MSEP Controller Instruction Manual Fourth 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. To ensure the safe operation of this product, please read and fully understand this manual. The enclosed DVD in this product package includes the Instruction Manual for this product.
Table of Contents Safety Guide ·····················································································································1 Precautions in Operation ··································································································8 International Standards Compliances ············································································· 11 Name for Each Parts and Their Functions······································································12 Actuator
Chapter 3 Operation·····································································································69 3.1 Basic Operation ·········································································································· 69 3.1.1 Basic Operation Methods ···················································································· 69 3.1.2 Parameter Settings ······························································································ 75 3.
Chapter 7 Appendix····································································································237 7.1 Fan Replacement······································································································ 237 7.2 List of Specifications of Connectable Actuators························································ 238 7.2.1 Specifications for Servo Motor Type Actuator···················································· 238 7.2.
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 an appropriate teaching tool. Use the PC Software for RoboCylinder or an appropriate teaching pendant to interface with this controller. [Refer to 1.1.2 Teaching Tool] 3. Create a secure data backup for use in case of a breakdown. A non-volatile memory is used as the backup memory for this controller.
5. Actuator would not operate without servo-on and pause signals. (1) Servo ON Signal (SON) The servo-on signal (SON) is available to select whether to enable or disable in the initial setting process “Servo Control”. If it is set to “Enable”, the actuator would not operate unless turning this signal ON. If parameter No.21 is set to “Not to use”, SON is made disable.
9. According to Sequence Program Creation Please note the following things when creating a sequence program. When data transfer is necessary between two devices that have a different scan time from each other, duration more than the longer scan time is required to certainly read the signal. (It is recommended to have a timer setting of at least twice as long as the scan time in order for the PLC to adequately perform the reading process.) 䎃 Ɣ Operation Image 䎃 PLC 䎃 (e.g.
International Standards Compliances MSEP with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
Name for Each Parts and Their Functions 8) Fan Unit 7) Status LEDs for Driver 9) Operation Mode Setting Switch 6) Absolute Battery Connector 10) SIO Connector 5) External Brake Input Connector 11) System I/O Connector 4) Drive Cutoff/Emergency Stop Input Connector 12) Status LED 3) Model Code Record Card 2) Power Line Input Connector 13) Fieldbus /PIO Connector 1) FG Terminal Block 17) Slot 0 Actuator Connector Upper side (1st axis) : Axis No.0 (AX0) Lower side (2nd axis) : Axis No.
1) FG Terminal Block This is the terminal block for frame grounding. Since this controller is made of plastic, it is necessary to ground from this terminal block. Ground Type should be Class D (formally Class 3 grounding = ground resistance 100ȍ or less). 2) Power Line Input Connector This is the connector to supply 24V DC power supply to the controller. The control power supply and the motor power supply are to be input separately.
8) Fan Unit This is the fan unit to cool down the controller. This unit can be detached from the controller for maintenance by removing the screw on the hook in the front of the controller. 9) Operation Mode Setting Switch This is a switch to change the operation mode between Automatic Operation (AUTO) and Manual Operation (MANU).
12) Status LED They are the LED lamps to show the status of the controller and PIO or Fieldbus. The layout and the content of LED display differ depending on PIO or each Fieldbus. Refer to the operation of each mode for the details. [Refer to 3.10 Status LEDs.] 13) Fieldbus/PIO Connector A connector for Fieldbus connection is mounted for the Fieldbus. Type while PIO connector is equipped for PIO Type. 14) to 17) Slot 0 to 3 Actuator Connector Insert one driver board to one slot each.
Actuator Axes Refer to the pictures below for the actuator axes that can be controlled by MSEP. 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 (3-Finger Gripper) Finger Attachment (Note) + + + Note Finger attachment is not included in the actuator package. Please prepare separately. (6) Rotary Type (330q Rotation Type) 0 330° (360q Rotation Type) 㧙 + For 360q 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, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. “PC” stated in this section means “PC software”. Check of Packed Items Have all the items been delivered? No ĺ Contact your local IAI distributor. ĻYes Installation and Wiring [Refer to Chapter 1, Section 2 1 and 2.3] Perform the installation of and wiring for the actuator and controller.
Chapter 1 1.1.1 Product Check Chapter 1 Specifications Check 1.1 Specifications Check Parts The standard configuration of this product is comprised of the following parts. If you find any faulty or missing parts, contact your local IAI distributor. No. Part Name 1 Controller Main Body 2 Power Connector 3 4 5 6 7 8 9 10 11 12 1.1.
1.1.3 Instruction manuals related to this product, which are contained in the instruction manual (DVD). Chapter 1 Specifications Check No. 1.1.4 Name MSEP Controller Instruction Manual ME0299 2 PC Software RCM-101-MW/RCM-101-USB Instruction Manual ME0155 3 Touch Panel Teaching CON-PTA/PDA/PGA Instruction Manual ME0295 4 X-SEL Controller RC Gateway Function Instruction Manual ME0188 How to read the model plate Model ĺ Sereial No.ĺ Manufactured date ĺ Manual No.
1.1.
Chapter 1 Specifications Check 1.2 List of Basic Specifications Specification Item Number of Controlled Axes Control/Motor Power Supply Voltage Brake Power Supply Control Power Current Consumption Control Power In-Rush Current Driver for Pulse Motor MAX. 8 axis 24V DC ±10% 0.15A × Number of axes 0.8A MAX. 5A 30ms or less Low MAX. Motor flange (Note 2) Rated MAX. Motor type Rated (Note 1) size power 2W 0.8A 4.6A 20P 1.0A 2.0A 5W 1.0A 6.4A 28P 1.0A 2.0A 10W (RCL) 6.4A Motor Current Consumption 1.3A 35P 2.
Vibration Durability Shock Resistance Protection Class Driver for Servo Motor 0 to 40qC 85%RH or less (non-condensing) [Refer to Installation Environment] Driver for Pulse Motor -20 to 70qC (0 to 40qC for absolute battery) 85%RH or less (non-condensing) 1000m or lower above sea level Frequency 10 to 57Hz / Swing width: 0.075mm 2 Frequency 57 to 150Hz / Acceleration: 9.8m/s XYZ Each direction Sweep time: 10 min.
1.4 Chapter 1 Specifications Check 1.4.1 Specifications for each Fieldbus Specifications of DeviceNet Interface Item Specification 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 100m 12,000/6,000/3,000kbps 200m 1,500kbps 400m Communications Cable Connector Baud Rate 500kbps 1000m 187.5kbps 1200m 9.6/19.2/93.
1.4.6 Specifications of EtherNet/IP Interface Chapter 1 Specifications Check Item Specification Communication Protocol IEC61158 (IEEE802.3) Baud Rate 10BASE-T/100BASE-T (Autonegotiation setting is recommended) Communication Cable Length Follows EtherNet/IP specifications (Distance between hub and each node: 100m max.) Number of Connection Master Unit Available Node Addresses for Setting 0.0.0.0 to 255.255.255.
1.4.8 PIO Input and Output Interface Input section Input Voltage 24V DC r10% Load Voltage 24V DC r10% Input Current 5mA 1 circuit Peak Load 50mA 1 circuit Electric Current ON/OFF voltage ON voltage MIN. 18V DC OFF voltage MAX. 6V DC Chapter 1 Specifications Check Specification Output section Leak Current MAX 2mA/1 point External circuit insulation with Photocoupler P24 680 5.
1.5 1.5.1 External Dimensions Controller Main Unit Chapter 1 Specifications Check 123 115 Front View 111 φ5 (4) 108 Rear View φ5 5 Side View 95 10.5 4 10.5 28 59 from DIN rail center 7.
Absolute Battery Box 123 115 Chapter 1 Specifications Check Front View 111 φ5 5 98 Side View (4) 5 10.5 4 59 from DIN rail center Rear View φ5 108 1.5.
1.6 1.6.1 Option Absolute Battery Box Chapter 1 Specifications Check For Simple Absolute type, an absolute battery box capable for the batteries for 8 axes is used. The battery is to be attached only to the axes for Simple Absolute Type. The connection to MSEP controller is to be made with the dedicated cable (CB-MSEP-AB005). (Note) Cable length: 0.5m Front View when Cover ON 5th Axis Battery (Axis No.4) 6th Axis Battery (Axis No.5) 7th Axis Battery (Axis No.6) #: 1st Axis Battery (Axis No.
1.6.2 Regenerative Resistor Unit 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 MSEP controller. It is necessary to connect the unit in the following case: 500 Rectangular Wire-wound Resistor: BGR10THA12RJ (KOA) . φ4 (20) 0.3SQ SPMCU-2(K) (Kaneko Cord) Cable Diameter φ4.6 (20) (30) 12 48 3 2 8 (25) 6 9.5 2.8 14 0.6 9.
Chapter 1 Specifications Check 1.7 Installation and Storage Environment 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 (1) Noise Elimination Grounding (Frame Ground) Controller Connect the ground line to the FG terminal block on the controller unit. Copper wire: Connect a ground wire with a diameter of 1.6 mm 2 (2mm : AWG14) or larger.
Chapter 1 Specifications Check (4) Cooling Factors and Installation Design and Build the system considering the size of the controller box, location of the controller and cooling factors to keep the ambient temperature around the controller below 40qC. Pay a special attention to the battery unit since the performance of it would drop both in the low and high temperatures. Keep it in a room temperature environment as much as possible. (Approximately 20qC is the recommended temperature.
Chapter 2 2.1 Wiring Wiring Diagram (Connection of construction devices) 2.1.1 For PIO Control PC software (to be purchased separately) Absolute Battery Box CB-MSEP -AB005 Emergency Stop Circuit Control/Drive Power Supply (24V DC …Please prepare separately) Flat Cable (Accessories) Power Supply for I/O (24V DC …Please prepare separately) Actuator Host System (PLC, etc.
2.1.2 When Controlled by Fieldbus Teaching Pendant Touch Panel Teaching (to be purchased separately) PC software (to be purchased separately) Chapter 2 Wiring Absolute Battery Box CB-MSEP -AB005 Emergency Stop Circuit Control/Drive Power Supply (24V DC …Please prepare separately) Communication power supply (if necessary) (24V DC …Please prepare separately) Actuator Host System (Master Unit) (PLC, etc.
2.1.3 For RC Gateway Control This product is capable for the connection to RC Gateway Function (Fieldbus type) equipped in XSEL controller to make an operation in harmony with XSEL controller.
2.2 Chapter 2 Wiring 2.2.1 Operation Pattern Selected Outline for Operation Patterns PIO type MSEP units provide 6 varying patterns of PIO operation. Fieldbus type MSEP units provide 6 varying modes of fieldbus operation. Select an appropriate pattern or fieldbus mode based upon your application requirements. See Section 3 Operation for the details of the operation patterns.
2.2.2 PIO Pattern Selection and PIO Signal 1) PIO Patterns and Signal Assignment The signal assignment of I/O flat cable by the PIO pattern is as shown below. Follow the following table to connect the external equipment (such as PLC). Pin No.
Chapter 2 Wiring Pin No. Category B1 B2 – B3 Input (Axis No.4) B4 B5 B6 B7 B8 Input (Axis No.5) B9 B10 B11 B12 Input (Axis No.6) B13 B14 B15 B16 B17 B18 B19 B20 B21 B22 B23 B24 B25 B26 B27 B28 B29 B30 B31 B32 B33 B34 (Note) Input (Axis No.7) Output (Axis No.4) Output (Axis No.5) Output (Axis No.6) Output (Axis No.
2) List of PIO Signals The table below lists the functions of PIO signals. Refer to the section shown in Relevant Sections for the details of the control of each signal.
2.3 Circuit Diagram Sample circuit diagrams are shown below. [1] Power Supply and Emergency Stop Chapter 2 Wiring The diagram shown below is an example of a circuit for when reflecting the emergency stop switch on a teaching pendant to the emergency stop circuit of the system.
