 b6 MOD0 b5 – b4 SON b3 RES b2 STP b1 HOME b0 CSTR Details Anti-Vibration Control Mode Select 1 Acceleration/ Deceleration Mode Select 1 Acceleration/ Deceleration Mode Select 0 OFF OFF ON ON OFF ON ON Gain Parameter Set 0 Select 3.7 (17) 3.7 (26) 3.7 (19) 3.7 (18) 3.
Bit Symbol Current Position 32 Bit data – Command Current 32 Bit data – Current Speed 16 Bit data – Alarm Code 16 Bit data – b15 b14 EMGS CRDY b13 ZONE2 b12 ZONE1 b11 b10 b9 – b8 MEND b7 BALM b6 – b5 PSFL b4 SV b3 b2 ALM MOVE b1 HEND b0 PEND PLC Output 3.4 Fieldbus Type Address Map Signal Type Status Signal 116 (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Contents 32-bit signed integer indicating the current position Unit: 0.01mm (Example) If +10.
3.4.8 Control Signals for Positioner 2 Mode CompoNet and MECHATROLINK are not applicable for this mode. This is the operation mode with the position No. set up. The operation is to be made with the position data set in the position table. This is a mode that the indication of the target position and the monitoring of the current value are removed from Positioner 1 Mode. The settable No. of position data items is max 256 points.
(2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 2 words for each I/O bit register. Ɣ The control signals and status signals are ON/OFF signals in units of bit. Ɣ For the indicated position number and complete position number, 1-word (16-bit) binary data is available and values from 0 to 255 can be used. Caution: Set the operational condition in advance with using a teaching tool such as PC software in the position number to be used.
(3) I/O signal assignment Signal Type Specified Position No. Bit 16 bits Data Symbol Contents 16-bit integer Available range for Setting: 0 to 255 To operate, it is necessary to have the position data that the operation conditions are already set in advance with a teaching tool such as the PC software. PC1 to PC128 In this register, indicate the position number the data is input with a binary number.
(ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type PLC Input 3.4 Fieldbus Type Address Map Completed Position No.
3.4.9 Control Signals for Positioner 3 Mode This is the operation mode with the position No. set up. The operation is to be made with the position data set in the position table. This is the mode with the minimum amount of input and output signals and the sent and received data in 1 word. The settable No. of position data items is max 256 points. The main functions of ROBO Cylinder capable to control in this mode are as described in the following table.
(2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 1 words for each I/O bit register. Ɣ The control signals and status signals are ON/OFF signals in units of bit. Ɣ For the indicated position number and complete position number, 8-bit binary data is available and values from 0 to 255 can be used. Caution: Set the operational condition in advance with using a teaching tool such as PC software in the position number to be used.
(3) I/O signal assignment PLC Output Control Signal/ Specified Position No. Status Signal/ Completed Position No.
3.4.10 Control Signals for Remote I/O Mode 3.4 Fieldbus Type Address Map It is an operation mode to control with ON/OFF of bits as it is done in PIO (24V I/O). Set the position data from a teaching tool such as the RC PC software. The number of positioning points depends on the operation pattern (PIO pattern) set in the parameters of MSCON unit. The I/O specifications for the operation pattern are described as follows.
(1) PLC Address Composition (m is PLC input and output top word address for each axis number) PLCĺMSCON (PLC Output) MSCONĺPLC (PLC Input) Port No.0 to 15 m Port No.0 to 15 m [Refer to Section 3.4.2 for the address maps for each Fieldbus.] (2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 1 word for each I/O bit register. Ɣ The I/O bit register is controlled using the ON/OFF signal in units of bit.
(3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No.25 setting. [Refer to 3.8 Remote I/O Mode] Set the parameter No.25 of MSCON Positioning mode 0 3.4 Fieldbus Type Address Map Category PLC outputψ MSCON input 256-point mode 2 Port No. Symbol 0 PC1 PC1 PC1 1 PC2 PC2 PC2 2 PC4 PC4 3 PC8 4 PC16 PC16 5 PC32 PC32 6 – 7 – 8 – Signal Name Specified position No. Unavailable Symbol PC8 Signal Name Specified position No.
Set the parameter No.25 of MSCON Solenoid valve mode 1 4 Category MSCON output ψPLC input Port No.
3.4.11 About Commands (Position Data Read/Write and Alarm Axis Read) By sending a specific code to a specific address, the position data reading and writing, and the reading of the axis number that an alarm was issued and the alarm code can be performed. Caution: • The command cannot be used in MECHATROLINK. • It is not necessary to use commands in Simple Indication Mode because no position data is to be used in it. 3.
(3) Details of Commands The input and output signals are consist of 5 words for each input and output data register. Ɣ For the target position and current position, 2-word (32-bit) binary data is available and values from -999999 to +999999 (unit: 0.01mm) can be used. Negative numbers are to be dealt with two’s complement. Ɣ Binary data of 2-word (32-bit) for the pressing band and values from 1 to +999999 (unit: 0.01mm) in PLC can be used.
1) Demand command cleared PLC Output (Address n is the input and output top address for MSCON Gateway Unit.) (Note) Response command does not return.
3) Writing of Positioning Width PLC Output (Address n is the input and output top address for MSCON Gateway Unit.) (Note) If the writing is finished in normal condition, the same content as the demand command is returned to the response command. If an error is generated, an error response is returned. [Refer to this Section 15).
5) Writing of Acceleration PLC Output (Address n is the input and output top address for MSCON Gateway Unit.) (Note) If the writing is finished in normal condition, the same content as the demand command is returned to the response command. If an error is generated, an error response is returned. [Refer to this Section 16).
7) Writing of Pressing Current Limit PLC Output (Address n is the input and output top address for MSCON Gateway Unit.) (Note) If the writing is finished in normal condition, the same content as the demand command is returned to the response command. If an error is generated, an error response is returned. [Refer to this Section 16).
8) Reading of Target Position PLC Output (Address n is the input and output top address for MSCON Gateway Unit.
9) Reading of Pressing Width PLC Output (Address n is the input and output top address for MSCON Gateway Unit.) 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 2 1 0 2 0 4 1 4 0 8 0 – 0 16 0 – 0 32 1 – 0 64 0 – 0 128 b0 – b1 – b2 – b3 – b4 – b5 – b6 – b7 – b8 – b9 – b10 – b11 – b12 – b13 – b14 – b15 – Bit – Address n+2 Demand Command [1041h] n+3 Data 0 [Position No.
10) Reading of Speed PLC Output (Address n is the input and output top address for MSCON Gateway Unit.) 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 2 1 0 2 0 4 1 4 0 8 0 – 0 16 0 – 0 32 1 – 0 64 0 – 0 128 b0 – b1 – b2 – b3 – b4 – b5 – b6 – b7 – b8 – b9 – b10 – b11 – b12 – b13 – b14 – b15 – Bit – Reading of Speed Address n+2 Demand Command [1042h] n+3 Data 0 [Position No.
11) Reading of Acceleration PLC Output (Address n is the input and output top address for MSCON Gateway Unit.) 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 2 1 0 2 0 4 1 4 0 8 0 – 0 16 0 – 0 32 1 – 0 64 0 – 0 128 b0 – b1 – b2 – b3 – b4 – b5 – b6 – b7 – b8 – b9 – b10 – b11 – b12 – b13 – b14 – b15 – Bit – Address n+2 Demand Command [1045h] n+3 Data 0 [Position No.
12) Reading of Deceleration PLC Output (Address n is the input and output top address for MSCON Gateway Unit.
13) Reading of Pressing Current Limit PLC Output (Address n is the input and output top address for MSCON Gateway Unit.) 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 2 0 2 0 4 0 4 1 8 0 – 0 16 0 – 0 32 0 – 1 64 0 – 0 128 0 – b0 – b1 – b2 – b3 – b4 – b5 – b6 – b7 – b8 – b9 – b10 – b11 – b12 – b13 – b14 – b15 – Bit Address n+2 Demand Command [1047h] n+3 Data 0 [Position No.
14) Reading of Alarm-issued Axis Number PLC Output (Address n is the input and output top address for MSCON Gateway Unit.) (Note) If this command is sent, the response command updates with the latest information until the demand command clear is sent.
15) Reading of Alarm Code PLC Output (Address n is the input and output top address for MSCON Gateway Unit.) (Note) If this command is sent, the response command updates with the latest information until the demand command clear is sent.
16) Error Response Command PLC Output (Address n is the input and output top address for MSCON Gateway Unit.) In the case that the command did not complete in normal condition, this error response command is returned. 142 b14 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 – – – – – – – – – – – – – – The values are those with the bit 15 of the demand command code being 1.
3.5 Input and Output Signal Process for Field Network (1) I/O Signal Timings When any of the control signal is turned ON to perform the operation of the robot cylinder using the PLC's sequence program, the response (status) is returned to the PLC. The maximum response time is expressed using the following formula. The value is constant regardless the number of composition axes. Max. response time (msec.) = Yt + Xt +(3 × Mt) + Response process time (operation time, etc.
3.5 Control Signals for PIO Operation (2) Command Sending and Receiving Timing (Reading and Writing of Position Data and Reading of Alarm Axis) By writing and reading the specified commands to the area of 5-word next to Gateway control/status area, reading and writing of the position data and reading of alarm axis can be conducted. Gateway executes the demand command ever time the control/status data exchange finishes for all the axes. [Refer to Section 3.4.11 About Command.
3.6 Power Supply and Cutoff (1) Timing for Supplying Power Turn ON the control power and motor driving source at the same time. If a brake-equipped actuator is connected, put the brake power on prior to the control power or turn it ON at the same time. If the motor power is not turned ON within 2.5sec after the control power supply is turned ON with the emergency stop being released, 0D3 Motor Power Supply Voltage Drop Error would be issued. In case the motor power cannot be turned on within 2.
(3) Power supply status LED The conditions of the control power and motor driving source can be checked on the power supply status LEDs in the front panel. Name CHARGE 3.
3.7 Control and functions of Input and output signals of Modes other than Remote I/O Mode Input and output signals are prepared for each axis number. The applicable bit is “1” when the signal is ON and “0” when it is OFF.
