PCON-C/CG/CF Controller Positioner Type Operation Manual Seventeenth Edition
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products.
CAUTION x Changes to Zone Function Applicable application versions: V0016 and later Among the zone signal settings, those that result in “Zone setting+ < Zone setting-” are now effective. V0015 and earlier: “Zone setting+ d Zone setting-” o A zone signal is not output. V0016 and later: “Zone setting+ = Zone setting-” o This is the only condition in which a zone signal is not output.
CAUTION 1. Use Environment PCON controllers can be used in an environment of pollution degree 2 or equivalent. 2. PC Software and Teaching Pendant Models New functions have been added to the entire PCON controller series. To support these new features, the communication protocol has been changed to the general Modbus (Modbus-compliant) mode. As a result, the existing PC software programs and teaching pendants compatible with RCP2 controllers can no longer be used.
CAUTION 4. Initial Parameter Settings at Startup After applying power, at least the three parameters specified below must be set in accordance with the specific application. Inappropriate settings of these parameters will prevent the controller from operating properly, so exercise due caution. For details on how to set the parameters, refer to “Parameter Settings” in the operation manual for the PC or teaching pendant.
CAUTION [2] Enabling/disabling the servo ON input signal (SON) The servo ON input signal has been added to allow for servo ON/OFF control on the PLC side. Depending on the needs, therefore, the user must enable/disable this signal. To select a desired setting, set “0” or “1” in parameter No. 21 (Servo ON input disable selection). Enable (use) 0 Disable (do not use) The factory setting is “0 [Enable].
CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Table of Contents Safety Guide .................................................................................................................... 1 1. Overview ................................................................................................................... 9 1.1 1.2 1.3 1.4 1.5 Introduction..........................................................................................................................9 How to Read the Model Specification ......................................
5. I/O Signal Control and Signal Functions.................................................................. 47 5.1 5.2 5.3 Interface Circuit .................................................................................................................47 5.1.1 External Input Specifications......................................................................................... 47 5.1.2 External Output Specifications......................................................................................
6. Data Entry ................................................................................................ 66 6.1 6.2 6.3 6.4 6.5 Description of Position Table .............................................................................................66 6.1.1 Relationship of Push Force at Standstill and Current-Limiting Value ........................... 70 Explanation of Modes ........................................................................................................70 6.2.
8. Parameter Settings................................................................................................ 128 8.1 8.2 Parameter Table ..............................................................................................................128 Detail Explanation of Parameters ....................................................................................130 8.2.1 Parameters Relating to the Actuator Stroke Range.................................................... 130 z Soft limit (No.
8.2.4 z z z z Servo Gain Adjustment ............................................................................................... 145 Servo gain number (No.7 PLG0) ................................................................................ 145 Speed loop proportional gain (No.31 VLPG) .............................................................. 145 Speed loop integral gain (No.32 VLPT) ...................................................................... 146 Torque filter time constant (No.
Push Force and Current-limiting Value......................................................................................190 Fault check and replacement of the cooling fan ........................................................................198 Example of Basic PCON Positioning Sequence........................................................................200 Recording of Parameters ..........................................................................................................
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 Operation Manual for each model. Level Degree of Danger and Damage Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
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1. Overview 1. Overview 1.1 Introduction This product is a dedicated RCP2 / RCP3 actuator controller that provides the same functions of the RCP2 controller as well as a set of new functions designed to achieve greater convenience and safety. The product also provides a power-saving function in response to growing energy-saving needs. The key features and functions are listed below. z More positioning points The standard type supports up to 64 points, while the extended types can handle up to 512 points.
1. Overview 1.
1.3 System Configuration 1.3.1 Internal Drive-Power Cutoff Relay Type (PCON-C/CF) 1. Overview Host system Standard teaching pendant Supplied flat cable 24-VDC I/O power supply PC PC software (optional) RS232C type USB type RCP2 actuator External EMG switch Input power 24 V supply 0V 24 VDC Caution: Connect one end of the EMG switch to the 24-V output of the input power supply and the other end to the S1 terminal.
External Drive-Power Cutoff Relay Type (PCON-CG) 1. Overview 1.3.
1.4 Procedure from Unpacking to Test Operation and Adjustment 1 Check the content in the package If you found any missing part or part specified for a different model, please contact your dealer.
1. Overview 6 Turn on the servo Confirm that the slider or rod is not contacting a mechanical end. If the slider/rod is contacting a mechanical end, move it away from the mechanical end. If the actuator is equipped with a brake, turn on the brake forced-release switch to forcibly release the brake before moving the actuator. The load may suddenly drop when the brake is released, so exercise due caution not to pinch your hand or damage the robot hand by the falling load.
1.5 Warranty 1. Overview 1.5.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our factory 12 months after delivery to a specified location 1.5.2 Scope of 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.
1. Overview 1.5.5 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.
2. Specifications 2.1 Basic Specifications Number of controlled axes Supply voltage Power-source Actuator capacity 20, 28P motor 35, 42, 56P motor 86P motor Heat output Control method Encoder resolution Positioning command PCON-C PCON-CG PCON-CF (Internal Drive-Power Cutoff Relay Type) (External Drive-Power Cutoff Relay Type) (Internal Drive-Power Cutoff Relay Type) 1 axis/unit 24 VDC r 10% Rated Max. *2 0.4 A 2.0 A 1.2 A Rated 0.4 A 1.2 A Max. *2 Rated Max. *3 2.0 A PIO interface 4.2 A 6.
2.2 Name and Function of Each Part of the Controller 6SHFL¿FDWLRQV Status indicator LEDs SV (green) --- The servo is on A blinking green light indicates that the automatic servo-off mode is active. ALM (red) --- An alarm is present. The motor drive-power cutoff circuit is indicated here. The PIO pattern number is specified here. The input/output signal pattern is indicated here. PIO connector Connects the PLC and PIOs.
[2] Mode selector switch This interlock switch is used to prevent unexpected movement or data rewrite as a result of duplicate operation in which a movement command is input from the PLC and operation using the PC/teaching pendant is performed at the same time. AUTO: Always set to the “AUTO” side during auto operation using PIO signals from the PLC. MANU: Always set to the “MANU” side during operation using the PC/teaching pendant.
2.3 External Dimensions An external view and dimensions of the product are shown below. 5 6SHFL¿FDWLRQV 84 1705 (Mounting dimension) 178.5 68.
3. Installation and Noise Elimination Pay due attention to the installation environment of the controller. 3.1 Installation Environment 3. Installation and Noise Elimination 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.
3.3 Noise Elimination and Grounding This section explains how to eliminate noise in the use of the controller. (1) Wiring and power supply 3. Installation and Noise Elimination [1] Provide a dedicated class D grounding using a wire with a size of 2.0 to 5.5 mm2 or larger. Controller Other equipment Controller Other equipment Use a cable of a maximum possible size and keep the wiring length at a minimum. Metal frame Class D grounding [2] Good Avoid this grounding method.
[2] DC solenoid valves, magnet switches and relays Measure: Install a diode in parallel with the coil. Determine the diode capacity in accordance with the load capacity. 3.4 Heat Radiation and Installation Design the control panel size, controller layout and cooling method in such a way that the temperature around the controller will not exceed 40qC. Install the controller vertically on a wall, as shown below.
4. Wiring 4.1 Internal Drive-Power Cutoff Relay Type (PCON-C/CF) 4.1.1 External Connection Diagram 4. Wiring An example of standard wiring is shown below. (Note) The encoder cable shown in the example is the standard cable. As for the robot cable, refer to 4.4.1 as the color of the cable is different.
4.1.2 Wiring the Power Supply/Emergency-Stop Switch (1) Wiring the power supply Input power supply 24 VDC (2 A max. per controller) S1 S2 MPI MPO 24V 0V EMG- 24V 0V FG 4. Wiring To connect multiple controllers, provide a relay terminal block. Use a power cable satisfying the following specifications: Item * Specification Applicable wire length Single wire: 1.0 / Stranded: 0.