24V 0V Emergency Stop Switch on Teaching Pendant Emergency Stop Reset Switch Emergency Stop Switch EMG B System I/O Connector 3 5 8 SIO Connector (Note1) CR1 CR1 S2 2 EMG- 4 Emergency Stop Control Circuit External Drive Cutoff • Emergency Stop Input Connector CR2 (Note 2) CR2 (Note 2) CR2 CR2 (Note 2) (Note 2) MPISLOT0 4 MPOSLOT0 3 MPISLOT1 2 MPOSLOT1 1 MPISLOT2 12 MPOSLOT2 11 MPISLOT3 10 MPOSLOT3 9 MP+24V 4 CP+24V 2 (Note 6) 7 EMG+SLOT0 8 EMGINSLOT0 5 EMG+
Motor • Encoder Circuit Chapter 2 Wiring There is an axis number (AX0 to AX7) shown on the actuator cables. Refer to the figure below to plug the actuators correctly. Wrong connection will issue an error such as the encoder wire breakage. Check in the instruction manual of each actuator for the details (connection layout diagram) of each cable.
4) Connection to RCA Series MSEP Connection Cable (Note 1) AX0 to 7 Actuator Connector ƑƑƑ: Cable length Example) 030 = 3m Remarks Robot cable from 0.5 to 20m Robot cable from 0.5 to 20m Robot cable from 0.5 to 20m Robot cable from 0.5 to 20m Standard cable from 0.5 to 20m Robot cable from 0.5 to 20m Standard cable from 0.
[4] Layout for External Brake Input Circuit Chapter 2 Wiring Lay out the circuit when an external compulsory brake release with using an actuator equipped with a brake is desired. It is not necessary if an external release is not required. It is possible to release the brake as long as the control power is supplied to MSEP even without the main power being supplied to the controller. MSEP 24V 0V External Brake Input Connector BKRLS AXIS No.0 4 Axis No.
[6] Wiring Layout for PIO (lay out the circuit for PIO type) Ɣ Operation pattern 0 ······Point-to-Point Movement (Standard) 0V (NPN Type) 24V DC (PNP Type) Axis No.1 Axis No.2 Axis No.3 Axis No.4 Axis No.5 Axis No.6 Axis No.
Ɣ Operation pattern 1 ······Point-to-Point Movement (Moving Speed Setting) 0V (NPN Type) 24V DC (PNP Type) Chapter 2 Wiring Axis No.0 Axis No.1 Axis No.2 Axis No.3 Axis No.4 Axis No.5 Axis No.6 Axis No.
Ɣ Operation pattern 2 ······Point-to-Point Movement (Target Position Change) 0V (NPN Type) 24V DC (PNP Type) Axis No.0 Axis No.2 Axis No.3 Axis No.4 Axis No.5 Axis No.6 Axis No.
Ɣ Operation pattern 3 ······2-Input, 3-Point Movement Chapter 2 Wiring 0V (NPN Type) 24V DC (PNP Type) Axis No.0 Axis No.1 Axis No.2 Axis No.3 Axis No.4 Axis No.5 Axis No.6 Axis No.
Ɣ Operation pattern 4 ······3-Input, 3-Point Movement 0V (NPN Type) 24V DC (PNP Type) Axis No.0 Axis No.2 Axis No.3 Axis No.4 Axis No.5 Axis No.6 Axis No.
Ɣ Operation pattern 5 ······Continuous Reciprocating Operation 0V (NPN Type) 24V DC (PNP Type) Chapter 2 Wiring Axis No.0 Axis No.1 Axis No.2 Axis No.3 Axis No.4 Axis No.5 Axis No.6 Axis No.
[7] Wiring Layout for Fieldbus (for Fieldbus Type) Follow the instruction manual of the master unit for each Fieldbus and the constructing PLC for the details of how to connect the cables.
Chapter 2 Wiring 4) CompoNet Type Master Unit Slave Devices BS+ BS+ BDL BDL BDH BDH BS- BS- Terminal Resistance 121Ω BS+ MSEPCompoNet Type BDL Connect the terminal BDH resistor if the unit is placed at the end of BS- the network. 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 MSEP Unit, however, there is no problem even if communication power is supplied.
6) MECHATROLINK Type Master Unit MECHATROLINK Slave Devices 4 2 1 Cable 4 DATA /DATA NC Connect shield to connector shell 4 3 3 2 2 1 1 SH MECHATROLINK Cable SH DATA DATA /DATA /DATA NC NC A4 B4 A3 B3 A2 B2 A1 B1 Terminal Resistance JEPMC-W6022 Chapter 2 Wiring 3 SH MSEP MECHATROLINK Type 130Ω Connect the terminal resistor if the unit is placed at the end of the network.
2.4 Wiring Method 2.4.1 Connection to Power Input Connector Chapter 2 Wiring The wire of the power supply is to be connected to the enclosed connector (plug). Strip the sheath of the applicable wires for 10mm and insert them to the connector. Push a protrusion beside the cable inlet with a small slotted screwdriver to open the inlet. Once the cable is inserted, take the slotted screwdriver OFF the protrusion to fix the cable to the terminal.
2.4.2 Wiring Layout of System I/O Connector 1 5 2 6 3 7 4 8 Front view of connector on controller side Connector Name Cable Side System I/O Connector FMCD1.5/4-ST-3.5 Controller Side MCDN1.5/4-G1-3.5P26THR Pin No.
Chapter 2 Wiring 2.4.3 Connection of Drive Cutoff/Emergency Stop Input Connector Insert wires if an emergency stop input is desired individually for each slot or drive cutoff for each slot. Unless it is desired, the controller can be used in the condition that the enclosed short-circuit line is connected. Insert the wires to the enclosed connector (plug). Strip the sheath of the applicable wires for 10mm and insert them to the connector.
2.4.4 Connecting with Actuator Pin No.
2.4.5 Connection of Absolute Battery Connector Chapter 2 Wiring Connect the absolute battery unit to the controller for Simple Absolute Type. 㩷 A1 A2 A3 A4 A5 B10 B9 B8 B7 A6 A7 A8 A9 B5 B4 B3 B2 B6 A10 B1 Front view of connector on controller side 60 Connector Name Cable Side Controller Side Pin No. Signal Name A1 GND BATTMP AXIS A2 No.0 BATTMP AXIS A3 No.1 BATTMP AXIS A4 No.2 BATTMP AXIS A5 No.3 A6 GND BATTMP AXIS A7 No.4 BATTMP AXIS A8 No.5 BATTMP AXIS A9 No.6 BATTMP AXIS A10 No.
2.4.6 Connection of External Brake Connector 6 1 Front view of connector on controller side Pin No. Signal Name 1 BKRLS AXIS No.3 2 BKRLS AXIS No.2 3 BKRLS AXIS No.1 4 BKRLS AXIS No.0 5 GND 6 BKRLS AXIS No.7 7 BKRLS AXIS No.6 8 BKRLS AXIS No.5 9 BKRLS AXIS No.4 10 GND Description Axis No.3 Brake Release Input Axis No.2 Brake Release Input Axis No.1 Brake Release Input Axis No.0 Brake Release Input 0V Axis No.7 Brake Release Input Axis No.6 Brake Release Input Axis No.
2.4.7 Connection of SIO Connector Chapter 2 Wiring Connect an teaching tool such as the PC software. (Note) Do not attempt connect the device to the same SIO network as the CON related controllers such as PCON. Teaching Pendant MSEP PC Software 㩷 62 Connector Name Cable Side Controller Side SIO Connector miniDIN 8-pin TCS7587-0121077 Pin No.
2.4.8 Connection of PIO (for PIO Type) L YW-8 (34B) No treatment conducted B 34A 34B 1A 1B BR-5 (1B) YW-4 (34A) No treatment conducted A BR-1 (1A) Half Pitch MIL Socket HIF6-68D-1.27R (Hirose Electric) Flat Cable (34-core) × 2 No.
2.4.9 Wiring Layout of Fieldbus Connector Check the instruction manuals for each Fieldbus master unit and mounted PLC for the details. 1) DeviceNet Type RD (V+) Chapter 2 Wiring WT (CAN H) Shield BL (CAN L) BK (V-) 1 Connector Name DeviceNet Connector Cable Side MSTB2.5/5-ST-5.08 ABGY AU 2 3 Controller Side Signal Name (Color) 4 Pin No. 5 1 V- (BK) 2 CAN L (BL) 3 Shield (None) 4 CAN H (WT) 5 V+ (RD) Front view of connector on controller side Note 64 MSTBA2.5/5-G-5.
2) CC-Link Type Shield (SLD) YW (DG) Chapter 2 Wiring WT (DB) BL (DA) 1 Connector Name CC-Link Connector Cable Side MSTB2.5/5-ST-5.08 ABGY AU 2 3 Controller Side 4 Pin No. 5 1 2 3 Front view of connector on controller side Signal Name (Color) DA (BL) DB (WT) DG (YW) SLD 4 FG 5 Note 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 Connector Name PROFIBUS-DP Connector Cable Side 9-pin D-sub Connector (Male) Please prepare separately Controller Side 9-pin D-sub Connector (Female) 9 6 5 1 Pin No.
4) CompoNet Type RD (BS+) WT (BDH) Chapter 2 Wiring BK (BS-) BL (BDL) Connector Name CompoNet Connector Cable Side Prepare a connector complied with CompoNet standards. Controller Side XW7D-PB4-R Produced by OMRON 1 2 3 4 Pin No.
Chapter 2 Wiring 6) MECHATROLINK Type Connector Name MECHATROLINK Connector Cable Side Prepare a connector complied with MECHATROLINK standards. B4 Controller Side DUSB-ARB82-T11A-FA Produced by DDK A4 B1 Pin No.
Chapter 3 3.1 Operation Basic Operation 3.1.1 Basic Operation Methods (1) Control with PIO PLC Move Signal Edit Position Table of controller No. 0 1 2 Position [mm] Speed [mm/s] 100.00 200.00 100.00 200.00 Actuator Complete Signal Signal Acceleration [G] Deceleration [G] 0.30 0.30 0.30 0.30 Signal Enter a data including position, speed, acceleration or deceleration, etc.
ƔOperation Mode Available in PIO Type 6 types of operation modes (PIO Patterns) are available to select from. Explained below is the outline. Also, in the table below, provides the relevant air cylinder circuit for reference. 3.
Operation Pattern Description PIO Pattern 2 Single Solenoid System (Point-to-Point Movement, Target Position Setting (Position Data) Change) The actuator 3-Point Movement is available using the same control function as for the air cylinder. The target position setting (forward position, backward position and intermediate position) is available. Speed and acceleration settings in the actuator movement are available. Pressing operation is available at the points except for the intermediate point.
(2) Fieldbus Type PLC 3.1 Basic Operation Transfer data with Fieldbus Confirmation of movement complete (read status signal) Slave Slave Actuator 72 Command target position, speed, etc.
[Basic Procedures for Operation] Establish the driver parameters with using a teaching tool such as PC software. 1) If using SEP I/O Mode in the operation modes [refer to the next page], set the operation pattern in the initial setting. [Refer to 3.2 for details.] 2) Establish such settings as the zone (Parameter No.21 to 24) and the soft limit (Parameter No.15) considering the system to be used. [Refer to chapter 5 I/O Parameter for details.] [2] Initial Setting [Refer to 3.2 and 3.9.
3.1 Basic Operation ƔOperation Mode Available in Fieldbus Type 6 types of operation modes are available to select from. Explained below is the outline. Operation Pattern Description Positioner 1 Mode In Positioner 1 Mode, 256 points of position data can be registered at the maximum and is able to stop at the registered positions. Monitoring of the current position is also available. Simple Direct In Simple Direct Mode, the Mode target position can be indicated directly by inputting a value.