(5) Servo ON command (SON) PLC Output Signal Operation ready (SV) PLC Input Signal Positioning complete (PEND) PLC Input Signal Simple Direct { Direct numeric Direct numeric Positioner 2 specification specification 2 { { { Positioner 3 { Servo ON command SON is the input signal making the servo motor of the actuator operable. 1) Once the Servo ON is executed and the operation comes available, Operation Ready SV starts turned ON. The positioning complete signal PEND turns ON at the same time.
(6) Home return (HOME) Home return completion (HEND) Moving (MOVE) Positioning complete (PEND) Operation Positioner 1 Mode { : Equipped { × : Not equipped Simple Direct { PLC Output Signal PLC Input Signal PLC Input Signal PLC Input Signal Direct numeric Direct numeric Positioner 2 specification specification 2 { { { Positioner 3 { HOME Signal is a signal to conduct an automatic home-return operation.
[Operation of Slider Type/Rod Type Actuator] Home Mechanical end 2) 1) With the HOME signal being ON, the actuator moves toward the mechanical end at the home return speed. The speed for most of the actuators is 20mm/s, however, for some actuators it is less than 20mm/s. Refer to the instruction manual of each actuator. 2) The actuator is turned at the mechanical end and stopped at the home position.The (Note1) in this process follows the setting in Parameter No.
[For Gripper Type] ԙ Ԙ Make sure to refer to Section 7.2 [12] when a change to Parameter No.22 “Home Return Offset Level” is required. 151 3.7 Control and functions of Input and output signals of Modes other than Remote I/O Mode Caution: Power Supply and Cutoff 1) If the HOME signal is turned ON, the actuator moves toward the mechanical end at the home return speed (20mm/s). 2) The actuator is turned at the mechanical end and stopped at the home position.
(7) Positioning start (CSTR) PLC Output Signal Moving (MOVE) Positioning complete (PEND) Simple Direct { Direct numeric Direct numeric Positioner 2 specification specification 2 { { { Positioner 3 { This signal is processed at the startup (ON edge) and the positioning is performed to the target position with the specified position No. or set using the PLC’s target position register.
Caution: When the servo-motor is turned OFF or stopped in an emergency while the actuator is stopped at the target position, the PEND signal is turned OFF temporarily. Then, when the servo-motor is turned ON and the actuator is within the positioning width, the PEND signal is turned ON again. When the positioning is completed with the CSTR signal turned ON, the PEND signal is not turned ON.
(2) Position zone signal (PZONE) No. Position [mm] Velocity [mm/s] 0.00 100.00 50.00 250.00 250.00 250.00 0 1 2 3 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 0 50 0 0 0 0.10 0.10 20.00 50.00 70.00 60.00 0.20 0.20 0.20 Zone[mm] Acceleration/ Deceleration mode 30.00 60.00 65.
(10) + Jog (JOG+) PLC Output Signal - Jog (JOG-) PLC Output Signal Operation Positioner 1 Mode { : Equipped { × : Not equipped Simple Direct { Direct numeric Direct numeric Positioner 2 specification specification 2 { × { Positioner 3 × This signal is the command for the jog operation startup or inching operation startup. If a + command is issued, the actuator will operate in the direction opposite home. When a - command is issued, the actuator will operate in the direction of home.
(11) Jog-speed/inch-distance switching (JVEL) PLC Output Signal Operation Positioner 1 Mode { : Equipped { × : Not equipped Simple Direct { Direct numeric Direct numeric Positioner 2 specification specification 2 { × Positioner 3 × { It is a signal to switch the parameters to indicate the speed or inching (incremental) distance when in JOG operation and inching operation. Table below shows the relations. JVEL signal OFF Jog operation : JISL=OFF Parameter No.26, “Jog speed” ON Parameter No.
(13) Teaching mode command (MODE) PLC Output Signal Teaching mode signal (MODES) Operation Positioner 1 Mode { : Equipped { × : Not equipped Simple Direct × PLC Input Signal Direct numeric Direct numeric Positioner 2 specification specification 2 × × { Positioner 3 × Operation Positioner 1 Mode { : Equipped { × : Not equipped Simple Direct × Direct numeric Direct numeric Positioner 2 specification specification 2 × × { Positioner 3 × The PWRT signal is available when the teaching mode signal (MO
(15) Brake release (BKRL) PLC Output Signal Operation Positioner 1 Mode { : Equipped { × : Not equipped Simple Direct Direct numeric Direct numeric Positioner 2 specification specification 2 { { { { Positioner 3 { Warning: (1) Release the brake with a special care. Doing so carelessly may cause an injury or a malfunction of actuator, work piece or other devices due to a drop of the slider or rod. (2) Make sure to put the setting back to activate the brake after releasing it.
(17) Push direction specification (DIR) PLC Output Signal Operation Positioner 1 Mode { : Equipped × × : Not equipped Simple Direct × Direct numeric Direct numeric Positioner 2 specification specification 2 { { Positioner 3 × × This signal specifies the pressing direction. When this signal is turned OFF, the pressing operation is performed to the direction of the value determined by adding the positioning width to the target position.
(20) Warning for Absolute Battery Voltage Drop (BALM) PLC Input Signal Operation Positioner 1 Mode { : Equipped { × : Not equipped Simple Direct Direct numeric Direct numeric Positioner 2 specification specification 2 { { { Positioner 3 × { Warning: Making an operation with the backup data being lost may cause such accidents as an injury or malfunction of the actuator body, work piece or the whole system. Replace the battery immediately if *BALM is turned off.
(22) Acceleration/deceleration mode (MOD1, MOD0) PLC Output Signal Operation Mode Positioner 1 { : Equipped × : Not equipped × Simple Direct × Direct numeric Direct numeric Positioner 2 specification specification 2 × × { Positioner 3 × This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them before the actuator movement command.
First-Order Lag Filter This describes much gentle acceleration/deceleration curve than that for the linear acceleration/deceleration (trapezoid pattern). Use it when it is not desired to give any slight vibration to the work in acceleration/deceleration operation. Velocity (Note) The first-order lag degree set using the parameter No.55 “Position Command Primary Filter Time Constant”. The minimum input unit is 0.1msec and setting range is from “0.0” to “100.0”.
(25) Operation for Positioner 1/Simple Direct Modes If the position data is written to the target position register (for Simple Direct Mode) or the target position is set in the position data of MSCON (for Positioner 1 Mode), the operation shall be made with other information, such as the speed, acceleration/deceleration, positioning width, pressing force, etc., set to the position data.
1) Target Position Data Setting (PLC→MSCON) n1 n2 n3 p2 p3 2) Specified Position Number (PLC→MSCON) p1 twcsON twcsOFF 3) 4) tpdf 5) 10ms or less Position Complete PEND (MSCON→PLC) 7) Current Position (MSCON→PLC) n1 8) n2 6) 10ms or less 10ms or less Moving MOVE (MSCON→PLC) Positioning Width Actuator Movement To turn ON TwcsON, have an interval of time more than 10ms. To turn OFF TwcsOFF, have an interval of time more than 10ms.
(26) Operation for Direct Indication Mode It is operated with the data set in the PLC's target position register, positioning width register, setup speed register, acceleration/deceleration register and pressing current limit setup register. Ɣ Example of operation (Pressing operation) (Preparation) Set the axis numbers to be used in Direct Indication Mode with Gateway Parameter Setting Tool.
1) Target Position Data Setting (PLC→MSCON) n1 n2 n3 v2 v3 m2 m3 t2 t3 s2 s3 2) Positioning Width Data /Pressing Width Data (PLC→MSCON) v1 3) Speed Data (PLC→MSCON) m1 4) Acceleration/ Deceleration Data (PLC→MSCON) t1 Pressing Current Limit (PLC→MSCON) Push-motion Specification PUSH (PLC→MSCON) Push Direction Specification DIR (PLC→MSCON) s1 6) 7) 0ms or more twcsON twcsOFF 13) Positioning Start CSTR (PLC→MSCON) 8) tpdf 9) 12) 10) Position Complete/ Pressing and a Miss PEND / PSFL
(27) Operation for Positioner 2 and Positioner 3 Modes The operation is to be made with the target position, speed, acceleration/deceleration, positioning width and pressing force set in the position data of MSCON. Ɣ Example of operation (Positioning operation) (Preparation) Set the axis numbers to be used in Positioner 2 or Positioner 3 Mode with Gateway Parameter Setting Tool. [Refer to 3.2. Initial Setting.] Set the position data (target position, speed, acceleration/deceleration, etc.
1) Specified Position Number (PLC→MSCON) p1 p2 0ms or more p3 twcsON twcsOFF Positioning Start CSTR (PLC→MSCON) 2) 3) tpdf 4) Positioning Completion PEND (MSCON→PLC) 10ms or less 10ms or less 6) Moving MOVE (MSCON→PLC) Completed Position Number (MSCON→PLC) p1 p2 Positioning Width Actuator Movement To turn ON TwcsON, have an interval of time more than 10ms. To turn OFF TwcsOFF, have an interval of time more than 10ms.
3.8 3.8.1 Control and functions of Input and output signals of Remote I/O Mode Operation Supportive Signal = Patterns 0 to 2, 4 and 5 in common Emergency stop status (EMGS) Output PIO Signal *EMGS In common for { all PIO patterns {: Available, u: Unavailable 1) The emergency stop status EMGS is turned ON when in normal condition and turned OFF when it opens between EMG+ and EMG- (emergency stop condition or disconnected) for “Emergency Stop Circuit”.
[3] Home return (HOME, HEND, PEND, MOVE) Input PIO Signal HOME HEND { { Patterns 0 and 1 { { Patterns 2 and 4 (Note1) { Pattern 5 u Output PEND MOVE { { { u u u { : Available, u: Unavailable Note1: Pattern 5 cannot make a home return with HOME signal. Refer to 3.8.4 [1] Home Return (ST0, HEND) for how to perform a home-return operation. The HOME signal is intended for automatic home return. The HOME signal is caught at the rising edge (ON edge) to start the home return.