(2) Wiring the emergency-stop switch In many cases multiple controllers are used in a single system. To provide an emergency-stop function for the entire system, the controller circuit is designed in such a way that a single EMG switch is able to actuate an emergency stop in all connected controllers. [Internal emergency-stop circuit] Teaching pendant PCON-C controller 4. Wiring EMG signal Connection detection circuit S1 Relay S2 MPI Input power supply (2 A max.
Representative connection examples are explained below. z Connecting the teaching pendant directly to the controller 27 4. Wiring [1] Connecting multiple controllers (8 units or less) using a single power supply x Short the MPI and MPO terminals using a jumper wire. (The controller is shipped with these terminals shorted.) x Connect one end of the EMG signal to the 24-V output of the input power supply and the other end to the S1 terminal.
24V [Controller 1] Teaching pendant EMG signal S1 MPI 4.
[2] Using a power supply other than the input power supply (Note) Use an auxiliary relay with a coil current of 0.1 A or less and connect a diode for coil surge absorption. control © 0V © 24V [Controller 1] Teaching pendant EMG signal S1 S2 4.
[3] Enabling the EMG switch on the teaching pendant for the connected axis or axes only 24V EMG signal 0V CR CR [Controller 1] Teaching pendant 4.
z Connecting the teaching pendant to a SIO converter Configure the contact circuit for the EMG switch on the teaching pendant using EMG1/EMG2 on the power/emergency-stop terminal block on the SIO converter. (S1/S2 on the controller’s terminal block are not used.) 24V 0V SIO converter Teaching pendant EMG signal EMG1 4.
4.2 External Drive-Power Cutoff Relay Type (PCON-CG) 4.2.1 External Connection Diagram An example of standard wiring is shown below. (Note) The encoder cable shown in the example is the standard cable. As for the robot cable, refer to 4.4.1 as the color of the cable is different. Controller 4.
4.2.2 Wiring the Power Supply/Emergency-Stop Switch (1) Wiring the power supply Input power supply 24 VDC 24V (2 A max. per controller) 0V FG S1 S2 MPI MPO 24V 0V EMG- 4. Wiring To connect multiple controllers, provide a relay terminal block. Use a power cable satisfying the following specifications: Item * Specification Applicable wire length Single wire: 1.0 / Stranded: 0.
(2) Wiring the motor power cutoff relay 4. Wiring Explained below is a safety circuit conforming to safety category 2. The user is responsible for implementing additional safety measures in the actual circuit configuration, such as providing double contactor contacts to prevent fusing. The circuit illustrated below is for reference purposes only. x The input side of the motor drive power supply is connected to the MPI terminal, while the output side is connected to the MPO terminal.
[Connection example of a multiple-axis configuration] Input power supply 24V 0V [Controller 1] [Controller 2] [Controller 3] S1 S1 S1 S2 S2 S2 MPI MPI MPI MPO MPO MPO 24V 24V 24V 0V 0V 0V EMG- EMG- EMG- 4.
4.3 Connecting the I/O Cables z PIO pattern 0 [Standard Type] Host system end +24 [V] +24 [V] Upper stage Brown 1 Controller end PIO (signal abbreviation) Red 1 Orange 1 Yellow 1 4.
z PIO pattern 1 [Teaching Type] Host system end +24 [V] Upper stage Brown 1 Controller end PIO (signal abbreviation) Red 1 +24 [V] Orange 1 Yellow 1 Green 1 Command position 1 Blue 1 Command position 2 Gray 1 Command position 8 White 1 Command position 16 Black 1 Command position 32 Brown 2 Output side Operation mode Manual operation switching Red 2 Orange 2 Jog+ Yellow 2 Jog- Green 2 Operating mode Blue 2 Home return Purple 2 Pause Start/currentposition write Alarm reset G
z PIO pattern 2 [256-piont mode] Host system end +24 [V] Upper stage Brown 1 Controller end PIO (signal abbreviation) Red 1 +24 [V] Orange 1 Yellow 1 Green 1 Command position 1 Blue 1 4.
z PIO pattern 3 [512-piont mode] Host system end Upper stage Brown 1 Controller end PIO (signal abbreviation) Red 1 Orange 1 Yellow 1 Command position 1 Command position 2 Command position 8 Command position 16 Command position 32 Output side Command position 64 Command position 128 Command position 256 Brake release Operating mode Home return Pause Blue 1 4.
z PIO pattern 4 [Solenoid valve mode 1] Host system end Upper stage Brown 1 Controller end PIO (signal abbreviation) Red 1 Orange 1 Yellow 1 4.
z PIO pattern 5 [Solenoid valve mode 2] Host system end Upper stage Brown 1 Controller end PIO (signal abbreviation) Red 1 Orange 1 Yellow 1 Rear end move Front end move Blue 1 Purple 1 4.
Caution: When performing a continuity check of the flat cable, pay due attention not to expand the female pins in the connector. It may cause contact failure and disable normal operation of the controller. Black 4 Lower stage 20A 20B 1A 1B 4.
4.4 Connecting the Actuator 4.4.1 Connecting the PCON-C/CG and Actuator Use dedicated extension cables to wire the controller and actuator. (1) RCP2 motor cable Model: CB-RCP2-MA ( indicates the cable length L. Example. 080 = 8 m) Pin layout Pin layout 4. Wiring Pin No. (Front view) Actuator end Cable model marking (Front view) Controller end Pin No. Signal name Cable color Orange Gray White Yellow Pink Yellow (Green) Housing: 1-1318119-3 (AMP) Contact: 1318107-1 Housing: SLP-06V (J.S.T. Mfg.
4. Wiring (3) RCP3 motor/encoder integrated cable Model: CB-PCS-MPA ( indicates the cable length L. Example. 080 = 8 m) Cable model marking (Front view) Actuator end Controller end Housing: D-2100D 1-1318119-3 (Hirose) Contact: D-2 1318105-1 Pin No. Signal name Cable name Pin No. Black White Red Green Yellow Brown Pin No.
4.4.2 Connecting the PCON-CF and Actuator Use dedicated extension cables to wire the controller and actuator. (1) RCP2 motor cable Model: CB-RCP2-MA ( indicates the cable length L. Example. 080 = 8 m) Pin layout Pin layout 4. Wiring Pin No. (Front view) Actuator end Cable model marking (Front view) Controller end Pin No. Signal name Cable color Orange Gray White Yellow Pink Yellow (Green) Housing: 1-1318119-3 (AMP) Contact: 1318107-1 Housing: SLP-06V (J.S.T. Mfg.) Socket contact: BSF-21T-P1.
4.5 Connecting the Communication Cable Connect the communication cable to the SIO connector. Pin assignments of the cable-end connector RS485 conversion adapter end Controller end 4. Wiring CB-RCA-SIO*** Cable color Signal name Pin No.
5. I/O Signal Control and Signal Functions 5.1 Interface Circuit The standard interface specification of the controller is NPN, but the PNP specification is also available as an option. To prevent confusion during wiring, the NPN and PNP specifications use the same power line configuration. Accordingly, there is no need to reverse the power signal assignments for a PNP controller. 5.1.1 External Input Specifications Item Specification Input voltage 5.
5.1.2 External Output Specifications Item Specification 5.
5.2 PIO Patterns and Signal Assignments This controller provides six PIO pattern types to meet the needs of various applications. To select a desired type, set a corresponding value from 0 to 5 in parameter No. 25 (PIO pattern selection). The features of each PIO pattern are explained below: Parameter No. 25 setting 0 2 3 4 5 Positioning mode (Standard type) A basic type supporting 64 positioning points and two zone outputs.