3.1.2 Parameter Settings Parameter data should be set appropriately according to the applicaiton requirements. (Example) Software Stroke Limit : Set a proper operation range for definition of the stroke end, prevention of interferences with peripherals and safety. Zone Output : Set to require signal outputs in an arbitrary position zone within the operation zone. 3.1 Basic Operation Parameters should be set to meet the use of the controller prior to operation. Once set, they may not set every operation.
3.2 Initial Setting 3.2 Initial Setting For this controller, it is necessary to have the initial setting and Gateway operation mode setting done in the axes one by one. The initial setting is to be performed using RC PC Software (Note) or touch panel teaching (CON-PTA (Note)). And the operation mode is to be set using Gateway Parameter Setting Tool (Ver. 1.1.0.0 or later). (Note) See the instruction manuals of the RC PC software and the touch panel teaching for the applicable version.
[Step 4] Select the operation pattern. There are Operation Patterns 0 to 5 available for PIO Type. Select Operation Pattern 6 if Fieldbus Type and a mode other than SEP I/O Mode. Select either of Operation Patterns 0 to 5 if Fieldbus Type and SEP I/O Mode since control is the same as PIO Type. By pressing OK after the selection is made, the display proceeds to the next step for Operation Patterns 0 to 5, and the initial setting data is sent to the controller for Operation Pattern 6. 3.
No. Setting Item 3.2 Initial Setting 4 5 6 7 78 Setting Range (Set in delivery) Description Operation Pattern ({ : Available for Setting) 0 This is available only if Operation Pattern 3 is selected. Select whether to have the movement to the intermediate point performed with the forward end movement command and backward end movement command both being turned OFF or both turned ON.
No. Setting Item 8 Output Signal Selection Setting Range (Set in delivery) 0 to 2 (0) Description 0 1 2 3 4 5 { { { { { { 79 3.2 Initial Setting If “Use” is selected in No. 5 Servo Control, select the combination of the used output signals considering the operation pattern. Select 0 if “Not to Use” is selected. • For Operation Patterns 0 to 2 and 5, select from the combinations 0 to 2 below.
3.2 Initial Setting [Step 6] The confirmation window for controller reboot opens. Click “Yes”. [Step 7] The initial setting needs to be held on all the MSEP composition axes. In the case that multiple axes are connected, repeat the Steps 2 to 6. Once the setting on all the connected axes is finished, close RC PC Software. We now move on the Gateway operation mode setting. [Step 8] Start up Gateway Parameter Setting Tool. The following window appears. Select MSEP GW and click OK.
[Step 10] Main Window is displayed. 3.2 Initial Setting [Step 11] Reading is started from MSEP to PC. Click on the “Read” button and a confirmation window appears. Click on the “Yes” button. Once the parameter reading is completed in normal condition, the reading complete window opens. Click OK.
3.2 Initial Setting [Step 12] For PIO Type, proceed to Step 13. The parameters input to MSEP are listed as shown below. Indicate the node address (station) of MSEP on field network in Address. Caution for CC-Link Type station setting In the following slave, set the value the number of occupied station is added to the current station number. [Step 13] Set the number of axes (two axes in unit) used in each operation mode.
[Step 14] Once the setting of the number of axes is done, the cells for the operation mode settable to each axis turn to blank in response. For PIO Type and SEP I/O Mode, “*” is displayed for a number equals to the number of set axis. 3.2 Initial Setting [Step 15] Click on a blank cell and “*” shows up. “*” mark means that an operation mode is selected for each axis. Select an operation mode [refer to top in Chapter 3] for 2 axes in a unit. If clicking on a cell, “*” shows up for 2 axes together.
3.2 Initial Setting [Step 17] Write the edited operation mode setting parameters to MSEP. Click on the “Write” 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. [Step 18] A confirmation window for Gateway Unit reboot opens. Click “Yes” to accept the reboot.
3.3 Setting of Position Data PIO Type makes an operation based on the position data (position, speed, etc.) set in advance in the position table. Set the target position (forward end, backward end and intermediate point (Note) ) first. (Note) The setting may not be made for some operation modes.
1) Position Name (No.)·······It shows the position the actuator moves towards. 2) Position [mm] ·················It is the coordinate value for positioning. Input the position from the home position. 3.3 Setting of Position Data Caution: (1) For gripper type Setting is to be conducted with the basis on one finger. Set the value for the movement of one finger from the home position. Stroke information in the specification is shown in the total value of movement distance of the two fingers.
(Position complete signal output) Speed Time Pressing Width Backward End Pressing Start Position Forward End (Intermediate) [Pressing towards Backward End or Intermediate Position = Pulling Action] (Position complete signal output) Pressing Complete Backward Speed Time Pressing Width Backward End (Intermediate) Pressing Forward End Start Position 87 3.
6) Acceleration [G]··············Set the acceleration at operation. 7) Deceleration [G] ·············Set the deceleration at stop. (Reference) How to set the acceleration is described below. The same idea can be applied to the deceleration. 1G=9800mm/s2: Acceleration capable to accelerate up to 9800mm/s per second 0.3G: Acceleration capable to accelerate up to 9800mm/s × 0.3 = 2940mm/s per second Speed 3.3 Setting of Position Data 9800mm/s 1G 2940mm/s 0.
[2] Additional Setting Items for Operation Pattern 1 Set the position and speed for the speed change as well as the position data. Example for Position Table Setting Position Name 9) Speed Change Position [mm] Backward End Position Forward End Position 10) Changed Speed [mm/s] 60.00 Input changed speed 40.00 Input changed speed 10) Changed Speed [mm/s] ············ Set the speed after change.
3.4 3.4.1 Fieldbus Type Address Map PLC Address Construction by each Operation Mode The PLC address domain to be occupied differs depending on the operation mode. Refer to the example in Section 3.4.2 for the assignment. • PLC Output ĺ MSEP Input (n is PLC output top word address to MSEP) (Note 1) MSEP Gateway Control Area n n+1 n+2 n+3 n+4 n+5 n+6 n+7 n+8 n+9 n+10 Connected Axes Control Area 3.
• MSEP Output ĺ PLC Input (n is PLC input top word address from MSEP) (Note 1) PLC Intput Area Simple Direct Positioner 1 Mode Mode MSEP Gateway Response Area n n+1 n+2 n+3 n+4 n+5 n+6 n+7 Current Position (Axis No.0) Connected Axes Response Area n+9 n+10 n+11 Completed Position No./ Simple Alarm ID (Axis No.0) Status Signal (Axis No.0) n+12 n+13 Assignment Domain for Axis No.1 n+14 n+15 n+16 to n+23 n+24 to n+71 Note 1 Note 2 Note 3 Assignment Domain for Axis No.
3.4.2 Example for each Fieldbus Address Map Shown below is an example for the address map by the combination of operation modes for each Fieldbus. Refer to it for the address assignment. The examples for the address map constructions shown below are provided for each field network, however is described together (Note) for the networks of the same address assignment.
1) DeviceNet (CompoNet is not applicable for this mode) [Combination Example 1] When number of Simple Direct Mode axes is 8 and number of Direct Indication Mode 0 (n is the top channel number for each PLC input and output between MSEP and PLC) MSEP ĺ PLC CH No. Description n to n+1 Gateway Status n+2 to n+7 Response Command Axis No.0 Status n+8 to n+11 Information Axis No.1 Status n+12 to n+15 Information Axis No.2 Status n+16 to n+19 Information Axis No.3 Status n+20 to n+23 Information Axis No.
[Combination Example 2] When number of Simple Direct Mode axes is 6 and number of Direct Indication Mode 2 (n is the top channel number for each PLC input and output between MSEP and PLC) 3.4 Fieldbus Type Address Map PLC ĺ MSEP CH No. Description n to n+1 Gateway Control n+2 to n+7 Demand Command Axis No.0 Control n+8 to n+11 Information Axis No.1 Control n+12 to n+15 Information Axis No.2 Control n+16 to n+19 Information Axis No.3 Control n+20 to n+23 Information Axis No.
[Combination Example 4] When number of Simple Direct Mode axes is 0 and number of Direct Indication Mode 8 (n is the top channel number for each PLC input and output between MSEP and PLC) MSEP ĺ PLC CH No. Description n to n+1 Gateway Status n+2 to n+7 Response Command n+8 to n+11 Axis No.0 Status Information n+12 to n+15 n+16 to n+19 Axis No.1 Status Information n+20 to n+23 n+24 to n+27 Axis No.2 Status Information n+28 to n+31 n+32 to n+35 Axis No.3 Status Information n+36 to n+39 n+40 to n+43 Axis No.
[Combination Example 2] When number of Simple Direct Mode axes is 6 and number of Direct Indication Mode 2 (Extended Cyclic Setting/Number of Occupied Stations: 8 times/2 stations) 3.4 Fieldbus Type Address Map PLC ĺ MSEP Address Description RY 000 to 01F Gateway Control RY 020 to 06F Demand Command RY 070 to 07F Cannot be used. RY 080 to 17F Cannot be used. Axis No.0 Control RWw 00 to 03 Information Axis No.1 Control RWw 04 to 07 Information Axis No.2 Control RWw 08 to 0B Information Axis No.
[Combination Example 3] When number of Simple Direct Mode axes is 2 and number of Direct Indication Mode 6 (Extended Cyclic Setting/Number of Occupied Stations: 8 times/2 stations) MSEP ĺ PLC Address Description RX 000 to 01F Gateway Status RX 020 to 06F Response Command RX 070 to 07F Cannot be used. RX 080 to 17F Cannot be used. Axis No.0 Status RWr 00 to 03 Information Axis No.1 Status RWr 04 to 07 Information RWr 08 to 0B Axis No.2 Status Information RWr 0C to 0F RWr 10 to 13 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 8 and number of Direct Indication Mode 0 (n is the top node address for each PLC input and output between MSEP and PLC) 3.4 Fieldbus Type Address Map PLC ĺ MSEP Node Address Description (Byte Address) n to n+3 Gateway Control n+4 to n+15 Demand Command Axis No.0 Control n+16 to n+23 Information Axis No.1 Control n+24 to n+31 Information Axis No.
[Combination Example 3] When number of Simple Direct Mode axes is 2 and number of Direct Indication Mode 6 (n is the top node address for each PLC input and output between MSEP and PLC) MSEP ĺ PLC Node Address Description (Byte Address) n to n+3 Gateway Status n+4 to n+15 Response Command Axis No.0 Status n+16 to n+23 Information Axis No.1 Status n+24 to n+31 Information n+32 to n+39 Axis No.2 Status Information n+40 to n+47 n+48 to n+55 Axis No.3 Status Information n+56 to n+63 n+64 to n+71 Axis No.
[2] Address Map for Positioner 2 Mode Shown below is the address map for each Fieldbus when eight axes of MSEP 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 MSEP and PLC) 3.4 Fieldbus Type Address Map PLC ĺ MSEP CH No. Description n to n+1 Gateway Control n+2 to n+7 Demand Command Axis No.0 Control n+8 to n+9 Information Axis No.1 Control n+10 to n+11 Information Axis 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 MSEP and PLC) MSEP ĺ PLC Node Address Description (Byte Address) n to n+3 Gateway Status n+4 to n+15 Response Command Axis No.0 Status n+16 to n+19 Information Axis No.1 Status n+20 to n+23 Information Axis No.2 Status n+24 to n+27 Information Axis No.3 Status n+28 to n+31 Information Axis No.4 Status n+32 to n+35 Information Axis No.
3.4 Fieldbus Type Address Map 2) CC-Link (Extended Cyclic Setting/Number of Occupied Stations: 1 times/4 stations) PLC ĺ MSEP Address Description RY 00 to 1F Gateway Control RY 20 to 6F Demand Command RY 70 to 7F Cannot be used. Axis No.0 Control RWw 0 Information Axis No.1 Control RWw 01 Information Axis No.2 Control RWw 02 Information Axis No.3 Control RWw 03 Information Axis No.4 Control RWw 04 Information Axis No.5 Control RWw 05 Information Axis No.6 Control RWw 06 Information Axis No.