[Operation of Slider Type/Rod Type Actuator] Home Mechanical end 2) 1) 1) With the HOME signal being ON, the actuator moves toward the mechanical end at the home return speed. The speed for most of the actuators is 20mm/s, however, for some actuators it is less than 20mm/s. Refer to the instruction manual of each actuator. 2) The actuator is turned at the mechanical end and stopped at the home position.The (Note1) in this process follows the setting in Parameter No.
[For Gripper Type] ԙ Ԙ 3.8 Control and functions of Input and output signals of Remote I/O Mode 1) If the HOME signal is turned ON, the actuator moves toward the mechanical end at the home return speed (20mm/s). 2) The actuator is turned at the mechanical end and stopped at the home position. The amount of movement at this time is that set in Parameter No.22 “Home-Return Offset” after Z-phase is detected. Caution: 172 Make sure to refer to Section 7.2 [12] when a change to Parameter No.
[4] Zone signal and position zone signal (ZONE1, PZONE) Output PIO Signal (Note1) PZONE(Note1) ZONE1 { { Pattern 0 { Pattern 1 u { Pattern 2 u { { Pattern 4 { { Pattern 5 { : Available, u: Unavailable Note1: PZONE Signal can be changed to ZONE1 and ZONE2 Signals by the setting in Parameter No.149.
(2) Position zone signal (PZONE) No. Position [mm] Velocity [mm/s] 0.00 100.00 50.00 250.00 250.00 250.00 0 1 2 3 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 0 50 0 0 0 0.10 0.10 20.00 50.00 70.00 60.00 0.20 0.20 0.20 Zone[mm] Acceleration/ Deceleration mode 30.00 60.00 65.00 Incremental 0 0 0 Gain set 0 0 0 Stop mode 0 0 0 0 0 0 Setting of zone range 3.
[5] Alarm, alarm reset (*ALM, RES) Input Output PIO signal RES *ALM In common for { { all PIO patterns { : Available, u: Unavailable 1) Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an alarm at a level equal to or higher than the operation release level. 2) Turning reset signal RES ON under occurrence of an alarm at the operation release level allows the alarm(Note 1) to be released. The action is taken at the rising edge (ON edge).
[7] Brake release (BKRL) Input BKRL { Pattern 0 Pattern 1(Note 1) u { Pattern 2ޔ4ޔ5 { : Available, u: Unavailable Note1: Pattern 1 does not have this feature PIO signal 3.8 Control and functions of Input and output signals of Remote I/O Mode The brake can be released while BKRL signal is set to ON. If a brake is installed in the actuator, the brake is automatically controlled by servo ON/OFF.
3.8.2 Operation with the Position No. Input = Operations of PIO Patterns 0 to 2 It is the operation methods for PIO Patterns 0 to 2. These patterns provide normal controller operation methods in which the controller is operated by turning the start signal ON after a position No. is entered.
Sample use 200mm/sec 100mm/sec Used for door open/close Velocity Stop status Acceleration Deceleration 1) 2) 3) 4) Acceleration Deceleration 5) 6) 7) 8) Time Position 1 1) 2) Position 1 input Used for pick & place unit 5) 6) Position 2 input 3.8 Control and functions of Input and output signals of Remote I/O Mode Usage No. 0 1 2 Start signal input (moving start) Start signal input (moving start) 3) 7) Position 2 4) Positioning completion signal output Moving comp.
Command position No. PC1 to PC** (PLCĺMSCON) T1t0ms Start signal CSTR (PLCĺMSCON) Completed position No. PM1 to PM** (MSCONĺPLC) Positioning Completion Signal PEND (MSCONĺPLC) Moving Signal MOVE (MSCONĺPLC) PM1 to PM** = 0(Note 1) PM1 to PM** = 0(Note 1) Turned ON after entering into positioning width zone Target Position Caution 3) The completion position No. output is set to 0 during movement of the actuator.
PC16 PM16 PC8 PM8 0 1 2 3 4 5 6 7 8 9 10 z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z z { { { z z z z { { { { z z z z z { { z z { { z z { z { z { z { z { z { z ••• ••• ••• ••• ••• ••• ••• ••• 180 PC32 PM32 { : ON z : OFF PC4 PC2 PC1 PM4 PM2 PM1 ••• 3.8 Control and functions of Input and output signals of Remote I/O Mode Binary data Command position No. PC128 PC64 Completed position No.
[Shortcut control of rotary actuator of multi-rotation specification] (1) Set of shortcut selection The shortcut selection can be made valid/invalid by Parameter No.80 “rotation axis shortcut selection”. If the shortcut selection is made valid, the actuator can be moved only in a single direction. [Operation Examples] Position No.1 Position No.2 Position No.4 Position 0 90 180 270 Enter position data assuming 1q = 1mm. (Example) 1.2 is assumed as 1.2q.
(2) Infinite Rotation Control Making the shortcut selection valid and moving the actuator in a specific direction continuously allows the actuator to be rotated continuously as a motor. The continuous operation can be done as described below. [Operation Examples] This example rotates the actuator by 2 turns and finally stops it at position No.4. Position No.1 Position No. 1 2 3 4 Position No.4 3.8 Control and functions of Input and output signals of Remote I/O Mode Enter position data assuming 1q = 1mm.
[2] Speed change during the movement Sample use Liquid injection unit 100mm/sec Acceleration 50mm/sec Acceleration Stop status 1) 2) 5) 4) 3) Position 1 Deceleration Positioning complete width at position 2 6) 7) Position 3 Position 2 Velocity Time 1) 2) Position 2 input 4) 0 1 2 3 Position [mm] Velocity [mm/s] 150.00 0.00 0.00 250.00 50.00 100.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] 0 0 0 Threshold [%] 0 0 0 Positioning width [mm] 0.10 100.
[3] Pitch feeding (relative movement = incremental feed) Sample use 250mm/sec Stocker up/down Stop state 1) 2) 3) 25 100 Velocity 25 25 25 Time Position No. 1) Work feed in marking process 3.8 Control and functions of Input and output signals of Remote I/O Mode Usage No.
Caution: (1) If the actuator reaches the software limit corresponding to the stroke end in the pitch feed operation, the actuator stops at the position and positioning complete signal PEND is turned ON. (2) Note that, in pitch feed just after pressing operation (to be in the pressing state), the start position is not the stop position at the completion of pressing but the coordinate value entered in “Position” of the pressing position data.
[4] Pressing operation Sample use 250mm/sec Acceleration Deceleration 3) Work Stop status 1) 2) 4) 5) Velocity Press-fitting process Time Position 1 Coordinate Value:100 1) 2) Position 2 input 3) Start signal input (moving) Positioning width 50 * Without contaction work until the end of positioning band, positioning complete signal is not output 5) 4) Move forwarc at low speed without stop Pressing to work and stop Positioning complete signal output Pressing held by setup pressing force
Command position No. PC1 to PC** (PLCĺMSCON) Start signal CSTR (PLCĺMSCON) Completed position No.
Caution: (1) The speed during pressing operation is set in Parameter No.34. Check the 9.1 List of Specifications of Connectable Actuators for the pressing operation speed. Do not set any value larger than the value in the list. If the speed set in the position table is equal to or less than the pressing speed, the pressing is performed at the setup speed.
Judging completion of pressing operation The operation monitors the torque (current limit value) in percent in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing. PEND is turned ON at satisfaction of the condition if the work is not stopped. (Accumulated time in which current reaches pressing value [%]) – (accumulated time in which current is less than pressing value [%]) t 255ms (Parameter No.
[5] Tension Operation Image diagram Position No.1 3.8 Control and functions of Input and output signals of Remote I/O Mode Position No.2 No. Position [mm] Velocity [mm/s] 0 1 2 3 100.00 80.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 –50.00 0.00 0.00 0.20 0.20 Approach operation 0.00 0.
Caution: (1) The speed during tension operation is set in Parameter No.34. Check the 9.1 List of Specifications of Connectable Actuators for the pressing speed. The speed for pulling operation is same as that for pressing operation. Do not set any value larger than the value in the list. If the speed set in the position table is equal to or less than the tension speed, the tension operation is performed at the setup speed. (2) The tension ready position should be the tension start position or forward.
[6] Multi-step pressing 3.8 Control and functions of Input and output signals of Remote I/O Mode Image diagram Position No.1 Position No.2 Position No.3 No. Position [mm] Velocity [mm/s] 0 1 2 3 4 0.00 50.00 50.00 250.00 250.00 250.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 30 50 0 0 0 0.10 20.00 20.00 0.00 0.00 0.00 Zone[mm] 0.00 0.00 0.
[7] Teaching by PIO (MODE, MODES, PWRT, WEND, JISL, JOG+, JOG-) PIO signal Other than pattern 1 Pattern 1 MODE JISL Input JOG+ u u u u u u u { { { { { { { JOG- PWRT Output MODES WEND {: Existence of signal, u: No signal (Note) The feature is available only in pattern 1. Teaching by PIO is enabled. It is possible to select the teaching mode, move the actuator to the target position with jog or inching operation, and write the coordinate value into any position number.
3.8 Control and functions of Input and output signals of Remote I/O Mode Warning: (1) In home return incomplete state, software limit cannot stop the actuator. Take interlock and prohibit the operation or perform the operation carefully. (2) If the JISL signal is changed during inching operation, the inching being operated is continued. If JISL is changed during job operation, the jog is stopped.
Caution: (1) Set the period taken from entering position No. to turning the PWRT ON to 6ms or longer. In spite of 6ms timer process in the PLC, commands may be input to the controller concurrently to cause writing to another position. Take the scanning time in the PLC into account, set a period as 2 to 4 times as the scanning time.
Control method Pause is possible during movement. In addition, the remaining moving distance can be cancelled to interrupt the operation. The pause signal is an input signal always set to ON. So, it is normally used to remain ON. Use this function for interlock in case where an object is invaded into the moving direction of the actuator being moved. 1) If pause signal *STP is turned OFF during operation of the actuator, the actuator is decelerated to a stop.
3.8.3 Direct Position Specification (Solenoid Valve Mode 1) = Operation of PIO Pattern 4 Sample use 200mm/sec 100mm/sec Deceleration Acceleration Stop status Used for door open/close 1) Velocity 2) 3) Time 2) Input start signal to Position No.1 (Moving start) 4) Usage No. Position [mm] Velocity [mm/s] 0 1 2 0.00 70.00 150.00 100.00 100.00 200.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 5) Input start signal to Position No.