5.2.1 Explanation of Signal Names The following explains the signal names, and gives a function overview of each signal. In the explanation of operation timings provided in a later section, each signal is referenced by its selfexplanatory name for clarity. If necessary, however, such as when marker tubes are inserted as a termination of the flat cable, use the signal abbreviations. z PIO pattern = 0: Positioning mode [Standard type] 5.
z PIO pattern = 1: Teaching mode [Teaching type] Category Signal name Command position number Operation mode Jog/inching switching Signal abbreviation PC1 PC2 PC4 PC8 PC16 PC32 MODE JISL +jog/inching movement JOG+ The target position number is input. A command position number must be specified by 6 ms before the start signal (CSTR) turns ON.
z PIO pattern = 2: 256-point mode [256-point type] Category Signal name Command position number 5.
z PIO pattern = 3: 512-point mode [512-point type] Category Signal name Command position number Input Signal abbreviation PC1 PC2 PC4 PC8 PC16 PC32 PC64 PC128 PC256 BKRL Operating mode RMDO Home return HOME *Pause *STP Start Alarm reset CSTR RES Servo ON SON Completed position number PM1 PM2 PM4 PM8 PM16 PM32 PM64 PM128 PC256 Operating mode status RMDS Home return completion HEND Position complete PEND Ready SV *Emergency stop *EMGS *Alarm *ALM Load output judgment status LOAD T
z PIO pattern = 4: Solenoid valve mode 1 [7- point type] Category 5.
z PIO pattern = 5: Solenoid valve mode 2 [3-point type] Category Signal name Rear end move command Front end move command Intermediate point move command Input ST0 ST1 ST2 Brake release BKRL Operating mode RMDO Alarm reset RES Servo ON SON Rear end detected LS0 Front end detected LS1 Intermediate point detected LS2 Zone ZONE1 Position zone PZONE Operating mode status RMDS Home return completion HEND Ready SV *Emergency stop *EMGS *Alarm *ALM Load output judgment status LOAD T
5.2.2 Signal Assignment Table for Respective PIO Patterns When creating a PLC sequence or wiring signals, assign each pin correctly by referring to the assignment table below. When “1 [Teaching type]” is selected, the meaning of each pin number will vary depending on the mode. Accordingly, also pay due attention to the mode switch timings. 5. I/O Signal Control and Signal Functions Pin No.
5.3 Details of I/O Signal Functions An input time constant is provided for the input signals of this controller, in order to prevent malfunction due to chattering, noise, etc. Except for certain signals, switching of each input signal will be effected when the signal has been received continuously for at least 6 msec. For example, when an input is switched from OFF to ON, the controller will only recognize that the input signal is ON after 6 msec.
5. I/O Signal Control and Signal Functions Pause (*STP) When this signal turns OFF while the actuator is moving, the actuator will decelerate to a stop. The remaining movement is retained and will be resumed when the signal is turned ON again. To abort the movement command, turn ON the alarm reset signal while this signal is OFF to cancel the remaining movement.
Brake release (BKRL) When the actuator is equipped with a brake, you may want to forcibly release the brake in certain situations such as when starting up the system for the first time. Normally the brake release switch on the front panel of the controller is set to the “RLS” side to release the brake. For added convenience, the brake can now be released from the PLC. If this signal is ON while the servo is off, the brake is released.
5. I/O Signal Control and Signal Functions Jog (JOG+, JOG-) This signal is enabled when the teaching type is selected. When the actuator is jogging (i.e., the JISL signal is OFF), it will jog toward the +/- software stroke limit upon detection of an OFF Æ ON rise edge of this signal. If an ON Æ OFF fall edge of this signal is detected while the actuator is moving, the actuator will decelerate to a stop. The jogging speed is defined by parameter No. 26, “PIO jog speed.
Movement to each position (ST0 to ST2) [3-point type] Since the number of positioning points is limited to three, the actuator can be controlled just like an air cylinder. While this signal is ON, the actuator will move toward the target position. If the signal turns OFF while the actuator is moving, the actuator will decelerate to a stop. Before executing this command, enter a target position in the “Position” field for position No. 0, 1 or 2 in the position table.
5.3.2 Details of Each Output Signal 5. I/O Signal Control and Signal Functions Operating mode status (RMDS) The internal operating mode of the controller is output based on the AUTO/MANU selector switch on the controller and the RMOD signal received by the input port. If the selector switch is set to “AUTO” and the RMOD signal is OFF (AUTO), the controller is in the AUTO (OFF) mode. If the selector switch is set to “MANU” and/or the RMOD signal is ON (MANU), the controller is in the MANU (ON) mode.
Home return completion (HEND) This signal is OFF immediately after the power is input, and turns ON in either of the following two conditions: [1] Home return operation has completed with respect to the first movement command issued with the start signal. [2] Home return operation has completed following an input of the home return signal. Once turned ON, the HEND signal will not turn OFF unless the input power supply is cut off, a soft reset is executed, or the home return signal is input again.
Movement complete at each position (PE0 to PE6) [7-point type] When PIO pattern is “4,” a position number (0 through 6) corresponding to each movement command will be output upon completion of positioning. Simple alarm-code output function is not provided for these signals. If an alarm generates, only the *ALM signal will turn OFF. Check the details of the alarm code using each tool. 5.
Emergency stop (*EMGS) This signal remains ON while the controller is normal, and will turn OFF if the emergency stop circuit is cut off. Program the PLC so that it will monitor this signal and implement appropriate safety measures for the entire system if the signal turns OFF. Torque level status (TRQS) * This is a dedicated signal available only with the PCON-CF. If a load threshold is set, this signal will turn ON when the motor current reaches the load threshold while the actuator is moving.
6. Data Entry To move the actuator to a specified position, a target position must be entered in the “Position” field. A target position can be specified in the absolute mode where a distance from the home is entered, or in the incremental mode where a relative travel from the current position is entered. Once a target position is entered, all other fields will be automatically populated with their default values set by the applicable parameters.
(4) Acceleration/deceleration x Enter the acceleration/deceleration at which to move the actuator, in [G]. Basically, the acceleration and deceleration should be inside the rated acceleration/deceleration range specified in the catalog. The input range is greater than the rated range in the catalog to accommodate situations where you want to “reduce the tact time when the transferring mass is significantly smaller than the rated value.
“Push & hold operation” This field defines the maximum push distance after reaching the target position in push & hold operation. Consider possible mechanical variation of the work part and set an appropriate positioning band that will prevent the positioning from completing before the work part is contacted. The position complete signal turns ON here, as completion of push action is recognized after the load has been contacted.
(9) Acceleration/deceleration x This field is not used for this controller. mode The factory setting is “0.” x This field defines whether the position is specified in the absolute mode or incremental mode. The factory setting is “0.” 0: Absolute mode 1: Incremental mode (11) Command mode x This field is not used for this controller. The factory setting is “0.
6.1.1 Relationship of Push Force at Standstill and Current-Limiting Value When performing operation in the push & hold mode, enter the current-limiting value (%) in the push column of the position-data table. Determine the current-limiting value (%) from the push force to be applied to the work part at standstill. For the relationship of push force at standstill and current-limiting value for each actuator type, refer to the Appendix. 6.2 Explanation of Modes 6. Data Entry 6.2.
“Completion of push action” is determined based on a combination of the current-limiting value set in the “Push” field of the position table and the push completion judgment time set by parameter No. 6. Set an appropriate condition by considering the material and shape of the work part, among others. For details, refer to Chapter 8, “Parameter Settings.” Warning x If the actuator contacts the work part before reaching the target position, a servo error alarm will generate.
(3) Work part moves during push & hold operation [1] Work part moves in the pushed direction If the work part moves in the pushed direction after completion of push action, the actuator will chase the work part within the positioning band. If the current drops to below the current-limiting value set in the “Push” field of the position table while the actuator is moving, the position complete signal will turn OFF.