[4] Address Map for SEP I/O Mode Shown below is the address map for each Fieldbus when eight axes of MSEP are operated in SEP I/O Mode. 1) DeviceNet, CompoNet (n is the top channel number for each PLC input and output between MSEP and PLC) PLC ĺ MSEP CH No. Description n to n+1 Gateway Control n+2 to n+7 Demand Command Axis No.0 to 7 Control n+8 Information MSEP ĺ PLC CH No. Description n to n+1 Gateway Status n+2 to n+7 Response Command Axis No.0 to 7 Status n+8 Information 3.
3.4.3 Gateway Control Signals (in common for all operation modes) When operating the system with Fieldbus, the axes are controlled via Gateway of MSEP. 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 Control signal 1 Symbol b15 MON b14 – b13 RTE 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 Description Operation control with communication is available while it is ON Cannot be used.
(ON = Applicable bit is “1”, OFF = Applicable bit is “0”) 3.4 Fieldbus Type Address Map Signal Type PLC Input Control signal 0 Control signal 1 106 Bit Symbol b15 RUN b14 LERC b13 ERRT b12 MOD b11 ALMH b10 ALML b9 – b8 SEMG b7 b6 b5 b4 b3 b2 b1 b0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Description This signal turns ON when Gateway is in normal operation.
3.4.4 Control Signals for Positioner 1/Simple Direct Mode Caution: This mode is not applicable for CompoNet and MECHATROLINK. To select the mode, use Gateway Parameter Setting Tool. All the modes can be used only by indicating a position number. ROBO cylinder function {: Direct control ٌ: Indirect control u: Disabled Positioner 1 Simple Mode Direct Mode Home-return operation Positioning operation Remarks { ٌ Positioner 1 Mode : These items must be set in the position data table.
(2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 4-word 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) 1 word = 16 bit 䎃 Address m 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 (Lower word) 䎃 Address m+1 Current Position (Upper word) PM128 PM64 PM32 PM16 PM8 PM4 PM2 PM1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 – PSFL SV ALM MOVE HEND PEND b0 ALML b1 – b2 MEND b3 – b4 – b5 – b6
(3) I/O signal assignment 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 – b5 JISL b4 SON b3 RES b2 STP b1 HOME b0 CSTR Control Signal 110 (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Bit PLC Output 3.4 Fieldbus Type Address Map Signal Type Description Details 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 PM128 b15 EMGS b14 CRDY b13 ZONE2 b12 ZONE1 b11 b10 b9 – b8 MEND b7 ALML b6 b5 – PSFL b4 SV b3 b2 ALM MOVE b1 HEND b0 PEND Status Signal䎃 Description Details 32-bit signed integer indicating the current position Unit: 0.01mm (Example) If +10.23mm, input 000003FFH (1023mm 3.8.1 (21) in decimal system).
3.4.5 Control Signals for Direct Indication Mode Caution: This mode is not applicable for CompoNet and MECHATROLINK. 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 ROBO Cylinder capable to control in this mode are as described in the following table. 䎃 3.
(2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 8-word 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 Output (m is PLC output top word address for each axis number) 1 word = 16 bit 䎃 Address m 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 (Lower word) 䎃 Address m+1 (Note) If the target position is a negative value, it is indicated by a two’s complement.
PLC Input (m is PLC input top word address for each axis number) 1 word = 16 bit 䎃 Address m 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 (Lower word) 䎃 Address m+1 Current Position (Upper word) b1 b0 1 b2 2 b3 4 b4 8 b5 16 b6 32 b7 64 b8 128 b9 256 b10 512 b11 1,024 b12 2,048 b13 4,096 b14 8,192 b15 16,384 Command Current (Lower word) 32,768 Address m+2 b15 b1
(3) I/O signal assignment Signal Type Symbol 32 bits Data – Positioning 32 bits Width Data – Command 16 bits Speed Data – Acceleration/ 16 bits Deceleration Data – PLC Output䎃 3.4 Fieldbus Type Address Map Target Position Pressing Current Limit 116 (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Bit 16 bits Data – Description 32-bit signed integer indicating the current position Unit: 0.
Control Signal䎃 Bit Symbol b15 BKRL b14 INC b13 DIR b12 PUSH b11 b10 b9 – b8 JOG+ b7 JOG- b6 – b5 JISL b4 SON b3 RES b2 STP b1 HOME b0 CSTR Description Brake release ON: Brake release, OFF: Brake activated Absolute position commands are issued when this signal is OFF, and incremental position commands are issued when the signal is ON.
䎃 (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Bit Symbol Current Position 32 bits Data – Command Current 32 bits Data – Current Speed 16 bits Data – Alarm Code 16 bits Data – b15 b14 EMGS CRDY b13 ZONE2 b12 ZONE1 b11 b10 b9 – b8 MEND b7 ALML b6 – b5 PSFL b4 SV b3 b2 ALM MOVE b1 HEND b0 PEND PLC Input 3.4 Fieldbus Type Address Map Signal Type Status Signal 118 Description 32-bit signed integer indicating the current position Unit: 0.
3.4.6 Control Signals for Positioner 2 Mode Caution: This mode is not applicable for CompoNet and MECHATROLINK. It is an operation mode to operate with indicating a position number. 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-word 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.
(3) I/O signal assignment Signal Type Control Signal (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Symbol 16 bits Data PC1 to PC128 b15 BKRL b14 b13 b12 b11 b10 b9 – b8 JOG+ b7 JOG- b6 – b5 JISL b4 SON b3 RES b2 STP b1 HOME b0 CSTR Description Details 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. 3.8.
(ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type PLC Output 3.4 Fieldbus Type Address Map Completed Position No.
3.4.7 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-word for each I/O bit register. Ɣ The control signals and status signals are ON/OFF signals in units of bit. Ɣ Binary data of 8 bits for the specified position number and complete position number and values from 0 to 255 can be used.
(3) I/O signal assignment PLC Output Control Signal/ Specified Position No. Status Signal/ Completed Position No.
3.4.8 Control Signals for SEP I/O Mode This is an operation mode same as when using PIO (24V input and output). Set the position data from a teaching tool such as the RC PC software. The number of movement points available in the operation depends on the operation pattern (PIO pattern) input in the initial setting. The I/O specifications for the operation pattern are described as follows PIO Pattern 3.
(1) PLC Address Composition (m is PLC input and output top word address for each axis number) PLC ĺ MSEP (PLC Output) A2 to A17 m A18 to A33 m+1 MSEP ĺ PLC (PLC Input) B2 to B17 m B18 to B33 m+1 [Refer to Section 3.4.2 for the address maps for each Fieldbus.
3.4.9 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. (Note) It is not necessary to use commands in Simple Indication Mode because no position data is to be used in it. 3.4 Fieldbus Type Address Map Caution: • The command cannot be used in MECHATROLINK.
(3) Details of Commands The input and output signals are consist of 5-word for each input and output data register. Ɣ The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. Negative numbers are to be dealt with two’s complement. Ɣ Binary data of 2-word (32 bits) for the pressing band and values from -999999 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 MSEP.) (Note) Response command does not return.
3) Writing of Pressing Width PLC Output (Address n is the input and output top address for MSEP.) (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 MSEP.) (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 MSEP.) (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 MSEP.
9) Reading of Pressing Width PLC Output (Address n is the input and output top address for MSEP.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 4 2 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 – – 1 8 0 2 16 0 4 32 0 – 64 0 – 128 0 – 1 – 0 – 0 – 0 – 0 – 0 – 1 – 0 – 0 – 0 – 0 – 0 – 1 – 0 – 0 – 0 – 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 MSEP.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 4 2 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 – – 1 8 0 2 16 0 4 32 0 – 64 0 – 128 0 – 0 – 1 – 0 – 0 – 0 – 0 – 1 – 0 – 0 – 0 – 0 – 0 – 1 – 0 – 0 – 0 – Reading of Speed Bit 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 MSEP.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 4 2 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 – – 1 8 0 2 16 0 4 32 0 – 64 0 – 128 0 – 1 – 0 – 1 – 0 – 0 – 0 – 1 – 0 – 0 – 0 – 0 – 0 – 1 – 0 – 0 – 0 – 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 MSEP.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 4 2 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 – – 1 8 0 2 16 0 4 32 0 – 64 0 – 128 0 – 0 – 1 – 1 – 0 – 0 – 0 – 1 – 0 – 0 – 0 – 0 – 0 – 1 – 0 – 0 – 0 – Reading of Deceleration Bit Address n+2 Demand Command [1046h] n+3 Data 0 [Position No.
13) Reading of Pressing Current Limit PLC Output (Address n is the input and output top address for MSEP.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 4 2 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 – – 1 8 0 2 16 0 4 32 0 – 64 0 – 128 0 – 1 – 1 – 1 – 0 – 0 – 0 – 1 – 0 – 0 – 0 – 0 – 0 – 1 – 0 – 0 – 0 – 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 MSEP.) (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 MSEP.) (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 Input (Address n is the input and output top address for MSEP.) In the case that the command did not complete in normal condition, this error response command is returned. 1 word = 16 bit 142 – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n+2 1 The values are those with the bit 15 of the demand command code being 1.
3.5 Control Signals for PIO Operation The contents of the signals for the input and output ports vary depending on the setting of the operation mode. Set the position data from a teaching tool such as the RC PC software. The number of movement points available in the operation depends on the operation pattern (PIO pattern) input in the initial setting. The I/O specifications for the operation pattern are described as follows.
I/O signal assignment 3.5 Control Signals for PIO Operation Category Pin No. A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11 A12 A13 A14 A15 A16 A17 A18 A19 A20 A21 A22 A23 A24 A25 A26 A27 A28 A29 A30 A31 A32 A33 A34 PIO Functions Number of positioning points Home return signal Servo ON Input signal Movement speed setting Target position change Servo ON signal Homing completion Output signal Zone signal, Position zone sig Solenoid system – COM IN0 IN1 Input (Axis IN2 No.0) IN3 IN0 IN1 Input (Axis IN2 No.
Pin No. Category B1 B2 – B3 Input (Axis No.4) B4 B5 B6 B7 B8 Input (Axis No.5) B11 B12 Input (Axis No.6) B13 B14 B15 B16 B17 B18 B19 B20 B21 B22 B23 B24 B25 B26 B27 B28 B29 B30 B31 B32 B33 B34 (Note) Input (Axis No.7) Output (Axis No.4) Output (Axis No.5) Output (Axis No.6) Output (Axis No.
3.6 Control of Input Signal 3.6.1 PIO Input Signal Process The input signal of this controller has the input time constant of 7ms considering the prevention of wrong operation by chattering and noise. Therefore, input each input signal for 7ms or more (Note) continuously. The signal cannot be identified if it is less than 7ms. 7ms Identify Input Signal 3.
3.6.2 Input and Output Signal Process for Fieldbus Type (1) I/O Signal Timings When any of the control signal is turned ON to perform the operation of the ROBO 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.
3.6 Control of Input Signal (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 3.4.9 About Command.
3.7 Power Supply Follow the steps below to turn ON the power to the controller. 1) Supply I/O power, control power and the drive (24V DC). 2) Cancel the emergency stop condition or make the motor drive power supply available to turn ON. 3) If using the servo-on signal, input the signal from the host side. 4) Input the home return signai (HEND) or movement signal (ST0) from the host side. (Positioning is performed at ST0 after the home return.
3.8 I/O Signal Controls and Function 3.8.1 Input and Output Signal for Fieldbus Type (except for SEP I/O Mode) This section explains the signals except for SEP I/O Mode and PIO Operation of Fieldbus Type. In Fieldbus Type, the applicable bit is “1” when the signal is ON and “0” when it is OFF. (1) Controller ready (CRDY) PLC Input Signal When the controller can control the system after the power injection, it is turned “ON”.