Control method 1) When start signal ST* is turned ON, the actuator starts acceleration based on the data in the specified position table for positioning to the target position. 2) At the completion of positioning, positioning complete signal PEND is turned ON as well as current position No. PE* of the specified position. 3) After PEND is turned ON, turn the ST* signal OFF. 4) Current position No.
[2] Pitch feeding (relative movement = incremental feed) Sample use 250mm/sec Stocker up/down Stop status 1) 2) 3) 25 100 Velocity 25 25 25 Time 1) Work feed in marking process No. 0 1 2 2) 3) Position 1 Completion of movement by 100 mm 4) Move 25 mm by input of start signal to position 2 (pitch feed mode) Reat of movement by 25 mm every input of start signal to position 2 Stocker up/down, pallet movement, etc. Position [mm] Velocity [mm/s] 100.00 25.00 250.00 250.
3.8 Control and functions of Input and output signals of Remote I/O Mode 200 Caution: (1) Because pitch feed is repeated, turning ON the ST* signal of the same position after completion of positioning causes both the PE* and PEND signals to be turned OFF at operation start and turned ON again at completion of positioning in the same way as [1] Positioning. (2) If the actuator reaches the software limit (stroke end) in pitch feed, the actuator is decelerated to be stopped and current position No.
[3] Pressing operation Sample use 250mm/sec Acceleration Deceleration 2) Work Stop status 1) 3) 4) Velocity Time Press-fitting process Position 1 Coordinate Value:100 1) 2) Start signal input for position No.2 (Moving start) Caulking process 0 1 2 Position [mm] Velocity [mm/s] 0.00 100.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 50.00 0.00 0.00 Zone[mm] 0.00 0.
Turned OFF by turning PEND ON Start Signal ST* (PLCoMSCON) Current Position No. PE* (MSCONoPLC) Turned ON even in miss-pressing Not turned ON for miss-pressing Positioning Completion Signal PEND (MSCONoPLC) 3.
Judging completion of pressing operation The operation monitors the torque (current limit value) in percent in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing. PEND is turned ON at satisfaction of the condition if the work is not stopped. (Accumulated time in which current reaches pressing value [%]) – (accumulated time in which current is less than pressing value [%]) 255ms (Parameter No.
Tension start position 80mm 3.8 Control and functions of Input and output signals of Remote I/O Mode ST* Approach Operation Tension end position 80 – 50 = 30mm ST* Tension Operation Tension Operation ST*: Start position Control method The method of controlling the tension operation is the same as that described in [3] Pressing operation. The control method is explained below by using the sample position table shown above. 1) Position No.2 indicates the settings of tension operation.
Caution: (1) The speed during tension operation is set in Parameter No.34. [Refer to 9.1 List of Specifications of Connectable Actuators for the pressing speed.] Do not set any value larger than the value in the list. If the speed set in the position table is equal to or less than the tension speed, the tension operation is performed at the setup speed. (2) The tension ready position should be the tension start position or forward.
[5] Multi-step pressing 3.8 Control and functions of Input and output signals of Remote I/O Mode Image diagram Position No.1 Position No.2 Position No.3 No. Position [mm] Velocity [mm/s] 0 1 2 3 4 0.00 50.00 50.00 250.00 250.00 250.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 30 50 0 0 0 0.10 20.00 20.00 0.00 0.00 0.00 Zone[mm] 0.00 0.00 0.
[6] Pause and operation interruption (ST*, *STP, RES, PE*, PEND) Pause is possible during movement. In this mode, the following two methods are possible for pause. 1) Use of pause signal *STP Turning reset signal RES ON during the pause allows the remaining moving distance to be cancelled to interrupt the operation. 2) Use of start signal ST* This method is valid when Parameter No.27 “Move command type” is set to “0” (factory setting).
Caution: (1) At occurrence of an alarm in the release levelNote 1, RES can reset the alarm. Cancel the remaining moving distance after confirmation that alarm signal *ALM (being ON in normal state and OFF at occurrence of an alarm) is set to ON. Note 1: [Refer to 8.4 Alarm List for details of alarms.] (2) Turning *STP OFF with the actuator being in the positioning complete state causes PEND to be turned OFF. Note that this situation may not occur when a sequence program is created.
3.8.4 Direct Position Specification (Solenoid Valve Mode 2) = Operation of PIO Pattern 5 The start signal is provided for every position number. Only turning ON the relevant input signal according to the table shown below allows the operation based on the data in the target position number to be performed. The operation mode is called the solenoid valve mode because solenoid valves can directly drive air cylinders.
[Operation of Slider Type/Rod Type Actuator] Home 1) Mechanical end 2) 3.8 Control and functions of Input and output signals of Remote I/O Mode 1) With the ST0 signal being ON, the actuator moves toward the mechanical end at the home return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators. Check the instruction manual of actuator. 2) The actuator is turned at the mechanical end and stopped at the home position.
[For gripper type] Caution: Make sure to refer to Section 7.2 [12] when a change to Parameter No.22 “Home Return Offset Level” is required. [2] Features of LS signals (LS0 to 2) The LS* signals are not complete signals for positioning commands such as those for other PIO patterns. Despite the specified position No., the corresponding LS* signal is turned ON when the actuator is entered into the setup value range as if the actuator were detected by a sensor installed.
[3] Positioning [Basic] (ST0 to ST2, LS0 to LS1) Position No. Input Output 0 ST0 LS0 1 ST1 LS1 2 ST2 LS2 [Caution] Pressing and pitch feed are unavailable. Sample use 200mm/sec 100mm/sec Acceleration Used for door open/close Stop status 1) Velocity 2) 3) 3.8 Control and functions of Input and output signals of Remote I/O Mode Time Used for pick & place unit Usage Position [mm] Velocity [mm/s] 0 1 2 0.00 70.00 150.00 100.00 100.00 200.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.
(Example) Repetition of ST1 o ST2 o ST1 o Insert timer 't if necessary. Start signal ST1 (PLCoMSCON) Ǎt Ǎt Ǎt Start signal ST2 (PLCoMSCON) Position sensing output LS1 (MSCONoPLC) Position sensing output LS2 (MSCONoPLC) Turned ON after entering into positioning width zone Ǎt : Time required to certainly reach the target position after the position sensing output LS1 or 2 is turned ON.
[4] Speed change during the movement Sample use Liquid injection unit 100mm/sec Acceleration 50mm/sec Stop status Deceleration Acceleration 1) 2) 3) 4) 5) Positioning complete width at position 2 Position 1 Position 2 Velocity Time 1) Start signal input for position 1 (moveing start) 2) 3) Position 1 LS signal output 4) Start signal input for position 0 5) Position 0 LS signal output Moving comp. 3.
The timing chart shown below indicates that the actuator changes its speed while it moves to position No.1 after the completion of positioning at position No.2 and moves to position No.0. Start signal ST0 (PLCoMSCON) Start signal ST1 (PLCoMSCON) Start signal ST2 (PLCoMSCON) Position sensing output LS1 (MSCONoPLC) Set of positioning width of position No.1 to shift change start position Position sensing output LS2 (MSCONoPLC) Operation of actuator Stop at position No.2 Moving at speed of Position No.
[5] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND) Turning start signal ST* OFF allows the actuator to be paused while it is moved. To restart it, turn the same ST* signal ON. Start signal ON OFF 2) Acceleration Stop status Velocity Acceleration Deceleration 1) Deceleration 3) 4) 5) Time 3.
3.9 About Gateway Parameter Setting Tool This tool is necessary for the initial setting process such as MSCON operation mode select. Shown below is how to use the tool. 3.9.1 Startup of Tool 1) Boot the Gateway Parameter Setting Tool after the power to MSCON is turned ON, and the window shown below appears. Select “MSCON GW” and click on the OK button. MSCON being detected Select the unit number to be connected 217 3.
3.9 About Gateway Parameter Setting Tool 3) The main window opens. The main window opens even when MSCON could not be detected. Click on the “Read” button in this window and the parameters start to be read from MSCON. Parameter transfer starts if the “Write” button is clicked. However, note that the transfer cannot be made if there is a blank like Address and Communication Speed in the figure below. Main windows (Initial condition) 3.9.
2) Setting Menu Click on the “Setting” menu on the top left corner in the main window and the setting menu list pops up. 3) Monitor menu Click on the [Monitor] menu on the top left corner in the main window and the monitor menu list pops up. (Note): “Monitor” cannot be selected before reading a parameter. x I/O data : Show the details of the host PLC and MSCON data. [Refer to 3.2.3 6) I/O data.] x Diagnosis Information : Show the number of ERRT and ERRC occurrence, emergency stops and scan time.
3.9.3 Description of Functions 1) GW-Param : Select whether to continue the error even in recoverable condition after ERRT and ERRC are issued. x SERVO-OFF in ERR_C : Select whether to turn the servo OFF on the connected axes when ERRC is occurred. x unit velocity (Only Direct Indication Mode) : Select the unit for speed from 1.0mm/s and 0.1mm/s. x Internal communication retry count : Set the number of communication retries with the connected axes in AUTO mode. 3.
3) GW mode Select x Enable SW 3)-1 BYTE swap: Swap the upper and lower in the sent and received data in byte unit. Set this considering the connected host system if necessary. Ɣ = ON, ż = OFF MSEP MSCON Input ജ ࠫࠬ࠲ register ON/OFF Hexadecimal 16ㅴ data ࠺࠲ PLC： RWwnn ON/OFF Hexadecimal 16ㅴ data ࠺࠲ MSCON MSEP Output ജ register ࠫࠬ࠲ ON/OFF Hexadecimal 16ㅴ data ࠺࠲ RWrnn ON/OFF Hexadecimal 16ㅴ data ࠺࠲ 221 3.
3)-2 WORD Swap in D-WORD Data: Swap the upper and lower in the W-word sized sent and received data in word unit. Set this considering the connected host system if necessary. Ɣ = ON, ż = OFF MSEP MSCON Input ജ ࠫࠬ࠲ register ON/OFF Hexadecimal 16ㅴ data ࠺࠲ PLC： RWwnn ON/OFF 3.