(4) Positioning band was entered with a wrong sign Take note that if a value with a wrong sign is set in the “Positioning band” field of the position table, the operation will deviate by a distance corresponding to “positioning band x 2,” as shown below. Speed Moving distance Positioning Positioning band band Target position Actual position reached (the load was missed) Positioning band 6. Data Entry 6.2.
Warning x If the actuator contacts the work part before reaching the target position, a servo error alarm will generate. Pay due attention to the relationship of the target position and the work part position. x The actuator continues to push the work part at the push force at standstill determined by the current-limiting value. Since the actuator is not inactive, exercise due caution when handling the equipment in this condition. (2) Torque check function when a check band is not used 6.
6.2.4 Speed Change during Movement Speed control involving multiple speed levels is possible in a single operation. The actuator speed can be decreased or increased at a certain point during movement. However, the position at which to implement each speed change must be set. Position 1 6.2.5 Position 2 Position 1 Position 2 Position 1 Position 2 Position 3 Operation at Different Acceleration and Deceleration Settings 6.
6.2.6 Pause The actuator can be paused during movement using an external input signal (*STP). The pause signal uses the contact b logic (always ON) to ensure safety. Turning the *STP signal OFF causes the actuator to decelerate to a stop. When *STP is turned ON subsequently, the actuator will resume the remaining movement. ON ON OFF *STP Actuator operation 6.
6.2.8 Home Return After the power is turned on, home return must be performed to establish the home position. The method of home return varies depending on the PIO pattern. z When a dedicated input is used [PIO pattern z 5] Home return is performed using the home return (HOME) input. The actuator will return home regardless of whether or not home return has been completed once before. When home return is completed, the home return complete (HEND) output signal will turn ON.
6.2.9 Overview of Teaching Type 6. Data Entry Depending on your system, it may be desirable to be able to use a touch panel, etc., to perform jogging operation or write the current position to the “Position” field of the position table, without using a PC or teaching pendant. The teaching type is provided to support these applications. The features of the teaching type are summarized below: [1] The actuator can be jogged using I/O signals input from the PLC.
6.2.10 Overview of 7-point Type The number of positioning points is kept small, or specifically to seven or less. This type assumes simple applications where the PLC ladder sequence only requires a simple circuit configuration. I/O signals provide separate command inputs and movement complete outputs for respective position numbers. Accordingly, the signal pattern is different from the one in the 64-point positioning type (PIO pattern = 0).
[2] 64-point type Command position 1 input (PC1) Command position 2 input (PC2) “5” is indicated by a binary code. Command position 4 input (PC4) 6. Data Entry * All other command position inputs (PC8, PC16 and PC32) turn OFF. At least 6 msec of delay time is needed (ensured by a timer setting on the PLC side).
6.2.11 Overview of 3-point Type This type provides a control method adjusted to that of an air cylinder by assuming that the controller is used as an air cylinder. The key differences between this controller and an air cylinder are summarized in the table below. Program appropriate controls by referring to this table. * Do not use this mode for push & hold operation.
Item Position check upon power ON Air cylinder Determined by an external detection sensor, such as a reed switch. RCP2 Immediately after the power is turned on, the controller cannot identify the current position because the mechanical coordinates have been lost. Accordingly, a rear end command must always be executed after the power is turned on, to establish the coordinates. The actuator will perform home-return operation first, and then move to the rear end. [1] [2] Power is turned on here.
6.3 Notes on the ROBO Gripper (1) Finger operation [1] Definition of position The specified stroke of the 2-finger type indicates the sum of travel distances of both fingers. In other words, the travel distance of one finger is one half the specified stroke. A position you specify defines the distance traveled by one finger from the home position in the closing direction. Accordingly, the maximum command value is 5 mm for the GRS type and 7 mm for the GRM type.
(2) Removing the gripped work part This gripper is designed to maintain the work part-gripping force via a self-lock mechanism even when the servo is turned OFF or the controller power is cut off. If the gripped work part must be removed while the power is cut off, do so by turning the open/close screw or removing the finger attachment on one side. [2-finger type] Turn the open/close screw or remove the finger attachment on one side. Finger attachment Open/close screw Opening direction (OPEN) 6.
6.4 Power-saving Modes at Standby Positions One general feature of pulse motors is that their holding current in standstill state is greater than AC servo motors. Therefore, this product provides energy-saving modes to reduce power consumption in situations where the actuator remains standstill for a long period at a standby position. Use these modes after confirming that they will not present problems to any part of your system. Each mode produces a different level of power-saving effect.
6. Data Entry Full servo control mode The pulse motor is servo-controlled to reduce the holding current. Although the exact degree of current reduction varies depending on the actuator model, load condition, etc., the holding current decreases to approx. 1/2 to 1/4. Since the servo remains on, position deviation will not occur. The actual holding current can be checked in the current monitor screen of the PC software.
Movement command Automatic servo-off mode (A green LED blinks.) Servo status Servo on Actuator movement Target position T: Delay time (seconds) after positioning is completed until the servo turns off 6. Data Entry T Position complete signal (parameter No. 39 = 0) Position complete signal (parameter No. 39 = 1) Warning: If the next movement command is specified in the incremental mode (based on constant pitch feed), never use the automatic servo-off mode.
6.5 Using a Rotary Actuator in Multi-rotation Specification Rotary actuators of multi-rotation specification models let you select multi-rotation operation or limited-rotation operation using a parameter. 6.5.1 How to Use (1) Home return When a home return command is issued, a signal from the limit switch located in the home return direction is detected. Once a limit switch signal is detected, the actuator reverses its direction.
7. Operation 7.1 How to Start 7.1.1 Timings after Power On Warning [8] [9] If the servo is turned ON while the slider/rod is contacting the mechanical end, excitation phase detection may not be performed correctly and an abnormal operation or excitation detection error may result. Turn on the servo. Turn on the servo using the “servo ON function” of the PC software or teaching pendant.
[10] Perform home return. z Overview of operation on the teaching pendant x On the RCM-T, select the “Edit/Teach” screen, bring the cursor to “*Home” in the sub display area, and then press the Return key. x On the RCM-E, select the “Teach/Play” screen, scroll until “*Home Return” is displayed, and then press the Return key. 7. Operation [11] Set a target position in the “Position” field of the position table. Set a target position in the “Position” field of each position table.
Warning [5] [6] [7] [8] If the servo is turned ON while the slider/rod is contacting the mechanical end, excitation phase detection may not be performed correctly and an abnormal operation or excitation detection error may result. Set the mode selector switch on the front panel of the controller to the “AUTO” side. Input the servo ON signal/pause signal from the PLC. Input the home return signal from the PLC to perform home return operation. Start automatic operation.
Emergency stop not actuated (motor drive power supplied) Safety circuit condition Supply of 24-VDC I/O power Supply of 24-VDC controller power * Be sure to set the switch to the “AUTO” side. Mode selector switch Operation mode status output (RMDS) * If this output signal is OFF, I/O signal communication with the PLC is enabled. 7.
Warning: Since the drive motor uses a pulse motor, excited-phase detection is performed when the servo is first turned on after the power on. Therefore, the actuator must be able to move when the servo turns on. If the slider or rod is contacting a mechanical end or the work part is contacting any surrounding equipment, excited-phase detection will not be performed correctly and an abnormal operation or excited-phase detection error may occur.
Full-scale operation This product provides energy-saving modes to reduce power consumption in situations where the actuator remains standstill for a long period at a standby position. You can also select the status of position complete signal to be applied if the servo turns off or “position deviation” occurs while the actuator is standing still after completing positioning. Use these functions after confirming that they will not present problems to any part of your system.
7.2 Home Return Operation 7.2.1 Method Using the HOME Input Signal (PIO Pattern = 0 to 4) Since the home return signal (HOME) is provided in PIO patterns 0 to 4, perform home return using this signal. x When the home return signal (HOME) turns ON, the actuator starts moving toward the mechanical end on the home side. Once the mechanical end is contacted, the actuator reverses its direction and moves, and then stops at the home position.