(6) Home return (HOME) PLC Output Signal Home return completion (HEND) PLC Input Signal When the “HOME” signal is turned “ON”, this command is processed at the startup (ON edge), and the homing operation is performed automatically. When the data home return is completed, the HEND signal is turned “ON”. Once the “HEND” signal is turned “ON”, it can not be turned “OFF” until the power is turned “OFF” or the “HOME” signal is input again.
(7) Positioning start (CSTR) PLC Output Signal 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. If a movement command is issued when the first home return is not yet completed after the power is turned ON (HEND signal OFF), home return will be performed automatically to establish the coordinates first, after which the actuator will move to the target position.
(10) Pause (STP) PLC Output Signal When this signal is turned “ON”, the actuator movement is decelerated and stopped. When it is turned “OFF”, the actuator movement is restarted. The acceleration in the operation restart or the deceleration in stopping operation, is expressed as the value for the acceleration/deceleration for the position No. set using the specified position No.
2) Inching operation The inching operation is available while the JISL signal is turned “ON”. Once it is turned “ON”, the actuator is moved as much as the inching distance. When the JOG+ is turned “ON”, the movement is to the opposite of the home and when the JOG- is turned “ON”, the movement is to the home. The operation is performed based on the set values. x The speed for an operation is provided with the value set in Parameter No.2 “PIO JOG Speed”.
(15) Brake release (BKRL) PLC Output Signal Turning this signal “ON” can release the brake forcibly. (16) Push-motion specification (PUSH) PLC Output Signal When the movement command signal is output after this signal is turned ON, the pressing operation is performed. When this signal is set to “OFF”, the normal positioning operation is performed.
(17) Push direction specification (DIR) PLC Output Signal 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. Pressing operation starts towards the position where the positioning width is added to the target position if this signal is turned ON.
(21) 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 MSEP (for Positioner 1 Mode), the operation shall be made with other information, such as the speed, acceleration/deceleration, pressing width, pressing force, etc., set to the position data.
1) Target Position Data Setting (PLC → MSEP) n1 n2 n3 p2 p3 2) Indicated Position Number (PLC → MSEP) p1 twcsON twcsOFF Positioning Start CSTR (PLC → MSEP) 3.8 I/O Signal Controls and Function 3) 4) tpdf 5) 10ms or less Position Complete PEND (MSEP → PLC) 7) Current Position (MSEP → PLC) n1 8) n2 6) 10ms or less 10ms or less Moving MOVE (MSEP → PLC) Positioning Width Actuator Movement To turn ON TwcsON, have an interval of time more than Tpdf.
(22) 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 (Normal positioning operation) For the general positioning operation, set the signal in Step 6) to “OFF”.
1) Target Position Data Setting (PLC → MSEP) n1 n2 n3 v2 v3 m2 m3 t2 t3 s2 s3 2) Positioning Width Data /Pressing Width Data (PLC → MSEP) v1 3) Speed Data (PLC → MSEP) m1 4) Acceleration/ Deceleration Data (PLC → MSEP) t1 5) 3.
(23) Operation Timings for Positioner 2 and Positioner 3 Modes The operation is to be made with the target position, speed, acceleration/deceleration, pressing width and pressing force set in the position data of MSEP. 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) Indicated Position Number (PLC → MSEP) p1 p2 0ms or more p3 twcsON twcsOFF Positioning Start CSTR (PLC → MSEP) 2) 3) tpdf 4) Positioning Completion PEND (MSEP → PLC) 3.
3.8.2 SEP I/O Mode and PIO Operation for Fieldbus Type [1] Servo ON (SON, SV) PIO Signal All Operation Patterns Input SON Output SV { { { : Available, u: Unavailable 1) Servo ON signal SON is the input signal making the servo motor of the actuator operable. 2) If the servo-on is performed to enable operation, the SV output signal is turned ON. 3) With the power being supplied, then controller cannot be operated while the SV signal remains OFF.
[2] Alarm, Alarm Reset (*ALM, RES) PIO Signal All Operation Patterns Input RES Output *ALM { { { : Available, u: Unavailable 3.8 I/O Signal Controls and Function 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.
[4] Movement Command and Positioning Complete Signal (ST0 to ST2, PE0 to PE2) PIO Signal Operation Pattern 0 to 2 Operation Pattern 3 Operation Pattern 4 Operation Pattern 5 ST0 { { { u ST1 { { { u ST2 u u { u PE0 { { { { PE1 { { { { PE2 u { { u Caution: (1) If the ST* signal is turned ON for the position after completion of positioning, both the PE* and PEND signals remain ON. (2) The PE* signals is set to ON in the positioning width zone.
(Example) Repetition of ST1 ĺ ST2 ĺ ST1 ĺ … Insert timer ǻt if necessary. Start signal ST1 (PLC ĺ Controller) ǻt ǻt ǻt Start signal ST2 (PLC ĺ Controller) Position sensing output LS1 (Controller ĺ PLC) 3.8 I/O Signal Controls and Function Position sensing output LS2 (Controller ĺ PLC) Turned ON after entering into positioning width zone. Target position ǻt: Time required to certainly reach the target position after the position sensing output LS1 or 2 is turned ON.
[6] Home Return Home-return operation is performed when turning the movement signal 1 (ST0) on if the home return has not yet done since the power is turned ON. 1) If the operation pattern is “Point-to-Point Movement (Single Solenoid)” If the home return is not conducted on the operation panel yet, the first movement signal (ST0) will bring the actuator to the home position. After home return operation, it moves to the forward position and stops (for positioning).
[Operation of Slider Type/Rod-Type Actuator] Home Mechanical end 2) 1) 1) 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. Refer to the instruction manual of each actuator. 2) The actuator is turned at the mechanical end and stopped at the home position. The movement amount at this time is determined for each actuator and cannot be changed. 3.
(2) 360° Rotation Specification 1) Home (Forward Rotation End) Offset Movement Amount 12) 11) (Home Position Side) 10) Datum Point for Offset (Center of 6), 7), 9) and 10)) Home Sensor Detection Range 1) 5) 4) 2) 3) 6) Rotary Axis 7) 9) 8) (Opposite Side of Home Position) [For Gripper] Finger Attachment (Note) Finger Attachment (Note) 2) 1) 2) 2) 1) + 1) + 2) + 1) 2) 1) The actuator moves toward the mechanical end (to end side) at the home return speed (20mm/s).
[7] Absolute Reset (conducted for Absolute Type) When the power to the machine is turned ON for the first time (actuator operation), perform the Absolute Reset. 1) Absolute Encoder Failure Detection Error is issued at the power-on. 2) Turn RES Signal (IN2) ON or reset the alarm in the alarm screen on a teaching tool such as the PC software. 3) Issue the movement command to perform a home-return operation.
[9] Pause during Movement = Operation Timing for Operation Patterns 0 to 2 (1) Single Solenoid System: With the input of the pause signal (*STP), the actuator pauses its operation. Shown below is an example for the forward end position movement. Movement command (ST0) Pause signal (*STP) Forward end position detection output (LS1) Forward end point positioning completion output (PE1) Positioning width (Parameter No.
(2) Double Solenoid System: With the movement speed change signal (SPDC) turned ON, the actuator is operated with the changed speed from the position set as the change position in the position data. Shown below is an example for the forward end position movement.
[12] 3-Point Movement = Operation Timing for Operation Patterns 3 and 4 With the combination of ST0 and ST1, the actuator moves to the target position.
[13] 2-Point Repeated Back and Forth Operation = Operation Timing for Operation Patterns 5 While the repeated back and forth operation signal (ASTR) is ON, the actuator moves back and for the repeatedly between the forward end and the backward end. Once ASTR signal is turned OFF, the actuator positions at the current target position and stops.
3.9 About Gateway Parameter Setting Tool This tool is necessary for the initial setting process such as MSEP 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 MSEP is turned ON, and the window shown below appears. Select “MSEP GW” if MSEP is connected and click OK. 175 3.9 About Gateway Parameter Setting Tool 2) Once MSEP is detected the detected unit numbers become available to select.
3.9 About Gateway Parameter Setting Tool 3) The main window opens. The main window opens even when MSEP could not be detected. Click on the “Read” button in this window and the parameters start to be read from MSEP. 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 Baud Rate in the figure below. Main Window (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. • Specialty Parameter • Port Config • TimeSetting(T) • EherNet/IP Setting 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. • I/O data : Show the details of the host PLC and MSEP data. [Refer to 3.9.
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. • SERVO-OFF in ERR_C : Select whether to turn the servo OFF on the connected axes when ERRC is occurred. • unit velocity (Only Full Mode) : Select the unit for speed from 1.0mm/s and 0.1mm/s. • Internal communication retry count : Set the number of communication retries with the connected axes in AUTO mode. 3.
3) GWmode Select 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. = ON, = OFF MSEP Input register ON/OFF Hexadecimal data PLC: RWwnn ON/OFF Hexadecimal data MSEP Output register ON/OFF Hexadecimal data PLC: RWrnn ON/OFF Hexadecimal data 179 3.9 About Gateway Parameter Setting Tool • Enable SW : Select whether to activate/inactivate the enable switch in TP. • BYTE swap : Set the byte swap.
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. = ON, MSEP Input register ON/OFF Hexadecimal data PLC: RWwnn 3.
4) TimeSetting Caution: The clock (calendar) function in MSEP can be retained for approximately 10 days (reference) after the power to MSEP 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 MSEP 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 MSEP.
6) EtherNet/IP Setting (Setting to be established for EtherNet/IP type) 3.
7) I/O Monitor 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).
9) Alarm List 3.9 About Gateway Parameter Setting Tool Click on the “Update” button and the alarm list is read again from MSEP. Click on the “Clear” button and the alarm list retained in MSEP are all deleted. Refer to Chapter 6. Troubleshooting for the details of the alarms.
3.9.4 Operation Mode Setting 1) 2) Note 1 SEP I/O Mode cannot be set together with other modes. Note 2 MSEP is to be set in two axes in unit (for each slot) as the basis. If the number of used axes is an odd number, make it inactivated in Final Parameter No.33 Inactivated Axis Setting. 185 3.9 About Gateway Parameter Setting Tool When selecting the operation mode, select (Note 1) the axis number in the pull down menu circled as 1). By selecting the number, the cells in 2) become blank in response.
3.10 Status LED 1) For PIO Type T.ERR SYS EMG 3.
2) For Fieldbus Type DeviceNet SYS EMG MODE T C ERR MS NS {: Illuminating, ×: OFF, ڏ: Flashing SYS (System status) EMG (Emergency stop status) MODE (AUTO/MANU status) T ERR (Controller internal communication status) C ERR (Fieldbus communication status) × Color Green Orange – Red × – × Green – Orange × – Orange × – Green ڏ NS ڏ ڏ ڏ MS ڏ ڏ Green Orange Orange Green/Orange (Blink by turn) Green Green Orange Orange Green/Orange (Blink by turn) Description 3.
3) For Fieldbus Type CC-Link SYS EMG MODE T C ERR RUN ERR 3.
4) For Fieldbus Type PROFIBUS-DP SYS EMG MODE T C ERR MS NS {: Illuminating, ×: OFF, ڏ: Flashing SYS (System status) EMG (Emergency stop status) MODE (AUTO/MANU status) T ERR (Controller internal communication status) C ERR (Fieldbus communication status) × Color Green Orange – Red Emergency stop – × Green – AUTO Mode MANU Mode Orange Controller internal communication error × – Orange × – ڏ Green Orange Green MS Ready Alarm generated Power is OFF or in initializing × Green NS Des
5) For Fieldbus Type CompoNet SYS EMG MODE T C ERR MS NS 3.