4) Time setting Caution: The clock (calendar) function in MSCON can be retained for approximately 10 days (reference) after the power to MSCON is turned OFF. Once the clock data is lost, the time passed since the power is turned back on as 2000/1/1 0:00:00 is displayed as the current time. 5) Unit Number Setting This setting is to be conducted when 2 units of MSCON are to be connected to the PC software at the same time. (It is not necessary to have this setting done for 1 unit of MSCON.
6) EtherNet/IP Setting (Setting to be established for EtherNet/IP type) x IP address: : Set IP address for MSCON. x Subnet mask: : Set subnet mask. x Default gateway : Set default gateway. I/O monitor 3.9 About Gateway Parameter Setting Tool 7) Data Reading Frequency Display Switchover SYNC Scroll In this register monitor window, shows the data that Gateway Unit has received from the host (master) and the data sent back to the host (master).
8) Diagnosis Information The number of the communication error (ERRC and ERRT) occurrence and number of the emergency stop (EMG) detection can be counted. 9) Alarm list 3.9 About Gateway Parameter Setting Tool Click on the “Update” button and the alarm list is read again from MSCON. Click on the “Clear” button and the alarm list retained in MSCON are all deleted. Refer to Chapter 8. Troubleshooting for the details of the alarms.
3.9.4 Operation Mode Setting (1) (2) 3.9 About Gateway Parameter Setting Tool (3) Operation mode setting is to be conducted in the following procedures. (Note1) whether to use Remote I/O Mode. 1) Select 2) Select (Note2) an operation mode for Drive Unit 0 (AX0: 1st axis, AX1: 2nd axis). 3) If making one of the axes for Drive Unit 0 the reserved axis (unused axis), tick on “Axis 0 Rsv” or “Axis 1 Rsv” (Note3) beside the operation mode setting box.
3.10 Field network status LEDs The communication status of the field network can be checked. 3.10.1 DeviceNet Field Network Status LED { : Illuminating, × : OFF, : Flashing Name Lamp status NS { MS NS Field Network Connector Color { (Illuminated by turns) MS { (Illuminated by turns) Online (normally) Online (Even though the network Green is established normally, it is not identified as MSCON by the master) An error occurs. Orange No response returned from another slave.
3.10.3 PROFIBUS Field Network Status LED NS { : Illuminating, × : OFF, : Flashing Name NS Lamp status { MS { { Field Network Connector MS { Color Description Online (normally) Online (Even though the network Green is established normally, it is not identified as MSCON by the master) Orange An error occurs. Initializing completed Initializing completed and in self-checking process Orange An error occurs. Green 3.10 Field network status LEDs 3.10.
3.10.
3.10.7 EtherCAT Field Network Status LED { : Illuminating, × : OFF, : Flashing Name Lamp status Color { RUN ERR RUN Field Network Connector 3.
3.11 Gateway status LED { : Illuminating, × : OFF, : Flashing ALM RDY MODE EMG T.ERR Name ALM/RDY Lamp status × Green Orange – Green – Red – { Orange × – { Orange × – { { × MODE { EMG { C.ERR T.ERR C.
232 3.
Chapter 4 Vibration Suppress Control Function The vibration suppress control function suppresses vibrations of loads induced by our actuators. The function can suppress vibrations in the same direction as the movement of the actuator in the frequency range from 0.5Hz to 30Hz. Measure the frequency of the generated vibration and set it to the parameter. Three frequencies can be defined as parameters.
Chapter 4 Vibration Suppress Control Function Caution: x Use of Frequency Analysis Tool for Anti-Vibration Control If using the frequency analysis tool for anti-vibration control installed in the PC software, it is necessary to get the key file, copy and store it in the same folder as the executable file (RcPc.exe) of the PC software. Please contact IAI for the key file.
4.1 Setting Procedure To use the vibration suppress control function, make proper measurements and settings depending on the procedure described below.
Chapter 4 Vibration Suppress Control Function 4.2 Settings of Parameters for Vibration Suppress Control Set the parameters associated with vibration suppress control, which are listed in the table below. Parameter Parameter Parameter Name Unit Default Input Range Set No. No.
[4] Default vibration suppress No. (Parameter No.109) When a position is written into a position table not registered yet, the value set to this parameter is automatically entered in the “Vibration suppress No.” field. To change the setting, edit the position table later. 0: Normal position control (default) 1: Use Anti-Vibration Control Parameter Set 1 2: Use Anti-Vibration Control Parameter Set 2 3: Use Anti-Vibration Control Parameter Set 3 [5] Stop method at servo OFF (Parameter No.
238 Chapter 4 Vibration Suppress Control Function
Chapter 5 Power Saving Function (Automatic Servo-off Function) The product possesses an automatic servo-off function to reduce the power consumption while the actuators are stopped. Read the description in this chapter carefully to save power so that the controller can be operated safely. The servo is automatically turned OFF after a certain period from completion of positioning. The next positioning command is issued to turn the servo ON automatically and achieve the positioning.
3 Status of positioning complete signal in selection of automatic servo OFF Automatic servo OFF causes the actuator to be in other than the positioning complete state due to the servo OFF. Positioning complete signal (PEND) is turned OFF. PEND by changing PEND signal to an in-position signal (INP) that judges whether the actuator is in the positioning width range, not to the positioning complete signal, this can be a signal that would not turn OFF while the servo is OFF.
Chapter 6 6.1 [1] Absolute Reset and Absolute Battery Absolute Reset The controller of absolute specification holds encoder position information by battery backup. It is not necessary to perform the home-return operation every time the power is turned ON. In order to hold the encoder position information, absolute reset is required.
(2) For CON-PTA/PDA/PGA 1) Press Reset Alm. 2) Press Trial Operation on the Menu 1 screen. 3) Press Jog_Inching on Trial screen. Chapter 6 Absolute Reset and Absolute Battery 4) Press Home on Job/Inching screen. Adjustment for Repeatability of Home Position In case the home position has changed from where it was previously in an absolute reset after the absolute data has lost, it can be adjusted in Parameter No. 22 Home Return Offset.
6.2 Absolute Battery An absolute battery is enclosed with the absolute type controller. The absolute battery is used to back up the absolute data. Connect the battery to the absolute battery connector on the front panel of the controller.
Battery voltage 3.6V 3.1V Normal (Note 3) BALM signal (MSCONĺPLC) (Note 3) ALM signal (MSCONĺPLC) Chapter 6 Absolute Reset and Absolute Battery 244 Alarm occurred ON OFF ON OFF Absolute reset not required Note 3: Alarm Signal Output 2.5V ALM OFF Absolute reset required BALM and ALM are the signals of active low in Remote I/O Mode, and active high in other modes. There is no BALM Signal in Positioner Mode 3.
6.2.2 Replacement of absolute battery For the battery replacement, remove the battery connector while keeping the power to the controller ON, and change the battery installed in the battery holder. Caution: To replace the old absolute battery with a new one with the controller power being off, complete the replacement within 15 minutes from the removal of the old battery if it is before the alarm is generated. The absolute data may get lost if it exceeds 15 minutes.
246 Chapter 6 Absolute Reset and Absolute Battery
Chapter 7 Parameter Parameter data should be set appropriately according to the applicaiton requirements. When a change is required to the parameters, make sure to back up the data before the change so the settings can be returned anytime. With using PC software, it is able to store the backup to the PC. Leave a memo if using a teaching pendant which cannot mount a memory card.
Parameter List Each axis number has the following parameter table. Have the setting and checking on each axis number. The categories in the table below indicate whether parameters should be set or not. There are five categories as follows: A : Check the settings before use. B : Use parameters of this category depending on their uses. C : Use parameters of this category with the settings at shipments leaving unchanged as a rule. Normally they may not be set.
No. Category Parameter List (continued) 22 C Home Return Offset Level OFST 23 B Zone 2 Positive Side ZNM2 24 B Zone 2 Negative Side ZNL2 mm [deg] -9999.99 to 9999.
Name Symbol Unit (Note 1) Input Range Default factory setting 0 71 B Feed Forward Gain PLFG - 0 to 100 73 D Encoder Voltage Level EVLV - 0 to 3 75 D Electromagnetic Brake Power Monitor FSTP - 0: Disabled 1: Enabled 76 E Belt Breaking Sensor Input Polarity AIOF 77 D Ball Screw Lead Length LEAD mm [deg] 0.01 to 999.
105 C 106 C 107 B 108 C Name Vibration suppress parameter set 3 No. Category Parameter List (continued) Damping Characteristic Coefficient 1 Damping Characteristic Coefficient 2 Natural Frequency Symbol Unit (Note 1) Input Range Default factory setting Relevant sections 4.2 DC11 - 0 to 1000 10 DC21 - 0 to 1000 1000 NP01 1/1000Hz 500 to 30000 10000 4.2 Notch Filter Gain Default Vibration Suppress B No. NFG2 - 1 to 20000 9990 4.
No.
7.2 Detail Explanation of Parameters Establish settings for each axis number. Caution: • If parameters are changed (writing), provide software reset or reconnect the power to reflect the setting values. • The unit [deg] is for rotary actuator and lever type gripper. Pay attention that it is displayed in mm in the teaching tools. [1] Zone 1 positive side, zone 1 negative side (Parameter No.1, No.2) Zone 2 positive side, zone 2 negative side (Parameter No.23, No.24) No.
[2] Soft limit positive side, Soft limit negative side (Parameter No.3, No.4) No. Name Symbol 3 Soft Limit Positive Side LIMM 4 Soft Limit Negative Side LIML Unit mm [deg] mm [deg] Input Range -9999.99 to 9999.99 -9999.99 to 9999.99 Default factory setting Actual stroke on positive side Actual stroke on negative side 0.3mm [deg] is added to the outside of the effective actuator stroke for the setting at the delivery (since there would be an error at the end of effective stroke if set to 0).
[4] Press & hold stop judgment period (Parameter No.6) No. 6 Name Push & Hold Stop Judgment Period Symbol Unit Input Range Default factory setting PSWT msec 0 to 9999 255 Judging completion of pressing operation (1) For Standard type (PIO pattern 0 to 2) The operation monitors the torque (current limit value) in percent in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing.