(Note) If the home is not yet established immediately after the power has been turned on, directly inputting the command position signal and start signal without inputting the home return signal (HOME) first will cause the actuator to perform home return operation and then move to the target position. However, it is recommended that the PLC sequence circuit use the home return signal (HOME) to prevent errors. [1] PIO pattern = 0 to 3 Command position 1 to 256 input (PC1 ~ PC256) Start input (CSTR) 7.
7.2.2 Method Used When No HOME Input Signal Is Available (PIO Pattern = 5) Since no home return signal (HOME) is available in PIO pattern 5, input the rear end move command (ST0) first to perform home return. x When the rear end movement command (ST0) turns ON, the actuator starts moving toward the mechanical end on the home side. Once the mechanical end is contacted, the actuator reverses its direction and moves to the home position, stops temporarily at the home position, and then moves to the rear end.
7.3 Positioning Mode (Back and Forth Movement between Two Points) Example of use in operation) The actuator moves back and forth between two positions. The position 250 mm from the home is set as position 1, and the position 100 mm from the home is set as position 2. The travel speed to position 1 is set as 200 mm/sec, and to position 2 is set as 100 mm/sec. Controller PIO Signal name [13] [10] [5] [2] [1] [9] 7. Operation L C Category [1] Select/enter command position 1.
Position table (Field(s) within thick line must be entered.) 0 Position [mm] * Speed [mm/s] * Acceleration [G] * Deceleration [G] * Push [%] * Positioning band [mm] * 1 250.00 200.00 0.30 0.30 0 0.10 2 : 100.00 100.00 0.30 0.30 0 0.10 No.
7.4 Push & Hold Mode Example of use in operation) The actuator is caused to move back and forth in the push & hold mode and positioning mode. The position 280 mm from the home is set as position 1, and the position 40 mm from the home is set as position 2. Movement to position 1 is performed in the push & hold mode (the actuator is caused to contact the work part and push it in the counter-motor direction).
Position table (Field(s) within thick line must be entered.) 0 Position [mm] * 1 280.00 200.00 0.30 0.30 50 15.00 2 : 40.00 100.00 0.30 0.30 0 0.10 No.
7.4.1 Return Action after Push & Hold by Relative Coordinate Specification z Positioning mode The reference position is the target position for the position number used in the applicable push & hold operation. In the aforementioned example, the actuator moves to the 240-mm position if position No. 2 is set to -40 mm in the incremental mode (280 – 40 = 240 mm). Speed Position where the push & hold operation completed Return action Target position 280 mm 7.
7.5 Speed Change during Movement Example of use in operation) The actuator speed is reduced at a certain point during movement. The position 150 mm from the home is set as position 1, and the position 200 mm from the home is set as position 2. The actuator is initially located between the home and position 1. The actuator is moved to position 2 being the target position, at a travel speed of 200 mm/sec to position 1 and that of 100 mm/sec from position 1 to position 2.
Position table (Field(s) within thick line must be entered.) 0 Position [mm] * 1 150.00 200.00 0.30 0.30 0 10.00 2 : 200.00 100.00 0.30 0.30 0 0.10 No. Speed [mm/s] * Acceleration [G] * Deceleration [G] * Command position Position 1 7.
7.6 Operation at Different Acceleration and Deceleration Settings Example of use in operation) Positioning is performed to the position 150 mm from the home (position 1) at a speed of 200 mm/sec. The acceleration is 0.3 G and the deceleration is 0.1 G. Method) Set 0.3 [G] in the “Acceleration” field and 0.1 [G] in the “Deceleration” field of the position table.
Position table (Field(s) within thick line must be entered.) No. 0 1 : Position [mm] * 150.00 Speed [mm/s] * Acceleration [G] * Deceleration [G] * 200.00 0.30 0.10 Command position Push [%] * Positioning band [mm] * 0 0.10 Position 1 T1 Start Position complete Position 1 7. Operation Completed position Moving Speed Positioning band Actuator movement Acceleration 0.3 G Deceleration 0.
7.7 Pause Example of use in operation) Pause the actuator during movement. [Effective in PIO pattern = 0 to 4] Method) Use the pause input. Controller PIO Signal name Reference flow Category [1] Select/enter a desired command position. [5][2] Start [2] Start input ON Command position 1 Movement to the selected position starts. Command position 2 [1] Command position 4 Input Command position 16 [3] Position complete output OFF [4] Moving output ON 7.
Command position Start Note Position complete Completed position Pause Moving 4 msec or less 7. Operation Speed Actuator movement Deceleration to a stop Start of remaining movement T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time of the host controller must be considered.) Caution: When the start signal turns ON, the position complete output will turn OFF and the moving output will turn ON.
7.8 Zone Signal Output Two types of zone output signals are available: zone output (ZONE1) and position zone output (PZONE). The boundaries defining the signal ON range are set differently for each zone output. [1] Zone output (ZONE1) --- Set by parameter No. 1/No. 2. [2] Position zone output (PZONE) --- Set in the “Zone boundary-“ and “Zone boundary+” fields of the position table. Whether these signals are available or not varies depending on the PIO pattern, as shown below.
Controller PIO Signal name [5] [2] Reference flow Category [1] Select/enter a desired command position. Start [2] Start input ON Command position 1 Input Movement to the selected position starts. [1] Completed position OFF Command position 32 Completed position 1 [3] Position complete output OFF [4] Moving output ON [5] Start input OFF 7.
Command position T1 Start Note Position complete Completed position Zone Moving Speed 7. Operation Actuator movement 0 mm T1: 40 mm 120 mm 150 mm 6 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time of the host controller must be considered.) Caution: When the start signal turns ON, the position complete output will turn OFF and the moving output will turn ON.
7.9 Incremental Moves Example of use in operation) Move the actuator from the home to the 30-mm position by issuing an absolute position command (position No. 1), and thereafter move the actuator continuously at a 10-mm pitch until the final position of 200 mm is reached. (Pitch feed command: Position No. 2) Controller PIO Signal name [13][10][5][2] P Category [2] Start Start input ON [1] Command position 1 L Reference flow [1] Select/enter command position 1. [9] Movement to position 1 starts.
Position table (Field(s) within thick line must be entered.) No. Position [mm] Speed [mm/ss] Positioning band [mm] Zone + [mm] Zone [mm] Incremental 0 ½ ½ ½ ½ ½ ½ 1 30.00 100.00 0.10 0 0 0 10.00 20.00 0.10 190.50 29.50 1 2 = } Incremental feed * On the teaching pendant screen, this sign indicates that the position is specified in the incremental mode. Command position Position 1 T1 Position 2 T1 Start Note 1 7.
7.9.1 Judgment Method of End Position 7. Operation Although completion judgment is based on the applicable count managed by the PLC, the zone output signal can be used additionally to double-check the completion of movement. Program the PLC so that the ON/OFF status of the zone output signal is checked when positioning is completed, and if the signal is OFF, the applicable position will be determined as the last work part position.
7.9.2 Notes on Incremental Mode If an operation command is issued based on relative coordinate specification while the actuator is moving (in the normal positioning mode or push & hold mode), how the actuator will operate varies depending on whether or not push action is specified in the operation command by relative coordinate specification, as explained below.
[2] When a relative coordinate operation command is specified while the actuator is moving in the push & hold mode The following explains how the actuator will move if an incremental position number is selected and input and then a start signal is input while the actuator is moving in the push & hold mode.
(2) When the relative coordinate operation command specifies an operation in the push & hold mode Example) If a position 2 command is input followed by a start signal while the actuator is moving to position 1, a new target position will be set by adding the incremental distance to the current position where the start input was received. Since the target position is indeterminable, never use this method. Position table (Field(s) within thick line must be entered.) Speed [mm/ss] Positioning band [mm] No.