6) For Fieldbus Type EtherNet/IP SYS EMG MODE T C ERR MS NS {: Illuminating, ×: OFF, ڏ: Flashing Symbol EMG (Emergency stop status) MODE (AUTO/MANU status) T ERR (Controller internal communication status) C ERR (Fieldbus communication status) × × × × Color Green Orange – Red – Green – Ready Alarm generated Power is OFF or in initializing Alarm generated Normal AUTO Mode MANU Mode Orange Controller internal communication error – Orange × – Green ڏ NS Green Orange ڏ Orange × – Green
7) For Fieldbus Type MECHATROLINK SYS EMG MODE T C ERR 3.
8) For Fieldbus Type EtherCAT SYS EMG MODE T C ERR ERR RUN {: Illuminating, ×: OFF, ڏ: Flashing SYS (System status) EMG (Emergency stop status) MODE (AUTO/MANU status) T ERR (Controller internal communication status) C ERR (Fieldbus communication status) ERR × Color Green Orange – Red × – × Green – Orange × – Orange × ڏ – Orange Orange (Note 1) (ON : 200ms/ OFF : 200ms) ڏ Orange (Note 3) × – Green RUN ڏ ڏ × Green (Note 1) 3.
• Timing of LED flashing (Note 1) blinking (Note 2) single flash 3.
Chapter 4 4.1 Absolute Reset and Absolute Battery Absolute Reset The controller for Simple Absolute Type retains the encoder position information with the 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. It can be checked on the status LEDs for the driver whether the absolute reset is necessary.
The absolute reset is to be done with using a teaching tool such as the PC software. Shown below are the steps. [2] Absolute reset procedure from teaching tool 1) Connect the controller with the actuator. [Refer to Chapters 1 and 2.] 2) Connect the absolute battery box to the controller with using the dedicated cable. [Refer to Chapters 1 and 2.] 3) Connect a teaching tool and turn ON the power supply to controller. 4) The absolute encoder error appears on the teaching tool. Perform alarm reset.
(2) For CON-PTA/PDA/PGA 1) Press Reset Alm. 2) Press Trial Operation on the Menu 1 screen. 3) Chapter 4 Absolute Reset and Absolute Battery Press Jog_Inching on Trial screen. 4) Press Home on Job/Inching screen.
4.2 Absolute Battery Absolute battery and absolute battery box are enclosed in the simple absolute type controllers. The absolute battery is used to back up the absolute data. The absolute battery has a specified position for each axis number. Refer to the figure below to insert the batteries to the absolute battery box. There is also an instruction for the connector inserting positions for the absolute battery cable. Connect it properly following the figure shown below.
4.2.1 Absolute encoder backup specifications Item Battery model Quantity Battery voltage Current capacity Reference for battery replacing timing(Note 1) (Note 1) Replace the battery regularly. 4.2.2 Specifications AB-7 1 pc/axis (8 units max. / 8 axes) 3.6V 3300mAH Approx. 3 years (It varies significantly by the effects of the usage condition) Absolute Battery Charge Please have the battery charged for more than 72 hours before using for the first time or after replacing with a new one.
4.2.3 Absolute Battery Voltage Drop Detection If the voltage of the absolute battery is dropped, the error detection responding to the voltage is held. Voltage PIO Signals Alarm 2.5V ±8% or less Alarm signal *ALM(Note 1) OFF 0EE Absolute Encoder Error Detection 2 or 0EF Absolute Encoder Error Detection 3 Note 1 *ALM are the signals of active low. After the power is supplied to the controller, they are usually ON and turned OFF when an error is detected.
Chapter 5 I/O Parameter Parameters are the data to set up considering the system and application. 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. Take a note if using a teaching pendant such as the touch panel teaching.
I/O Parameter List 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. D : Parameters of the category are set at shipment in accordance with the specification of the actuator. Normally they may not be set.
No. Category 21 B Zone 1+ ZNM1 22 B Zone 1- ZNL1 23 B Zone 2+ ZNM2 Name Symbol Relevant sections Unit (Note 1) Input Range Default factory setting -9999.99 to 9999.99 Actual stroke on + side (Note 2) 5.2 [21] -9999.99 to 9999.99 Actual stroke on side (Note 2) 5.2 [21] -9999.99 to 9999.99 Actual stroke on + side (Note 2) 5.2 [21] -9999.99 to 9999.99 Actual stroke on side (Note 2) 5.
5.2 Detail Explanation of Parameters Caution: • If parameters are changed, 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] Positioning width (in-position) (Parameter No.1) No. 1 Name Default positioning width Symbol Unit INP mm [deg] Input Range (Note) 0.01 to 999.99 Default factory setting 0.
[3] Servo gain number (Parameter No.3) No. 3 Name Servo gain number Symbol PLGO Unit Input Range Default factory setting – For servo motor 0 to 15 For pulse motor 0 to 31 In accordance with actuator The servo gain is also called position loop gain or position control system proportion gain. The parameter defines the response when a position control loop is used. Increasing the set value improves the tracking performance with respect to the position command.
[5] Speed loop proportional gain (Parameter No.5) No. 5 Name Speed loop proportional gain Symbol Unit Input Range VLPG – 1 to 27661 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 speed command becomes better (the servo-motor rigidity is enhanced). The higher the load inertia becomes, the larger the value should be set.
[7] Press speed (Parameter No.7) No. 7 Name Symbol Press speed PSHV Unit Input Range mm/s 1 to actuator's max. [deg/s] pressing speed Default factory setting In accordance with actuator This is the parameter to set the speed in pressing operation. The setting is done considering the actuator type when the product is delivered. [Refer to List of Connectable Actuator Specifications in the last pages.
[9] Current limit value at stopping due to miss-pressing (Parameter No.9) No. 9 Name Current limit value at stopping due to miss-pressing Symbol PSFC Unit Input Range Default factory setting – 0: 1) Current limit during movement for servo motor 2) Current limit during stop for pulse motor 1: Current limit value during pressing 0 This parameter defines the restricted current value at stopping due to miss-pressing. This restricted current value locks the servo till the next moving command.
[13] Current-limiting value during home return (Parameter No.13) No. 13 Name Symbol Current-limiting value during home ODPW return Unit % Default factory setting Pulse motor: 0 to 100 In accordance Servo motor: 0 to 300 with actuator Input Range The factory setting conforms to the standard specification of the actuator. Increasing this setting will increase the home return torque. Normally this parameter need not be changed.
[16] Home return offset level (Parameter No.16) No. 16 Name Home return offset level Symbol Unit Input Range OFST mm [deg] 0.00 to 9999.99 Default factory setting In accordance with actuator 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.
[19] Absolute battery retention time (Parameter No.19) No. 19 Name Absolute battery retention time Symbol AIP Unit days Input Range 0: 1: 2: 3: 20 dayes 15 dayes 10 dayes 5 dayes Default factory setting 2 For simple absolute type, set how long the encoder position information is to be retained after the power to the controller is turned OFF. The setting can be selected from 4 phases and as the motor rotation speed gets slower, the time to retain the position information gets longer.
[21] Zone 1+, Zone 1- (Parameter No.21, No.22) Zone 2+, Zone 2- (Parameter No.23, No.24) No. Name Symbol 21 Zone 1+ ZONM 22 Zone 1- ZONL1 23 Zone 2+ ZNM2 24 Zone 2- ZNL2 Unit mm [deg] mm [deg] mm [deg] mm [deg] Input Range -9999.99 to 9999.99 -9999.99 to 9999.99 -9999.99 to 9999.99 -9999.99 to 9999.99 Default factory setting Actual stroke on + side Actual stroke on - side Actual stroke on + side Actual stroke on - side Set the area where thzone signals (ZONE1 and ZONE2) turn ON.
[23] Total movement count threshold (Parameter No.26) No. 26 Name Total movement count threshold Symbol Unit Input Range TMCT times 0 to 99999999 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. [24] Total operated distance threshold (Parameter No.27) No.
[28] Default movement direction for excitation-phase signal detection (Parameter No.34) No. 34 Name Default movement direction for excitation-phase signal detection Symbol Unit Input Range PHSP – 0: Reverse 1: Forward Default factory setting In accordance with actuator Excitation detection (Note) starts when the servo is turned ON for the first time after the power is supplied. Detection direction at this time is determined.
5.3 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 Chapter 5 I/O Parameter 5 216 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. How to Adjust x Input the Parameter No.4 “Torque Filter Time Constant”. Try to increase by 50 as a reference for the setting. If the setting is too large, it may cause a loss of control system stability and lead the generation of vibration.
Chapter 6 6.1 Troubleshooting 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) Status LEDs and PIO Check on Controller LED SYS SYS I SYS II Operation status Alarm generated due to Gateway (Orange Light (Green Light (Green Light (Fieldbus error, etc.) is turned ON.) is turned ON.) is turned ON.
6.2 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 6.2.1 Impossible operation of controller Situation Possible cause SYSLED or SYS I/SYS II (1) Occurrence of alarm. LED on driver board turn (2) During emergency-stop.
6.2.2 Positioning and speed of poor precision (incorrect operation) Situation Completion of operation on the way to home return Shocks at start and/or stop. Overshoot during deceleration to stop. Check/Treatment 1) Reduce the load. 2) Remove the interference. 3) Loosen the fixing bolts once and check whether the slider can move smoothly.
6.2.3 Generation of noise and/or vibration Situation Generation of noise and/or vibration from actuator itself Vibrations of load 6.2.4 Chapter 6 Troubleshooting Check/Treatment Servo adjustment may improve the situation. [Refer to 5.3 Servo Adjustment.] 1) Decrease the settings of acceleration/deceleration.
6.3 Alarm Level The alarms are classified to 3 types of levels by the content of the error. Alarm level ALM lamp *ALM signal Message OFF No output Operation release ON Output Cold start ON Output Status when an Cancellation method error occurred No stop Alarm of maintenance output such as battery voltage drop or the teaching tool such as PC software [Refer to Instruction Manual of each tool for details.] Servo OFF after Reset the alarm by the PIO or teaching deceleration to tool.
6.4 6.4.1 Alarm List Alarm Code 43 48 49 4A Chapter 6 Troubleshooting 4B 50 60 61 62 6A 80 222 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.
Alarm Code 81 Alarm Name Parameter Check Sum Error Cause/Treatment Cause Treatment 90 Driver Board Mount Error Cause 9C Fieldbus Module Not Detected Treatment Cause Treatment 9E Fan Error Cause Treatment A0 Control Power Overvoltage Cause Treatment Control Power Voltage Drop Cause Treatment A2 Motor Power Voltage Error Cause Treatment A6 Encoder Voltage Drop AA Regenerative Electric Discharge Circuit Error AB Assumed Regenerative Discharge Excessive Power Cause Treatment Cause Trea
Alarm Code AC Chapter 6 Troubleshooting FF 224 Alarm Name Cause/Treatment Continuous Regenerative Cause : The regenerative electric power exceeded what can be Excessive Discharge dealt with the regenerative resistor. Treatment : Decrease the acceleration/deceleration speed, revise the operation interval or connect an external optional regenerative resistor (RER-1). Power-on Log It is the log at the power being on (it is not an error).
6.4.2 Simple Alarm Code (Note) *ALM Signal is an active low signal. It is ON when the power is applied to the controller, and turns OFF when the signal is output. 225 Chapter 6 Troubleshooting Simple alarm codes are read into the complete position register (PM8 to PC1) in Position 1/ Simple Direct Modes when an alarm is generated. {: ON z: OFF ALM8 ALM4 ALM2 ALM1 *ALM Binary Code Description: Alarm code is shown in ( ).
{: ON z: OFF *ALM z z z z z z Chapter 6 Troubleshooting z ALM8 ALM4 ALM2 ALM1 Binary Code Description: Alarm code is shown in ( ).
6.4.