[6] Default velocity (Parameter No.8) No. 8 Name Default Velocity Symbol Unit VCMD mm/s [deg/s] Input Range 1 to Actuator’s max. speed Default factory setting Rated actuator speed The factory setting is the rated velocity of the actuator. When a target position is set in an unregistered position table, the setting in this parameter is automatically written in the applicable position number. It is convenient to set the velocity often used. [7] Default acceleration/deceleration (Parameter No.9) No.
[10] Dynamic brake (Parameter No.14) No. 14 Name Dynamic Brake Symbol Unit FSTP - Input Range 0: Disabled 1: Enabled Default factory setting 1 This parameter defines whether the dynamic brake is enabled or disabled while the actuator is at standstill. Normally it need not be changed. [11] Pause input disable selection (Parameter No.15) No.
[14] Creep sensor input polarity (Parameter No.20) No. Name 20 Creep Sensor Input Polarity Symbol Unit Input Range AIOF - 0 to 2 Default factory setting In accordance with actuator Even though the actuator with long stroke requires time to home-return if the power is shut at a point far from the home position, the required time can be improved with using the creep sensor.
[16] Home return offset level (Parameter No.22) No. 22 Name Home Return Offset Level Symbol Unit Input Range OFST mm [deg] 0.00 to 9999.99 Default factory setting In accordance with actuator In this setting can set the distance from the mechanical end to the home position. An adjustment is available for the following cases. 1) Want to match the actuator home position and the mechanical origin of the system. 2) Want to set a new home after reversing the factory-set home direction.
[18] PIO pattern selection (Parameter No.25) No. 25 Name Symbol Unit Input Range IOPN - 0 to 2, 4, 5 and 8 PIO Pattern Selection Default factory setting 8 Select an operation pattern. [Refer to 3.1 Basic Operation for the details of PIO patterns.] PIO Patterns 0 to 2, 4 and 5 are available to be selected when Remote I/O Mode is selected. PIO Pattern 8 can be selected when other than Remote I/O Mode.
[19] PIO jog velocity (Parameter No.26), PIO jog velocity 2 (Parameter No.47) No. 26 Name PIO Jog Velocity Symbol Unit IOJV mm/s [deg/s] Input Range 1 to Actuator’s max. speed Default factory setting 100 This is the setting for the JOG operation velocity with JOG+/- Signal (JOG Input Command) when PIO Pattern = 1 (Teaching Mode) is being selected. Set an appropriate value in Parameter No.26 in accordance with the purpose of use. Note 1: The maximum speed is limited to 250mm/s.
[21] Velocity loop proportional gain (Parameter No.31) No. 31 Name Symbol Unit Input Range VLPG - 1 to 27661 Velocity Loop Proportional Gain Default factory setting In accordance with actuator This parameter determines the response of the speed control loop. When the set value is increased, the follow-up ability to the velocity command becomes better (the servo-motor rigidity is enhanced). The higher the load inertia becomes, the larger the value should be set.
[23] Torque filter time constant (Parameter No.33) No. 33 Name Torque Filter Time Constant Symbol Unit Input Range TRQF - 0 to 2500 Default factory setting In accordance with actuator This parameter decides the filter time constant for the torque command. When vibrations and/or noises occur due to mechanical resonance during operation, this parameter may be able to suppress the mechanical resonance. This function is effective for torsion resonance of ball screws (several hundreds Hz).
[26] Auto servo motor OFF delay time 1, 2, 3 (Parameter No.36, No.37, No.38) No. 36 37 38 Name Auto Servo-motor OFF Delay Time 1 Auto Servo-motor OFF Delay Time 2 Auto Servo-motor OFF Delay Time 3 Symbol Unit Input Range Default factory setting ASO1 sec 0 to 9999 0 ASO2 sec 0 to 9999 0 ASO3 sec 0 to 9999 0 Set the duration before the servo turns OFF after positioning process is complete when the power saving function is used. [Refer to Chapter 5 Power-saving Function.
[29] Velocity override (Parameter No.46) No. 46 Name Velocity Override Symbol Unit Input Range OVRD % 1 to 100 Default factory setting 100 When move commands are issued from the PLC, the moving speed set in the “Velocity” field of the position table can be overridden by the value set by this parameter. Actual movement velocity = [Velocity set in the position table] × [setting value in Parameter No.46] Example) Value in the “Velocity” field of the position table: 500mm/s Setting in Parameter No.
[33] Default acceleration/deceleration mode (Parameter No.52) No. 52 Name Default Acceleration/ Deceleration Mode Symbol Unit Input Range Default factory setting CTLF - 0 to 2 0 (Trapezoid When a target position is written to an unregistered position table, this value is automatically set as the “Acceleration/deceleration mode” of the applicable position number. Set Value Description 0 Trapezoid 1 S-motion 2 Primary delay filter [34] Default stop mode (Parameter No.53) No.
[37] S-motion rate (Parameter No.56) No. 56 Name S-motion Rate Symbol Unit Input Range SCRV % 0 to 100 Default factory setting 0 This parameter is used when the value in the “Acceleration/deceleration mode” field of the position table is set to “1 (S-motion)”. This enables to ease the impact at acceleration and deceleration without making the takt time longer. Velocity Swing width Time 0 Acceleration time The S-motion is a sine curve that has the acceleration time as 1 cycle.
[38] Pulse count direction (Parameter No.62) This is the parameter for the future extension. Do not attempt to change the initial settings. [39] Electronic gear numerator (Parameter No.65) This is the parameter for the future extension. Do not attempt to change the initial settings. [40] Electronic gear denominator (Parameter No.66) This is the parameter for the future extension. Do not attempt to change the initial settings. [41] Feed forward gain (Parameter No.71) No.
[42] Encoder voltage level (Parameter No.73) No. 73 Name Encoder Voltage Level Symbol Unit Input Range EVLV - 0 to 3 Default factory setting Depending on encoder cable length To stabilize encoder detection signals, this parameter defines the voltage supplied to the encoder circuit to one of four levels in accordance with the encoder type and the length of the encoder relay cable. Normally this parameter need not be changed.
[46] Axis operation type (Parameter No.78) No. Name 78 Axis Operation Type Symbol Unit Input Range ATYP - 0: Linear axis 1: Rotary axis Default factory setting In accordance with actuator This parameter defines the type of the actuator used.
[47] Rotary axis mode selection (Parameter No.79) No. 79 Name Rotary Axis Mode Selection Symbol Unit ATYP - Input Range 0: Normal mode 1: Index mode Default factory setting In accordance with actuator This parameter defines the mode of the rotational axis. When the axis operation type (Parameter No.78) is set to “Rotary Axis” and the index mode is selected, the current value indication is fixed to “0 to 359.99”. When the index mode is selected, the short course control is enabled.
[49] Software limit margin (Parameter No.88) No. 88 Name Software Limit Margin Symbol Unit Input Range SLMA mm 0 to 9999.99 Default factory setting In accordance with actuator This is the parameter to set the position of over error detection against the soft limit errors set in Parameters No.3 and No.4. It is not necessary to change the setting in normal use. Error detection area Software Soft limit (Parameter No.3, No.
[56] Damping characteristic coefficient 1, 2 / Natural frequency / Notch filter gain (Parameter No.97 to No.108) This parameter is exclusively used for vibration suppress control.
[59] Monitoring mode selection (Parameter No.112) No. 112 Name Monitoring Mode Selection Symbol Unit Input Range FMNT - 0: Unused 1: Monitor Function 1 2: Monitor Function 2 3: Monitor Function 3 Default factory setting 1 The controller can be connected with PC software to monitor the servo. This parameter allows you to select a monitoring mode function (servo monitor). Check the Instruction Manual of the RC PC software for details. Set Value Description 0 Unused 1 Sets the 4CH-15000 record mode.
[64] Servo gain number 1 (Parameter No.120) This parameter determines the response of the position control loop. [Refer to description of Parameter No.7.] [65] Feed forward gain 1 (Parameter No.121) This parameter defines the feed forward gain of the position control system. [Refer to description of Parameter No.71.] [66] Velocity loop proportional gain 1 (Parameter No.122) This parameter determines the response of the speed control loop. [Refer to description of Parameter No.31.
[74] Torque filter time constant 2 (Parameter No.130) This parameter decides the filter time constant for the torque command. [Refer to description of Parameter No.33.] [75] Current control width number 2 (Parameter No.131) This parameter defines the control width of the current control system. [Refer to description of Parameter No.54.] [76] Servo gain number 3 (Parameter No.132) This parameter determines the response of the position control loop. [Refer to description of Parameter No.7.
[83] Home preset value (Parameter No.139) No. Name 139 Home Preset Value Symbol Unit PRST mm Input Range -9999.99 to 9999.99 Default factory setting In accordance with actuator For the actuator of absolute specification, set this parameter so that (home return offset + value of this parameter) is within the range between 0 and the ball screw lead. The value should be an integer multiple of ± (ball screw lead length) including 0.00.
[85] Total movement count threshold (Parameter No.147) No. Name Symbol Unit Input Range 147 Total Movement Count Threshold TMCT Times 0 to 999999999 Default factory setting 0 (Disabled) An alarm is generated when the total movement count exceeds the value set to this parameter. The judgment would not be made if the value is set to 0. [86] Total operated distance threshold (Parameter No.148) No.
[90] Drive cutoff alarm level (Parameter No.157) No. 157 Name Drive Cutoff Alarm Level Symbol Unit FSTP - Input Range 0 to 2 Default factory setting 0 Set the alarm level to have a drive source cutoff. Set Value Description 0 When overcurrent alarm is issued, Drive Cutoff 1 When cold start level alarm is issued, Drive Cutoff 2 Operation Cancel Level or When cold start level alarm is issued, Drive Cutoff [91] Active/Inactive axis select (Parameter No.158) No.
7.3 Servo Adjustment The parameters are preset at the factory before shipment so that the actuator operates stably within the rated (maximum) transportable weight. However, the preset setting cannot always be the optimum load condition in the actual use. In such cases, servo adjustment may be required. This section describes the basic servo adjustment method. Caution: Rapid and excessive settings are dangerous. They may devices including the actuator to be damaged and/or people to be injured.