7.10 Jogging/Teaching Using PIO If the teaching type is selected, you can jog the actuator via operation from the PLC. You can also write the current actuator position to the “Position” field of the position table under a specified position number via operation from the PLC. If the actuator position is written to a blank “Position” field where no position has yet been defined, the positioning band and other fields will be automatically populated by their default values set in the applicable parameters.
Jogging/teaching timing Operation mode Current operation mode Manual operation switching +Jog -Jog Position 1 Current-position write Write completion T1: 20 msec or more; time after the current-position write input is turned ON until writing of the current position is started When the operation mode (MODE) input is turned ON, the current operation mode (MODES) output will turn ON and the teaching mode permitting PIO teaching will become effective.
7.11 Operation in 7-point Type Separate movement command inputs are provided for the target positions for position Nos. 0 to 6, so simply turn ON the input signal corresponding to the position you wish to move the actuator to, and the actuator will start moving. Example of use in operation) Move the actuator to position No. 0 (5 mm), position No. 1 (200 mm) and position No. 2 (390 mm) in sequence. Controller PIO Signal name [1] [4] P 7.
Direct position command 0 input (ST0) Direct position command 1 input (ST1) Direct position command 2 input (ST2) Movement complete 0 output (PE0) Movement complete 1 output (PE1) 7. Operation Movement complete 2 output (PE2) Actuator movement Position No. 0 (5 mm) Position No. 2 (390 mm) Position No. 1 (200 mm) Caution: Movement commands are executed based on the rise edge, so input each signal continuously for 6 msec or more.
z The movement command input operates in two modes. You can select the operation condition of the movement command input (ST0 to ST6) in parameter No. 27. The factory setting is “0: [Level mode].” Description of the movement command input Level mode: The actuator starts moving when the input signal turns ON. When the signal turns OFF during the movement, the actuator will decelerate to a stop and complete its operation.
z Handling of the pause (*STP) signal This signal is a contact B signal, meaning that it must remain ON while the actuator is moving. If the pause signal turns OFF while the actuator is moving, the actuator will decelerate to a stop. The actuator will start moving when the signal turns ON again. Use this signal as an interlock that actuates when an operator entry prohibition sensor or contact prevention sensor is activated. If the pause signal is not to be used, set parameter No.
7.12 Operation in 3-point Type After the power has been turned on, input the rear end move command first to complete home return, and then perform continuous operation. o Refer to 7.2.2, “Method Used When No HOME Input Signal Is Available.” Example of use in operation) How to move the actuator from the rear end to the front end is explained.
z Meaning of position detected output signals (LS0, LS1, LS2) These signals are handled in the same manner as limit switches (LSs), and turn ON when the following conditions are met: [1] The home return complete output signal (HEND) is ON. [2] The current position is within the positioning band from each target position in the positive or negative direction.
z Speed change during movement If the load is made of soft material or is a bottle or otherwise topples easily due to its shape, one of the following two methods can be used to prevent the load from receiving vibration or impact when it stops: [1] Reduce the deceleration to make the deceleration curve gradual. [2] Initially move the actuator at the rated speed, and reduce the feed speed immediately before the target position. Method [2], where the feed speed is reduced, is explained below.
z Pause during movement Since move commands are based on level mode, the actuator continues to move while a move command is ON. Once the move command turns OFF, the actuator will decelerate to a stop and complete the operation. Therefore, turn OFF the move command if the actuator must be stopped temporarily as a low-degree safety measure. (Example) Temporarily stop the actuator while it is moving to the front end.
8. Parameter Settings 8.1 Parameter Table 8. Parameter Settings Category: a: b: c: d: Parameter relating to the actuator stroke range Parameter relating to the actuator operating characteristics Parameter relating to the external interface Servo gain adjustment No.
No. Category Symbol Name 41 c FPIO Operating-mode input disable selection [0: Enable / 1: Disable] 42 b ENBL Enable function [0: Enable/1: Disable] HMC Polarity of home check sensor input [0: Contact a / 1: Contact b] 43 b Unit Default factory setting - 0 [Enable] - 1 [Disable] Set individually in accordance with the actuator characteristics.
8.2 Detail Explanation of Parameters If a parameter has been changed, always restart the controller using a software reset command or by reconnecting the power. 8.2.1 Parameters Relating to the Actuator Stroke Range z Soft limit (No.3/4 LIMM/LIML) Set the soft limit in the positive direction in parameter No. 3, and that in the negative direction in parameter No. 4. The factory setting for the soft limits conforms to the effective actuator length.
z Zone boundary (1: No.1/2 ZONM/ZONL 2: No.23/24 ZNM2/ZNL2) These parameters set the zone within which the zone output signal (ZONE1) turns ON when the selected PIO pattern is “0” (standard type), “4” (7-point type) or “5” (3-point type). The zone output signal turns ON when the current position is between the negative-side boundary and positiveside boundary. Set the positive-side boundary in parameter No. 1, and negative-side boundary in No. 2. The minimum setting unit is “0.01 [mm].
z Home return direction (No.5 ORG) Unless specified by the user, the home return direction is set to the motor direction at the factory. Should a need arise to change the home direction after the actuator has been assembled into your system, reverse the setting in parameter No. 5 between “0” and “1.” If necessary, also change the home return offset, soft limit and excited-phase signal detection direction parameters. Caution: The home direction cannot be reversed for a rod-type actuator. 8.
z Default acceleration/deceleration (No.9 ACMD) The factory setting is the rated acceleration/deceleration of the actuator. When a target position is written to an unregistered position table or the current position is read in the teaching mode, the setting in this parameter will be used as the acceleration/deceleration data for the applicable position number. To reduce the default acceleration/deceleration from the rated acceleration/deceleration, change the setting in parameter No. 9.
z Default direction of excited-phase signal detection (No.28 PHSP) When the servo is turned on for the first time after the power on, excited-phase detection is performed This parameter defines the direction of this detection. The parameter need not be changed in normal conditions. In certain situations, such as when the actuator was contacting a mechanical end or obstacle when the power was turned on and cannot be moved by hand, change the direction to one that allows the motor to operate smoothly.
z Automatic servo-off delay time (No.36 ASO1/No.37 ASO2/No.38 ASO3) This parameter defines the delay time after the positioning is completed until the servo turns off automatically, when the “Standstill mode” field of the position table is set to “1,” “2” or “3” (automatic servo-off control enabled) or parameter No. 53 (Default standstill mode) is set to “1,” “2” or “3”(automatic servo-off control enabled). Meaning of settings: 1: T becomes the value set by parameter No. 36.
z Push speed (No.34 PSHV) This parameter defines the push speed to be applied after the actuator reaches the target position in push & hold operation. Before the shipment, this parameter has been set to the default value selected in accordance with the characteristics of the actuator. Set an appropriate speed in parameter No. 34 by considering the material and shape of the work part, and so on.
z Enable function (No.42 FDIO4) Whether to enable or disable the deadman switch function on an ANSI-type teaching pendant is defined by parameter No. 42. * An ANSI-type teaching pendant will be developed in the future. Setting Enable (Use) 0 Disable (Do not use) 1 The factory setting is “1 [Disable].” z Polarity of home check sensor input (No.43 AIOF) The home check sensor is not included in the standard specification, but it can be installed as an option.
z Torque check range (No.51 TRQZ) This parameter sets whether or not to use the check range when determining if the threshold has been exceeded. The default value is “0,” i.e., to enable the check range. Enable (Use the check range to make judgment) Disable (Do not use the check range to make judgment) Setting 0 1 z Ball screw lead length (No.77 LEAD) This parameter defines the ball screw lead length. A default value appropriate for the characteristics of the actuator is set at the factory. 8.