Alarm Code 0A3 Alarm Level 0A7 Alarm Name Cause/Treatment Position command data Cause error : 1) The speed or acceleration/deceleration value during direct numeric specification exceeded the maximum set value. Treatment : 1) Table to input a proper value.
Alarm Code 0B6 Alarm Level Servo (*) motor Alarm Name Z-phase detection time out Only when connected Operation release Magnetic pole indeterminacy 0B7 Servo (*) motor Cold start Cause : This indicates the Z-phase could not be detected at the first servo-on or home-return operation after the power is turned ON in Simple Absolute type. 1) Connector connection error or wire breakage on an actuator cable. 2) Brake cannot be released on a controller equipped with a brake.
Alarm Code 0B8 Alarm Level Pulse (*) motor Alarm Name Excitement detection error Cause/Treatment Cause Only when connected Treatment Chapter 6 Troubleshooting Cold start 0BA Home sensor non-detection Cause Treatment 0BE Home return timeout Operation release 0C0 Cause Treatment Actual speed excessive Cause Treatment (*) Pulse motor : RCP2, RCP3, RCP4 Series 230 : The magnetic pole phase detection is not completed after a certain time being passed even though the detection process was exec
Alarm Code 0C1 Alarm Level Alarm Name Servo error Pulse (*1) motor Only when connected Operation release Overcurrent 0CA Overheat Cold start 0CB Servo motor(*2) Only when connected Current sensor offset adjustment error Cause : It indicates 2 seconds has passed without making a move since a move command was received. 1) Connection error or wire breakage on an actuator cable 2) Brake is not released (when equipped with a brake). 3) Load to the motor is high due to external force.
Alarm Alarm Alarm Name Code Level 0D2 Motor power source Servo voltage excessive (*) Operation motor cancellation Only when connected 0D4 Drive source error Cause/Treatment Cause : A malfunction of a component inside the controller can be considered. Treatment : If this error occurs often, there is a concern of a controller malfunction. Please contact IAI.
Alarm Code 0E0 Alarm Level Alarm Name Overload Servo (*) motor Only when connected 0E7 Servo (*) motor Only when connected Cold start Encoder receipt error Cause : 1) The work weight exceeds the rated weight, or an external force is applied and the load increased. 2) If the actuator is equipped with a brake, the brake is not released. 3) The slide resistance of the actuator is locally high. Treatment : 1) Check the work and its surrounding area to remove the cause.
Alarm Code 0E8 Alarm Level Pulse (*1) motor Alarm Name A- and B-phase wire breaking Chapter 6 Troubleshooting Only Cold start when connected 0ED Absolute encoder error detection 1 0EE Absolute encoder error detection 2 Operation release 0EF Absolute encoder error detection 3 0F0 Servo (*2) motor Driver logic error 0F4 Mismatched PCB Only when connected Cold start Cause/Treatment Cause : Encoder signals cannot be detected correctly.
Alarm Code 0F5 Alarm Level Alarm Name Cause/Treatment Nonvolatile memory write verify error 235 Chapter 6 Troubleshooting It is verified at the data writing process to the non-volatile memory that the data inside the memory and the data to be written are matched. There was a mismatch detected in this Operation process. release Cause : Faulty nonvolatile memory. Treatment : When the error is caused even when the power is re-input, please contact IAI.
236 Chapter 6 Troubleshooting
Chapter 7 7.1 Appendix Fan Replacement If an error is detected on the fan, replace the fan unit by following the process stated below. Note 1: When there is an error on the fan, an alarm code will be output to the gateway status signal or the gateway parameter setting tool.
7.2 List of Specifications of Connectable Actuators The specifications included in this list are limited to those needed to set operating conditions and parameters. For other detailed specifications, refer to the catalog or operation manual for your actuator. 7.2.1 Specifications for Servo Motor Type Actuator Motor No.
Motor No. of Lead Actuator Feed output encoder Type series screw pulses [mm] [W] RA3R RGD3R Ball screw Ball screw 20 20 800 800 20 Ball RA4C screw RCA (rod type) 20 Ball RGS4C screw Ball RGD4C screw [mm/s] [G] 10 12.5 500 0.3 5 Horizontal /vertical 6.25 250 0.3 2.5 Horizontal /vertical 3.12 125 0.2 10 Horizontal /vertical 12.5 500 0.3 5 Horizontal /vertical 6.25 250 0.3 2.5 Horizontal /vertical 3.12 125 0.
Motor No. of Lead Actuator Feed output encoder Type series screw pulses [mm] [W] 20 RA4D Ball screw 20 Ball RGS4D screw RCA (rod type) 20 Chapter 7 Appendix Ball RGD4D screw 20 Ball RA4R screw 240 [G] 12 15 600 0.3 6 Horizontal /vertical 7.5 300 0.3 3 Horizontal /vertical 3.75 150 0.2 12 Horizontal /vertical 15 600 0.3 6 Horizontal /vertical 7.5 300 0.3 3 Horizontal /vertical 3.75 150 0.2 12 Horizontal /vertical 15 600 0.3 6 Horizontal /vertical 7.5 300 0.
Motor No. of Lead Actuator Feed output encoder Type series screw pulses [mm] [W] 20 RGD4R Ball screw RCA (rod type) SRA4R SRGS4R SRGD4R 20 Ball screw 20 Ball screw 20 [G] 12 15 600 0.3 6 Horizontal /vertical 7.5 300 0.3 3 Horizontal /vertical 3.75 150 0.2 12 Horizontal /vertical 15 600 0.3 6 Horizontal /vertical 7.5 300 0.3 3 Horizontal /vertical 3.75 150 0.2 6.25 250 3.12 125 6.25 250 3.12 125 6.25 250 3.12 125 800 2.5 5 800 2.5 5 800 2.
Motor No. of Lead Actuator Feed output encoder Type series screw pulses [mm] [W] 20 Mounting direction Minimum speed [mm/s] Horizontal 25 Vertical SA6C SA6D Ball screw Ball screw 30 30 Chapter 7 Appendix Ball screw 30 Horizontal /vertical 15 6 Horizontal /vertical 7.5 3 Horizontal /vertical 3.75 12 Horizontal /vertical 15 6 Horizontal /vertical 7.5 3 Horizontal /vertical 3.75 12 Horizontal /vertical 15 6 Horizontal /vertical 7.5 3 Horizontal /vertical 3.
Motor No. of Lead Actuator Feed output encoder Type series screw pulses [mm] [W] RCA (slider type) RCA (arm type) RCA2 (rod type) SS6D Ball screw 30 800 A4R Ball screw 20 800 A5R Ball screw 20 800 A6R Ball screw 30 800 RN3N Lead screw 10 1048 RP3N Lead screw 10 1048 GS3N Lead screw 10 1048 GD3N Lead screw 10 1048 SD3N Lead screw 10 1048 15 6 Horizontal /vertical 7.5 3 Horizontal /vertical 3.
Motor No.
Motor No. of Lead Actuator Feed output encoder Type series screw pulses [mm] [W] 6 SA3C Ball screw 10 800 4 2 6 SA3R Ball screw 10 800 4 2 RCA2 (slider type) 10 SA4C Ball screw 20 800 5 2.5 10 SA4R Ball screw 20 800 5 2.
Motor No. of Lead Actuator Feed output encoder Type series screw pulses [mm] [W] Mounting direction Minimum speed [mm/s] Horizontal 20 25 Vertical SA5C Ball screw 20 800 Horizontal 12 15 Vertical Horizontal RCA2 (slider type) 6 7.5 Vertical Horizontal 3 3.75 Chapter 7 Appendix Vertical Horizontal 12 15 Vertical SA5R Ball screw 20 800 Horizontal 6 7.5 Vertical Horizontal 3 3.
Motor No. of Lead Actuator Feed output encoder Type series screw pulses [mm] [W] Mounting direction Minimum speed [mm/s] Horizontal 20 25 Vertical SA6C Ball screw 30 800 Horizontal 12 15 Vertical Horizontal RCA2 (slider type) 6 7.5 Vertical Horizontal 3 3.75 Horizontal 12 15 Vertical SA6R Ball screw 30 800 Horizontal 6 7.5 Vertical Horizontal 3 3.
Chapter 7 Appendix Motor No. of Minimum Lead Mounting Actuator Feed output encoder speed Type series screw direction pulses [mm] [mm/s] [W] 4 3.81 Lead Horizontal 10 1048 TC3N 2 1.90 screw /vertical 1 0.95 4 3.81 Lead Horizontal TW3N 10 1048 2 1.90 screw /vertical 1 0.95 4 3.81 Lead Horizontal TF3N 10 1048 2 1.90 screw /vertical 1 0.95 Horizontal 6 5.72 Vertical Horizontal Ball 4 3.81 screw Vertical Horizontal 2 1.90 Vertical TC4N 20 1048 Horizontal 6 5.72 Vertical Horizontal Lead 4 3.
Motor No. of Lead Actuator Feed output encoder Type series screw pulses [mm] [W] 6 TA4R Ball screw 10 800 4 2 10 TA5C Ball screw 20 800 5 2.5 10 TA5R Ball screw 20 800 5 2.
7.2.2 Specifications for Pulse Motor Type Actuator Caution: • The push force is based on the rated push speed (factory setting) indicated in the list, and provides only a guideline. • Make sure the actual push force is equal to or greater than the minimum push force. If not, the push force will not stabilize.
Actuator series Type RGD4C Feed screw Ball screw No. of encoder pulses 800 Lead [mm] 800 12.5 5 Horizontal /vertical 6.25 8 4 16 RCP2 (rod type) RGS6C Ball screw 800 8 4 16 RGD6C Ball screw 800 8 4 Ball screw 800 SRGS4R Ball screw 800 SRGD4R Ball screw 800 5 2.5 5 2.5 5 2.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction [mm] Minimum speed [mm/s] Horizontal 20 25 Vertical SA5C Ball screw 800 Horizontal 12 15 Vertical Horizontal RCP2 (slider type) 6 7.5 Vertical Chapter 7 Appendix Horizontal 3 3.75 Vertical Horizontal 12 15 Vertical SA5R Ball screw 800 Horizontal 6 7.5 Vertical Horizontal 3 3.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction [mm] Minimum speed [mm/s] Horizontal 20 25 Vertical SA6C Ball screw 800 Horizontal 12 15 Vertical Horizontal RCP2 (slider type) 6 7.5 Vertical Horizontal 3.75 Vertical Horizontal 12 15 Vertical SA6R Ball screw 800 Horizontal 6 7.5 Vertical Horizontal 3 3.
Actuator series Type Feed screw No.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction [mm] Minimum speed [mm/s] Horizontal 20 25 Vertical SS8R Ball screw Horizontal 800 10 12.5 Vertical Horizontal RCP2 (slider type) 5 6.25 Vertical HS8C Ball screw Horizontal 800 30 37.5 Vertical HS8R RCP2 (belt type) GRST RCP2 (gripper GR3LS type) GR3LM GR3SS GR3SM GRHM GRHB 800 Belt 800 Belt 800 – – – – – – – – – – – – 800 800 800 800 800 800 800 800 800 800 800 800 30 37.
Actuator series Type RTBS Feed screw – No.
Actuator series Type Feed screw Lead screw No.