No. 4 Situation that requires adjustment Abnormal noise is generated. Especially, when stopped state and operation in low speed (less than 50mm/sec), comparatively high noise is generated. Trace precision is desired to be improved. Equi-speed performance is desired to be improved. Response is desired to be improved. 6 Large static friction of load makes actuator start slowly. Large load inertia makes response of actuator low at start and stop. Takt time is desired to be shortened.
282 Chapter 7 Parameter
Chapter 8 Troubleshooting 8.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take an appropriate action according to the procedure below in order to ensure quick recovery and prevent recurrence of the problem. (1) Checking Status (Condition) Display LEDs on Gateway Name ALM RDY MODE EMG T.ERR ALM/RDY MODE EMG C.ERR T.ERR C.
(14) Treatment Note1 The time of alarm generated can be recorded if the clock is set to the current time on Gateway Parameter Setting Tool. The date and time data set once is retained for about 10 days if the power supply of the controller is OFF. If the setting is not conducted or the time data is lost, it will be the time passed since 2000/1/1, 00:00:00 when the power is turned ON. Even if the date and time data is lost, the generated error code is retained.
8.2 Fault Diagnosis This section describes faults largely divided into three types as follows: (1) Impossible operation of controller (2) Positioning and speed of poor precision (incorrect operation) (3) Generation of noise and/or vibration (4) Communication not established 8.2.1 Impossible operation of controller Situation Possible cause Control power supply error (when overvoltage applied or internal overcurrent detected) During emergency-stop.
8.2.2 Positioning and speed of poor precision (incorrect operation) Situation Completion of operation on the way to home return Chapter 8 Troubleshooting Shocks at start and/or stop. Overshoot during deceleration to stop. Positioning of poor precision Uneven speed during movement Acceleration/deceleration not smooth (bad speed response) Positioning at a position different from that of commanded position No. Complete signal PEND is not output even though positioning process is completed.
8.2.3 Generation of noise and/or vibration Situation Generation of noise and/or vibration from actuator itself Vibrations of load 8.2.4 Possible cause Noise and vibration are generated by many causes including the status of load, the installation of the actuator, and the rigidity of the unit on which the actuator is installed. 1) Acceleration/deceleration is set too high. 2) The installation structure and/or the installed load are easily affected by acceleration/deceleration.
8.3 8.3.1 Alarm Gateway Alarm Codes The alarm codes are read into b7 to b0 in Gateway Status Signal 0. Note: The alarm code shown on Gateway Parameter Setting Tool is applied with “8” on the top of the alarm codes listed below. (Example) If the alarm code is 43, it will be shown as 843. Chapter 8 Troubleshooting Alarm Code 43 Alarm Name Cause/Treatment Absolute Battery Charge Voltage Drop Cause : The voltage of the absolute battery charger has dropped.
Alarm Code 81 Alarm Name Parameter Check Sum Error Driver Board Mount Error 9C Fieldbus Module Not Detected 9E Fan Error A0 Control Power Overvoltage A1 Control Power Voltage Drop A2 Motor Power Voltage Error AB Assumed Regenerative Discharge Excessive Power AC Continuous Regenerative Excessive Discharge FFF Power-on Log Cause : There is a possibility that the memory data inside MSCON has destroyed.
Chapter 8 Troubleshooting 8.3.2 Alarm Code for Each Axis [1] Simple Alarm Code Simple alarm codes are read into the complete position register (PM8 to PM1) in Position 1/ Simple Direct Modes when an alarm is generated. { : ON z : OFF ALM8 ALM4 ALM2 ALM1 Binary *ALM Description: Alarm code is shown in ( ).
*ALM ALM8 ALM4 ALM2 ALM1 Binary Code (PM8) (PM4) (PM2) (PM1) { : ON z : OFF Description: Alarm code is shown in ( ).
[3] Alarm List Alarm Code 048 04E 04F 06B 080 082 083 Chapter 8 Troubleshooting 084 085 090 091 092 292 Alarm Level Alarm Name Driver overload alarm Cause/Treatment Cause : The load current exceeded the value set in Parameter No.143 “Overload Level Ratio”. This alarm is kept alarm condition until reset is made. This alarm turns ON when the load current exceeds the setting from a value below the setting. Treatment : Lower the setting of acceleration/deceleration.
Alarm Code 093 Alarm Level Operation release 0A1 Alarm Name PWRT signal detection in incomplete home return Parameter data error Cold start Cause/Treatment Cause : The current position write signal PWRT was input in the teaching mode of PIO pattern 1 when home return was not yet completed. Treatment : Input the HOME signal first to perform home return, and then input the PWRT signal after confirming that the home return has completed (HEND output signal is ON).
Alarm Code 0A2 Alarm Level Alarm Name Position data error Chapter 8 Troubleshooting Operation release 0A3 Position command data error 0A5 Electromagnetic brake unreleased error 0A6 Dynamic brake not released Cold start Command deceleration error 0A7 Operation release Cause/Treatment Cause : 1) A move command was input when no target position was set in the “Position” field of a position No. in the position table.
Alarm Code 0A8 Alarm Level 0B4 Alarm Name Unsupported motor/encoder types Electric angling mismatching Cold start Z-Phase position error 0BA Home sensor non-detection 0BE Home return timeout 0BF Operation Creep sensor not release detected Cause : The motor connected to the controller is not applicable or the type of the encoder that the motor is connected is not applicable.
Alarm Code 0C0 Chapter 8 Troubleshooting 0C2 0C4 296 Alarm Level Alarm Name Actual speed excessive Cause/Treatment Cause : This indicates the number of motor rotation exceeded the number of allowable rotation. 1) The slide resistance of the actuator is locally high. 2) The load is increased too much due to a external force. With the reasons above, it can be considered a sudden speed increase has occurred before detecting the servo error.
Alarm Code 0C5 Alarm Level Alarm Name Illegal transition command in control system Operation release 0C8 Overcurrent 0CA Overheated Cold start Current sensor offset adjustment error Cause : 1) Change the operation from the vibration suppress control operation to the normal position control operation. 2) Change the operation from the normal position control operation to the vibration suppress control operation.
Alarm Code 0D8 0D9 Alarm Level Operation release Alarm Name Deviation overflow Software stroke limit exceeded Pressing motion range over error 0E0 Overload Chapter 8 Troubleshooting 0DC Cold start Cause/Treatment Cause : This alarm indicates that the position deviation counter has overflowed. 1) The speed dropped or the actuator stopped due to the effect of external force or overload. 2) The excited-phase detection operation following the power-on is unstable.
Alarm Code 0E4 Alarm Level 0E5 Alarm Name Encoder send error Encoder receipt error Cold start Encoder count error Cause : The data sending and receiving between the controller and encoder is conducted by the serial communication. This error indicates that the data sent from the controller was not received properly at the encoder side. 1) Encoder cable is about to break or connector is not plugged properly 2) Effect of noise 3) One or more communication ICs installed on the encoder board are faulty.
Alarm Code 0EE Alarm Name Absolute encoder error detection 2 0EF Absolute encoder error detection 3 0F0 Driver logic error 0F4 Chapter 8 Troubleshooting Alarm Level Cold start Mismatched PCB 0F5 Nonvolatile memory write verify error 0F6 Nonvolatile memory write timeout 0F8 Nonvolatile memory data destroyed 0FA CPU error 300 Cause/Treatment Cause : This is the condition where the position information can not be detected in the absolute encoder. 1) Voltage drop of absolute battery.
Alarm Code 0FB Alarm Level Alarm Name FPGA error (Faulty component) Alarm on teaching tool The FPGA is not operating properly. Cause : 1) Malfunction due to the effect of noise, etc. 2) Faulty FPGA 3) Faulty circuit component around the FPGA. 4) Inappropriate board installation in the controller. Treatment : Turn the power OFF and reboot. If the error occurs again, check for presence of noise. If a spare controller is available, replace the problem controller with the spare controller.
302 Chapter 8 Troubleshooting
Chapter 9 9.1 Appendix List of Specifications of Connectable Actuators Specifications described in the specification list are limited to the information required to set operation conditions and parameters. For other detailed specifications, refer to brochures and Instruction Manuals of actuators. Actuator Series Type Motor Output No. of Encoder Pluses [W] 20 RA4C 16384 (Note) Lead Oriented Direction Maximum Speed [mm/s] [G] [N] [N] 12 600 0.3 – – – 6 300 0.3 – – – 3 150 0.
Actuator Series Type Motor Output No. of Encoder Pluses [W] 16384 30 20 RGD4D 16384 30 20 16384 30 RGD4R 16384 Chapter 9 Appendix RA5C (Note) 60 Maximum Acceleration/ Deceleration [G] Minimum Maximum Rated Pressing Pressing Pressing Force Force Speed [N] [N] [mm/s] 600 0.3 – – – 6 300 0.3 – – – 150 0.2 – – – 600 0.3 – – – 6 300 0.3 – – – 3 150 0.2 – – – 3 12 Horizontal/ Vertical 12 600 0.3 – – – 6 300 0.3 – – – 150 0.2 – – – 600 0.
Actuator Series Type Motor Output No. of Encoder Pluses [W] 60 RGS5C Lead 60 RGD5C 800 (at 50 to 250st) 755 (at 300st) 0.3 – – – 6 400 (at 50 to 250st) 377 (at 300st) 0.3 – – – 3 200 (at 50 to 250st) 188 (at 300st) 0.2 – – – 60 16384 Horizontal/ Vertical 800 (at 50 to 250st) 755 (at 300st) 0.3 – – – High Accel/ Decel Type : 1.0 – – – 6 400 (at 50 to 250st) 377 (at 300st) 0.3 – – – High Accel/ Decel Type : 1.0 – – – 3 200 (at 50 to 250st) 188 (at 300st) 0.