If the actuator is moved in the order to positions 1 Æ 2 Æ 3 Æ 4, the actuator will operate differently depending on whether or not shortcut is selected, as explained below. When shortcut is not selected Point No. 1 Point No. 1 Point No. 2 Point No. 2 Point No. 3 Point No. 4 Point No. 4 Point No. 3 When shortcut is selected Point No. 1 Point No. 1 Point No. 3 Point No. 4 8. Parameter Settings Point No. 2 Point No. 2 Point No. 4 Point No. 3 z Absolute unit (No.83 ETYP) Parameter No.
8.2.3 Parameters Relating to the External Interface z PIO pattern selection (No.25 IOPN) Select the PIO operation pattern in parameter No. 25. This setting forms the basis of operation, so be sure to set this parameter at the beginning. The factory setting is “0 [Standard type].” Parameter No. 25 setting 0 8. Parameter Settings 1 2 3 4 5 140 Feature of PIO pattern Standard type A basic type supporting 64 positioning points and two zone outputs.
z Movement command type (No.27 FPIO) When the PIO pattern is set to “7-point type,” define the operation condition of the movement command input (ST0 to ST6) in parameter No. 27. The factory setting is “0 [Level mode].” Description of the movement command input Level mode: The actuator starts moving when the input signal turns ON. When the signal turns OFF during the movement, the actuator will decelerate to a stop and complete its operation.
z Pause input disable selection (No.15 FPIO) Parameter No. 15 defines whether the pause input signal is disabled or enabled. Setting Enable (use) 0 Disable (do not use) the signal 1 The factory setting is “0 [Enable].” 8. Parameter Settings z Servo ON input disable selection (No.21 FPIO) Parameter No. 21 defines whether the servo ON input signal is disabled or enabled. Setting Enable (use) 0 Disable (do not use) 1 The factory setting is “0 [Enable].” z Home-return input disable selection (No.
z Output mode of position complete signal (No.39 FPIO) This parameter is effective when any PIO pattern other than “5” [3-point type] is selected. It defines the status of completed position number signals [PM1 to PM256], movement complete signals at respective positions [PE0 to PE6] and position complete signal [PEND] to be applied if the servo turns off or “position deviation” occurs while the actuator is standing still after completing positioning.
8. Parameter Settings z Silent interval multiplier (No.45 SIVM) This parameter is not used for this controller. It is applied to controllers of RS485 serial communication type. If specified, this parameter defines the multiplier to be applied to the silent interval time for delimiter judgment in the RTU mode. The default setting is the communication time corresponding to 3.5 characters in accordance with the Modbus specification.
8.2.4 Servo Gain Adjustment Before the shipment, the servo has been adjusted in accordance with the standard specification of the actuator. Accordingly, the servo settings need not be changed in normal conditions. Nonetheless, the parameters relating to servo adjustment are made accessible by the customer so that speedy actions can be taken in situations where vibration or noise occurs due to the affixing method of the actuator, load condition, or the like.
z Speed loop integral gain (No.32 VLPT) Parameter No. Unit Input range 32 --- Default Set individually in accordance with the actuator characteristics. 1 ~ 217270 This parameter determines the level of response with respect to a speed control loop. Decreasing the setting results in lower response to the speed command and decreases the reactive force upon load change. If the setting is too low, compliance with the position command drops and the positioning time increases as a result.
9. PC/Teaching Pendant Connection Method in Multi-axis Configurations This section explains the method to permanently connect a PC/teaching pendant in configurations consisting of multiple axes, so that the PC/teaching pendant connector need not be removed/inserted each time. The connector is connected to a SIO converter, and the SIO converter sends/receives data to/from each controller via RS485 serial communication.
9.2 SIO Converter (Optional) This unit is a RS232C-RS485 converter. When multiple controllers are linked, you can connect a teaching pendant to the mini DIN 8-pin connector to move all axes together or edit the parameters of all axes at once.
[4] D-sub, 9-pin connector (RS232C) A connection port with a PLC’s communication module. It can also be connected to a PC. For the communication cable, use the RS232C cross cable specified below. [5] Mini DIN, 8-pin connector (RS485) A connection port with a teaching pendant or PC. For the communication cable, use the cable (equipped with a RS232C/RS485 converter) that comes with the PC software (RCM-101-MW). [6] PORT switch A switch for enabling/disabling the mini DIN connector.
9.3 Address Switch Set an address (0 to 15) as a hexadecimal (0 to F) using the ADRS switch on the front panel of each controller to define the slave number for the controller. Assign “0” to the controller nearest the host, and then assign 1, 2, 3, …, E and F to the remaining controllers in the direction of moving away from the host. After all addresses have been set, reconnect the power. Caution: After the setting, be sure to confirm that the addresses are not duplicated.
9.
10. Troubleshooting 10.1 Action to Be Taken upon Occurrence of Problem 10. Troubleshooting Upon occurrence of a problem, take an appropriate action according to the procedure below in order to ensure speedy recovery and prevent recurrence of the problem. a. Check the status indicator lamps. SV (green) --The servo is ON. ALM (red) --An alarm is present, or an emergency stop has been actuated or the motor drive power is cut off. b. Check for error in the host controller. c.
10.2 Alarm Level Classification Alarms are classified into two levels based on the corresponding symptoms. Alarm level ALM lamp *ALM signal What happens when alarm generates Input an alarm reset signal (RES) from the PLC. Reset by the PC/teaching pendant. Reconnect the power. Operation cancellation Lit Output The actuator decelerates to a stop and then the servo turns OFF. Cold start Lit Output The actuator decelerates to a stop and then the servo turns OFF.
10. Troubleshooting 10.3 Alarm Description Output Using PIO In PIO patterns 0 to 3 (64 to 512-point positioning type), alarm information can be output using the ports for completed position output signals (four bits of PM1 to PM8) so that when an alarm occurs, the nature of the alarm can be identified on the PLC side. Program the PLC so that whether a given output is a completed position number or alarm can be identified based on the status of the alarm output signal (*ALM).
10.4 Alarm Description and Cause/Action (1) Message level alarms Code 080 Error name Movement command when servo OFF Cause/Action Cause: Action: 082 083 084 Position movement command before home return completion Cause: Absolute position movement command before home return completion Cause: Movement command during home return Cause: Action: Action: Action: A movement command was input as a numerical command when the servo was OFF.
Code Error name Cause/Action 0A3 Position command Cause: The speed or acceleration/deceleration effective when the numerical information data error command was issued exceeded the maximum settable value. Action: Change the speed or acceleration/deceleration to an appropriate value.
Code Error name 0C1 Servo error 0C9 Motor power-supply overvoltage 0CC Control power-supply overvoltage 0CE Control power-supply voltage low 0D8 Deviation overflow 157 10. Troubleshooting 0CA Overheating Cause/Action This error indicates that the motor could not be operated for 2 seconds or more after the move command was accepted and before the target position was reached. Cause: [1] The motor extension cable connector is loose or open.
Code Error name 0D9 Software stroke limit overtravel error 0DC Out of push & hold operation range error 10. Troubleshooting 0ED Absolute encoder error (1) 0EE Absolute encoder error (2) 158 Cause/Action Cause: [1] The actuator installed vertically overshot and exceeded a software stroke limit due to a large load or high deceleration setting when the target position was set to a point near the software stroke limit.
Code Error name 0EF Absolute encoder error (3) 0F5 159 10. Troubleshooting 0F6 Cause/Action Cause: The current value changed at a speed equal to or greater than the specified rotational speed due to an external factor or for other reason while the power was cut off. Action: Change the speed setting in the simple absolute unit and also implement measures to prevent the actuator from moving at a speed equal to or above the specified setting while the power is cut off.
(2) Cold-start level alarms Code 0A1 0A8 10. Troubleshooting 0B8 0E5 160 Error name Parameter data error Unsupported motor/encoder type Pole sense error Encoder reception error Cause: Action: Cause: Action: Cause/Action The input range of parameter range data is not appropriate. (Example) This error occurs when the magnitude relationship of a pair of range parameters is inappropriate, such as when the value of soft limit- is mistakenly set to 300 mm when the value of soft limit+ is 200.3 mm.