Actuator series Type Feed screw No. of encoder pulses SA2AC Lead screw 800 SA2BC Lead screw 800 Lead Mounting direction [mm] 4 2 1 [mm/s] Horizontal 6 4 SA2AR Lead screw SA2BR Lead screw 800 2 1 6 800 4 6 SA3C Ball screw 800 4 2 6 SA3R Ball screw 800 4 2 Chapter 7 Appendix 10 SA4C Ball screw 800 5 2.5 10 SA4R Ball screw 800 5 2.5 258 7.5 300 5 200 2.5 100 7.5 300 5 200 2.5 100 12.5 380 (at 50st) 500 (at 100st to 500st) 6.25 250 3.12 125 12.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction [mm] Minimum speed [mm/s] Horizontal 20 25 Vertical SA5C Ball screw 800 Horizontal 12 15 Vertical Horizontal RCP3 (slider type) 6 7.5 Vertical Horizontal 3 3.75 Horizontal 12 15 Vertical SA5R Ball screw 800 Horizontal 6 7.5 Vertical Horizontal 3 3.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction [mm] Minimum speed [mm/s] Horizontal 20 25 Vertical SA6C Ball screw 800 Horizontal 12 15 Vertical Horizontal RCP3 (slider type) 6 7.5 Vertical Horizontal 3 3.75 Chapter 7 Appendix Vertical Horizontal 12 15 Vertical SA6R Ball screw 800 Horizontal 6 7.5 Vertical Horizontal 3 3.
Actuator series Type Feed screw No. of encoder pulses Lead [mm] 6 TA3C Ball screw 800 4 2 6 TA3R Ball screw 800 4 2 6 TA4C Ball screw 800 4 2 6 TA4R Ball screw 800 4 2 RCP3 (table type) 10 TA5C Ball screw 800 5 2.5 10 Ball screw 800 5 2.
Actuator series Type Feed screw No. of encoder pulses Lead [mm] 12 TA7C Ball screw 800 6 3 RCP3 (table type) 12 TA7R Ball screw 800 Mounting direction 6 3 Minimum speed [mm/s] Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical 15 300 3.75 150 15 600 580 7.5 300 3.75 150 25 Chapter 7 Appendix Vertical Horizontal RCP4 (slider type) SA5C Ball screw 800 12 15 Vertical Horizontal 6 7.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction [mm] Minimum speed [mm/s] Horizontal 20 25 Vertical Horizontal RCP4 (slider type) SA6C Ball screw 800 12 15 Vertical Horizontal 6 7.5 Horizontal 3 3.75 Vertical [mm/s] (Note) It is the value when high–thrust function is ineffective. 960 (at 50 to 600st) 1230 (at550st) 1045 (at600st) 905 (at650st) 785 (at700st) 690 (at750st) 615 (at800st) (Note) It is the value when high–thrust function is ineffective.
Actuator series Type Feed screw No.
Correlation diagram of speed and loading capacity for the RCP2 slider type Horizontal installation Vertical installation 6 45 30 SS 8C SS7C-12 -2 0 25 20 15 10 5 0 0 SA7C-16 5 SA7C-16 Load capacity (kg) 35 Load capacity (kg) High-speed type 40 SA6C-12 SA5C-12 100 200 300 400 500 600 4 3 2 0 700 SS SA6C-12 1 7C 0 100 8C 200 Speed (mm/sec) 12 SA7C-8 10 SS7C-6 30 20 10 0 0 SA6C-6 SA5C-6 50 100 150 200 Speed (mm/sec) 250 300 SS SA 250 300 350 7C -8 SS 7C -
Correlation diagram of speed and loading capacity for the RCP2 slider type (motor-reversing type) Horizontal installation Vertical installation 6 SA7R-16 Load capacity (kg) 20 SS7R-12 15 10 SA6R-12 5 0 0 SS7R-12 4 SS8R-20 3 2 SA6R-12 SA5R-12 1 SA5R-12 100 SA7R-16 5 20 Load capacity (kg) 25 8R SS High-speed type 30 200 300 400 500 600 0 700 0 100 200 Speed (mm/sec) Load capacity (kg) Load capacity (kg) 10 SA5R-6 5 0 0 50 100 150 200 250 300 6 2 0 350 (Note) 26
Correlation diagram of speed and loading capacity for the standard RCP2 rod type Horizontal installation (Note 1) Vertical installation 12 35 30 25 10 RA6C-16 Load capacity (kg) Load capacity (kg) High-speed type 40 RA4C-10 20 15 10 0 100 200 300 Speed (mm/sec) 400 500 RA3C-5 0 50 100 150 200 400 500 600 100 150 200 250 300 20 RA2C-1 0 20 40 5 RA3C-5 0 60 80 Speed (mm/sec) 100 120 140 50 RA6C-4 25 RA3C-2.5 30 RA4C-5 10 30 RA4C-2.
Correlation diagram of speed and loading capacity for RCP2 single-guide type Horizontal installation Vertical installation 4.5 4 R G S 6C -16 3 3.5 2.5 2 Load capacity (kg) Load capacity (kg) High-speed type 3.5 R G S 4C -10 1.5 1 0.5 0 R G S 6C -16 3 2.5 R G S 4C -10 2 1.5 1 0.5 0 100 200 300 400 500 0 600 0 100 200 Speed (mm/sec) 14 Load capacity (kg) Load capacity (kg) 3 R G S 4C -5 2.5 2 1.5 1 0.
Correlation diagram of speed and loading capacity for the RCP2 double-guide type Horizontal installation Vertical installation 4.5 4.5 4 RGD6C-16 3.5 3.5 3 2.5 Load capacity (kg) Load capacity (kg) High-speed type 4 RGD4C-10 2 1.5 1 RGD6C-16 RGD4C-10 2 1.5 1 0.5 0.5 0 3 2.5 0 100 200 300 400 500 0 600 0 100 200 5.5 5 4.5 4 3.5 3 2.5 2 1.5 1 0.5 0 16 RGD4C-5 RGD3C-5 12 10 RGD4C-5 8 6 4 RGD3C-5 2 100 150 200 250 0 300 0 50 100 200 250 300 30 5 4 25 RGD4C-2.
Correlation diagram of speed and loading capacity for the RCP2 dustproof/ splash-proof type Horizontal installation (Note 1) Vertical installation (Note 2) 12 35 30 25 10 RA6C-16 Load capacity (kg) Load capacity (kg) High-speed type 40 RA4C-10 20 15 10 6 RA6C-16 4 RA4C-10 2 5 0 0 8 100 200 300 400 500 0 0 600 100 200 Speed (mm/sec) RA4C-5 30 20 10 0 0 50 100 150 200 250 300 5 50 100 150 200 30 RA6C-4 25 RA4C-2.
Correlation diagram of speed and loading capacity for the RCP3 slider type Horizontal installation Vertical installation 4 Lead 2 3 Lead 4 2 Lead 6 1 0 Load capacity (kg) S A 3 C Load capacity (kg) 4 05 0 100 150 200 250 3 2 1 0 300 Lead 2 05 0 100 Speed (mm/sec) 7 3 Lead 10 2 1 0 0 100 200 300 400 4 Lead 2.
Correlation diagram of speed and loading capacity for the RCP3 table type Horizontal installation Lead 5 Lead 10 2 0 100 8 200 300 Speed (mm/sec) 400 500 200 0 100 6 2 100 Lead 10 200 300 400 500 Lead 6 0 100 Lead 6 2 100 200 300 Speed (mm/sec) 272 Lead 12 4 0 200 300 400 500 600 10 6 0 600 Speed (mm/sec) 400 500 600 8 Load capacity (kg) Load capacity (kg) Chapter 7 Appendix T A 7 C 500 Lead 12 2 0 600 Lead 3 8 400 Lead 3 4 Speed (mm/sec) 10 300
Correlation diagram of speed and loading capacity for the RCP4 slider type Horizontal installation 18 Lead 6 12 10 8 Lead 12 6 Lead 20 (0.3G Operation) 4 2 0 200 400 600 800 8 6 Lead 6 4 2 Lead 20 (0.5G Operation) 0 The values for Lead 3/6/12 are when operated with 0.3G. Lead 3 10 Load capacity (kg) Load capacity (kg) 14 S A 5 C 12 The values for Lead 3/6/12 are when operated with 0.3G.
Correlation diagram of speed and loading capacity for the RCP4 rod type Horizontal installation Vertical installation 25 45 The values for Lead 3/6/12 are when operated with 0.2 G. Lead 3 40 Load capacity (kg) R A 5 C Load capacity (kg) 35 30 Lead 6 25 20 15 Lead 12 10 15 10 Lead 6 5 Lead 20 (0.3G) 5 The values shown below are when operated with 0.2G. Lead 3 20 Lead 12 0 0 100 200 300 400 500 600 700 0 100 200 60 50 The values for Lead 4/8/16 are when operated with 0.2 G.
Pressing Force and Current Limit Value Caution • The correlation of the pressing force and the current limit value is the rated pressing speed (in the setting at the delivery) and is a reference value. • Use the actuator with the setting above the minimum pressing force value. The pressing force will be unstable if it is below the minimum pressing force value.
Short Type RCP2 Series SRA4R/SRGS4R/SRGD4R Push force (N) 200 150 Lead 2.
Gripper RCP2 Series GRLS 16 7 14 6 Gripping force (N) Gripping force (N) GRSS 12 10 8 6 4 4 3 2 1 2 0 5 0 10 20 30 40 50 60 0 70 0 Current-limiting value (ratio, %) 10 20 30 40 50 60 Current-limiting value (ratio, %) GRM 25 100 20 80 Gripping force (N) Gripping force (N) GRS 15 10 5 0 0 70 40 20 0 70 0 10 20 30 40 50 60 Current-limiting value (ratio, %) 70 Chapter 7 Appendix 10 20 30 40 50 60 Current-limiting value (ratio, %) 60 GRST 45 Push force (N) 40 35 Sta
RCP2 Series 3-finger Gripper GR3LS GR3LM 60 20 Gripping force (N) Gripping force (N) 25 15 10 5 50 40 30 20 10 Current-limiting value (ratio, %) Current-limiting value (ratio, %) GR3SS GR3SM 120 20 Gripping force (N) Gripping force (N) 25 15 10 5 Chapter 7 Appendix 80 60 40 20 Current-limiting value (ratio, %) 278 100 Current-limiting value (ratio, %)
RCP3 Series Slim, Compact Rod Type * Inside the red box is the specification value RA2BC/RA2BR Lead 2 RA2AC/RA2AR Lead 1 45 30 25 35 Push force (N) Push force (N) 40 30 25 20 15 10 20 15 10 5 5 0 0 Current-limiting value (ratio, %) Current-limiting value (ratio, %) RA2BC/RA2BR Lead 4 RA2AC/RA2AR Lead 2 20 30 18 Push force (N) Push force (N) 25 20 15 10 16 14 12 10 8 6 4 5 2 0 0 Current-limiting value (ratio, %) Current-limiting value (ratio, %) RA2AC/RA2AR Lead 4 RA2BC/RA2BR Le
Slider Type RCP3 Series 50 45 40 35 30 25 20 15 10 5 0 SA4C Type 160 140 -2 SA3 Push force (N) Push force (N) SA3C Type SA3-4 SA3-6 120 100 -2.
Slider Type RCP4 Series SA5C/SA6C Type SA7C Type 800 400 700 300 Lead 3 250 200 Lead 6 150 Lead 12 100 50 0 Push force (N) Push force (N) 350 10 20 30 40 50 60 70 Lead 4 500 400 Lead 8 300 Lead 16 200 100 Lead 20 0 600 0 80 Lead 24 0 10 Current-limiting value (ratio, %) 20 50 60 70 80 Current-limiting value (ratio, %) RA5C Type RA6C Type 1200 400 350 1000 300 Push force (N) Push force (N) 40 Rod Type RCP4 Series Lead 3 250 200 Lead 6 150 Lead 12 100
282 Chapter 7 Appendix
Chapter 8 8.1 Warranty Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company y 12 months after delivery to the specified location 8.2 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.
8.5 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 2012.02 First Edition 2012.03 Second Edition Note corrected 2012.04 Third Edition Complied with CompoNet, MECHATROLINK, EtherCAT and EtherNet/IP. 2012.10 Fourth Edition Command availability in MECHATROLINK added and corrections made 2013.
Manual No.: ME0299-4B (Jan 2013) 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.