Actuator Series Type Motor Output No. of Encoder Pluses [W] RCS2 (Slider Type) SA4C (Note) SA4D (Note) 20 Lead Maximum Acceleration/ Deceleration [G] Minimum Maximum Rated Pressing Pressing Pressing Force Force Speed [N] [N] [mm/s] [mm/s] 10 665 0.3 – – – High Accel/ Decel Type : 1.0 – – – 330 0.3 – – – High Accel/ Decel Type : 1.0 – – – 16384 16384 Maximum Speed [mm] 5 20 Oriented Direction Horizontal/ Vertical 2.5 165 0.
Actuator Series Type Motor Output No. of Encoder Pluses [W] SA4R (Note) Lead [mm] 10 20 16384 5 2.5 20 SA5C (Note) (Note) 20 RCS2 (Slider Type) SA5R (Note) 20 16384 665 0.3 – – – 0.3 – – – 165 0.2 – – – Horizontal 1000 (at 50 to 550st) 980 (at 600st) High Accel/ Decel Type : 0.8 – – – Vertical 800 0.2 – – – 800 (at 50 to 450st) 760 (at 500st) 0.3 – – – High Accel/ Decel Type : 0.8 – – – 400 (at 50 to 450st) 380 (at 500st) 0.
Actuator Series Type Motor Output No. of Encoder Pluses [W] SA6D (Note) SA6R (Note) 30 30 16384 16384 Lead Oriented Direction 60 16384 Chapter 9 Appendix (Note) SA7R (Note) 60 16384 Maximum Acceleration/ Deceleration [G] Minimum Maximum Rated Pressing Pressing Pressing Force Force Speed [N] [N] [mm/s] [mm] [mm/s] 12 800 (at 50 to 450st) 760 (at 500st) 640 (at 550st) 540 (at 600st) 0.3 – – – 400 (at 50 to 450st) 380 (at 500st) 320 (at 550st) 270 (at 600st) 0.
Actuator Series Type Motor Output No. of Encoder Pluses [W] SS7C (Note) SS7R (Note) 60 60 100 RCS2 (Slider Type) Lead Oriented Direction Maximum Acceleration/ Deceleration [G] Minimum Maximum Rated Pressing Pressing Pressing Force Force Speed [N] [N] [mm/s] [mm/s] 12 600 (at 50 to 500st) 470 (at to 600st) 0.3 – – – 6 300 (at 50 to 500st) 230 (at to 600st) 0.3 – – – 12 600 (at 50 to 500st) 470 (at to 600st) 0.3 – – – 6 300 (at 50 to 500st) 230 (at to 600st) 0.
Actuator Series Type Motor Output No. of Encoder Pluses [W] 100 RCS2 SS8R (Slider Type) Chapter 9 Appendix SA8 (Note) 100 Oriented Direction Maximum Speed Maximum Acceleration/ Deceleration [G] Minimum Maximum Rated Pressing Pressing Pressing Force Force Speed [N] [N] [mm/s] [mm] [mm/s] 20 1000 (at 50 to 600st) 960 (at to 700st) 765 (at to 800st) 625 (at to 900st) 515 (at to 1000st) 0.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No. of Encoder Pluses [W] Lead Oriented Direction SS8 (Note) 100 16384 Maximum Acceleration/ Deceleration [G] Minimum Maximum Rated Pressing Pressing Pressing Force Force Speed [N] [N] [mm/s] [mm/s] 10 600 (at 50 to 600st) 550 (at to 650st) 485 (at to 700st) 430 (at to 750st) 385 (at to 800st) 345 (at to 850st) 310 (at to 900st) 280 (at to 950st) 255 (at to 1000st) 0.
Actuator Series Type Motor Output No. of Encoder Pluses [W] RCS3 (Slider Type) SS8 (Note) 150 16384 Lead Oriented Direction Maximum Acceleration/ Deceleration [G] Minimum Maximum Rated Pressing Pressing Pressing Force Force Speed [N] [N] [mm/s] [mm] [mm/s] 10 Horizontal/ Vertical 600 (at 50 to 600st) 550 (at to 650st) 485 (at to 700st) 430 (at to 750st) 385 (at to 800st) 345 (at to 850st) 310 (at to 900st) 280 (at to 950st) 255 (at to 1000st) 0.
Actuator Series Type Motor Output No. of Encoder Pluses [W] Lead Oriented Direction SA8 (Note) 100 16384 Maximum Acceleration/ Deceleration [G] Minimum Maximum Rated Pressing Pressing Pressing Force Force Speed [N] [N] [mm/s] [mm/s] 5 300 (at 50 to 650st) 250 (at to 700st) 220 (at to 750st) 190 (at to 800st) 170 (at to 850st) 160 (at to 900st) 140 (at to 950st) 130 (at to 1000st) 120 (at to 1050st) 110 (at to 1100st) 0.
Actuator Series Type Motor Output No. of Encoder Pluses [W] Lead Oriented Direction [mm] [mm/s] 30 1800 (at 50 to 650st) 1510 (at to 700st) 1340 (at to 750st) 1190 (at to 800st) 1070 (at to 850st) 960 (at to 900st) 870 (at to 950st) 790 (at to 1000st) 720 (at to 1050st) 660 (at to 1100st) Horizontal 100 16384 SA8 10 (Note) Chapter 9 Appendix 150 Minimum Maximum Rated Pressing Pressing Pressing Force Force Speed [N] [N] [mm/s] – – – 0.
Actuator Series Type Motor Output No. of Encoder Pluses [W] Lead Oriented Direction [mm] [mm/s] 30 1800 (at 50 to 650st) 1510 (at to 700st) 1340 (at to 750st) 1190 (at to 800st) 1070 (at to 850st) 960 (at to 900st) 870 (at to 950st) 790 (at to 1000st) 720 (at to 1050st) 660 (at to 1100st) Horizontal SA8 (Note) 150 16384 5 SS8 (Note) 100 Minimum Maximum Rated Pressing Pressing Pressing Force Force Speed [N] [N] [mm/s] – – 0.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series RCS2 (Rotary Type) Type Motor Output No.
Actuator Series Type Motor Output No. of Encoder Pluses [W] Lead Oriented Direction [mm] [mm/s] 30 1800 (at 100 to 700st) 1290 (at to 800st) 1045 (at to 900st) 8600 (at to 860st) Horizontal – 1.0 – – – 0.8 – – – 0.6 – – – 0.5 – – – 0.5 – – – 0.3 – – – Vertical 600 (at 100 to 700st) 430 (at 800st) 345 (at 900st) 280 (at 1000st) 0.5 – – – Vertical 300 (at 100 to 700st) 215 (at 800st) 170 (at 900st) 140 (at 1000st) 0.
Actuator Series Type Motor Output No. of Encoder Pluses [W] Lead Oriented Direction [mm] [mm/s] Horizontal – – 1.0 – – – 1.0 – – – 0.8 – – – 0.6 – – – 0.5 – – – 600 (at 100 to 700st) 430 (at 800st) 345 (at 900st) 280 (at 1000st) 0.5 – – – 30 1800 (at 800 to 1100st) 1650 (at 1200st) 1500 (at 1300st) 1425 (at 1400st) Horizontal 1200 (at 1500st) 1050 (at 1600st) 900 (at 1700st) 825 (at 1800st) 750 (at 1900st) 675 (at 2000st) 0.
Actuator Series Type Motor Output No. of Encoder Pluses [W] Lead Oriented Direction [mm] [mm/s] 20 1200 (at 100 to 800st) 920 (at to 900st) 765 (at to 1000st) 645 (at to 1100st) 550 (at to 1200st) Horizontal 200 – 0.8 – – – 0.6 – – – 0.5 – – – 600 (at 100 to 800st) 460 (at to 900st) 380 (at to 1000st) 320 (at to 1100st) 270 (at to 1200st) 0.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No. of Encoder Pluses [W] ISB ISPB MXMX (Slider Type) 200 Lead [mm] Oriented Direction Maximum Speed [mm/s] Maximum Acceleration/ Deceleration [G] Minimum Maximum Rated Pressing Pressing Pressing Force Force Speed [N] [N] [mm/s] 20 1200 (at800 to 1100st) 1100 (at to 1200st) 1000 (at to 1300st) 950 (at to 1400st) 800 (at to 1500st) Horizontal 700 (at to 1600st) 600 (at to 1700st) 550 (at to 1800st) 500 (at to 1900st) 450 (at to 2000st) 0.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No. of Encoder Pluses [W] RCS2 (Slider Type) SA4C (Note) SA4D (Note) 20 Lead Maximum Acceleration/ Deceleration [G] Minimum Maximum Rated Pressing Pressing Pressing Force Force Speed [N] [N] [mm/s] [mm/s] 10 665 0.3 – – – High Accel/ Decel Type : 1.0 – – – 330 0.3 – – – High Accel/ Decel Type : 1.0 – – – 16384 16384 Maximum Speed [mm] 5 20 Oriented Direction Horizontal/ Vertical 2.5 165 0.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No. of Encoder Pluses [W] ISDBCR ISPDBCR (Slider Type) MX 200 Lead [mm] Oriented Direction Maximum Speed [mm/s] Maximum Acceleration/ Deceleration [G] Minimum Maximum Rated Pressing Pressing Pressing Force Force Speed [N] [N] [mm/s] 20 1200 (at 800 to 1100st) 1100 (at to 1200st) 1000 (at to 1300st) 950 (at to 1400st) 800 (at to 1500st) Horizontal 700 (at to 1600st) 600 (at to 1700st) 550 (at to 1800st) 500 (at to 1900st) 450 (at to 2000st) 0.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series Type Motor Output No.
Actuator Series [mm/s] Maximum Acceleration/ Deceleration [G] SXMS-A 60 16384 12 Horizontal 720 0.8 – – – SXMM-A 60 16384 12 Horizontal 720 0.8 – – – SZMS-A 60 16384 12 Vertical 600 0.7 – – – SZMM-A 60 16384 12 Vertical 600 0.7 – – – 1800 1.0 – – – Type Motor Output No.
346 Chapter 9 Appendix
Chapter 10 Warranty 10.1 Warranty Period One of the following periods, whichever is shorter: x 18 months after shipment from our factory x 12 months after delivery to a specified location 10.2 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
10.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
Change History Revision Date Revision Description 2012.09. First Edition 2013.
Manual No.: ME0306-1D (February 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