Code Error name 0E8 Phase-A/B disconnection detection 0E9 Phase-A disconnection detection 0EA Phase-B disconnection detection Unmatched PCB 0F8 Damaged nonvolatile memory 0FA CPU error 0FB FPGA error 0FC Logic error 161 10. Troubleshooting 0F4 Cause/Action Encoder signals cannot be detected correctly. Cause: [1] Loose or disconnected encoder-extension cable connector [2] Piano switch 4 on the simple absolute unit is not set correctly.
10.5 Messages Displayed during Operation Using the Teaching Pendant This section explains the warning messages that may be displayed during operation using the teaching pendant. Code Message name 112 Invalid data 113 114 115 117 11E 10. Troubleshooting 11F 121 122 133 162 Description An inappropriate value was entered in a parameter. (Example) 9601 was entered as the serial communication speed by mistake. Enter an appropriate value again.
Code 180 181 182 183 202 203 Message name Address change OK Controller initialization OK Home change all clear I/O function changed Emergency stop Motor voltage low Description These messages are displayed to confirm operation. (They don’t indicate an operation error or other abnormality.) 10. Troubleshooting This message indicates that an emergency stop has been actuated. This message indicates that the motor drive power is cut off on the CG type.
10. Troubleshooting Code Message name 30C No connected axis 164 Description This message indicates that no controller address is recognized. Cause: [1] The controller is not operating properly. [2] Only the supplied communication cable (SGA/SGB) is disconnected. [3] If a SIO converter is used, 24V is supplied to the converter but the link cable is not connected. [4] The ADRS switch settings are duplicated by mistake when multiple controllers are linked.
10.6 Specific Problems z I/O signals cannot be exchanged with the PLC. Cause: [1] The 24-V I/O power supply is connected in reverse. [2] If the problem is with an output circuit, a circuit component may have been damaged due to a large load that caused the current flowing into the circuit to exceed the maximum current. [3] Contact failure in the connector or relay terminal block on the PLC end.
z Home return ends in the middle in a vertical application. Cause: [1] The load exceeds the rating. [2] The ball screw is receiving torsional stress due to the affixing method of the actuator, tightening of bolts only on one side, etc. [3] The slide resistance of the actuator itself is large. Action: [1] Increase the value set in parameter No. 13 (Current-limiting value during home return). Increasing the parameter value will increase the home return torque.
z A servo error occurred while the actuator was moving (ROBO Gripper). Cause: The work part was not positioned properly and contacted the finger attachment in the positioning mode. Action: Adjust the starting position of push action and the thickness of finger attachment (including buffer material) by considering a possible offset of work part position, so that the work part can be clamped properly in the push & hold mode. Immediately after recovery from the error, the feed mechanism may still be locked.
z Abnormal operation results when the servo is turned ON after the power ON. Cause: Excitation phase detection was not performed correctly when the servo was turned ON, because one of the following conditions existed when the power was input: [1] The slider or rod was contacting the mechanical end. [2] The work part was being pushed by a strong external force. Action: [1] Check if the slider or rod is contacting the mechanical end.
* Appendix List of Specifications of Connectable Actuators The specifications included in this specification 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. Caution x x x x 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.
Actuator series Type RGD4C Feed screw Ball screw No. of encoder pulses Lead 10 Horizontal/ vertical 12.5 5 Horizontal/ vertical 6.25 800 16 Ball screw 800 8 4 16 RGS6C Ball screw 800 RCP2 (rod type) 8 4 16 RGD6C Ball screw 800 8 4 5 * Appendix SRA4R Ball screw 800 2.5 5 SRGS4R Ball screw 800 2.5 5 SRGD4R Ball screw 800 2.5 170 Minimum speed [mm/s] [mm] 2.5 RA6C Mounting direction Horizontal 3.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 20 25 Vertical SA5C Ball screw 800 Horizontal 12 15 Vertical Horizontal RCP2 (slider type) 6 7.5 Vertical 3.75 Vertical Horizontal 12 15 Vertical SA5R Ball screw Horizontal 800 6 7.5 Vertical Horizontal 3 3.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 20 25 Vertical SA6C Ball screw 800 Horizontal 12 15 Vertical Horizontal RCP2 (slider type) 6 7.5 * Appendix Vertical Horizontal 3 3.75 Vertical Horizontal 12 15 Vertical SA6R Ball screw Horizontal 800 6 7.5 Vertical Horizontal 3 3.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 16 20 Vertical SA7C Ball screw 800 8 4 16 SA7R Ball screw 800 8 4 12 SS7C Ball screw 800 6 3 RCP2 (slider type) Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical 10 5 20 10 Ball screw 800 6 3 600 (at 50 to 500st) 470 (at 600st) 7.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 20 25 Vertical Horizontal SS8R Ball screw 800 10 12.5 Vertical Horizontal RCP2 (slider type) 5 6.25 Vertical Horizontal HS8C Ball screw 800 30 37.5 Vertical Horizontal HS8R Ball screw 800 30 37.
Actuator series Type Feed screw No.
Actuator series Type Feed screw No. of encoder pulses Lead Lead screw 800 RA2BC Lead screw 800 2 1 Horizontal/ vertical 6 RCP3 (rod type) 4 RA2AR Lead screw 800 RA2BR Lead screw 800 800 SA2BC Lead screw 800 * Appendix RCP3 (slider type) Lead screw SA2BR Lead screw 2 1 Horizontal 300 5 200 2.5 100 4 5 2 2.5 2 1 5 Horizontal 2.5 1.25 7.5 Horizontal 4 6 4 2 176 7.5 7.5 4 800 100 2.5 1.25 Horizontal 2 Ball screw 2.5 5 6 SA3R 200 2.
Actuator series Type Feed screw No. of encoder pulses Lead [mm] 10 SA4C Ball screw 800 5 2.5 10 SA4R Ball screw 800 Mounting direction 5 2.5 Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Minimum speed [mm/s] [G] 12.5 380 (at 50st) 500 (at 100st to 500st) 6.25 250 3.12 125 12.5 380 (at 50st) 500 (at 100st to 500st) 6.25 250 3.12 125 0.7 0.3 0.7 0.3 0.7 0.3 0.3 0.2 0.3 0.2 0.2 0.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 12 15 Vertical SA5R Ball screw Horizontal 800 6 7.5 Vertical Horizontal 3 3.75 Vertical Horizontal * Appendix RCP3 (slider type) 20 25 Vertical SA6C Ball screw 800 Horizontal 12 15 Vertical Horizontal 6 7.5 Vertical Horizontal 3 3.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 12 15 Vertical RCP3 (slider type) SA6R Ball screw Horizontal 800 6 7.5 Vertical Horizontal 3 3.75 Vertical 6 TA3C Ball screw 800 4 2 6 TA3R Ball screw 800 4 2 TA4C Ball screw 800 4 2 RCP3 (table type) 6 TA4R Ball screw 800 4 2 10 TA5C Ball screw 800 5 2.5 10 TA5R Ball screw 800 5 2.5 7.5 5 2.5 7.5 5 2.
Actuator series Type Feed screw No.
Appendix Correlation diagram of speed and loading capacity for the slider type (motor-straight type) Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Low-speed type * Appendix Medium-speed type Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the lead.
Appendix Correlation diagram of speed and loading capacity for the slider type (motor-reversing type) Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation Speed (mm/sec) * Appendix Load capacity (kg) Load capacity (kg) Medium-speed type Speed (mm/sec) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Low-speed type Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the lead.
Appendix Correlation diagram of speed and loading capacity for the standard rod type Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation (Note 1) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Medium-speed type Speed (mm/sec) Load capacity (kg) Load capacity (kg) Low-speed type * Appendix Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the lead.
Appendix Correlation diagram of speed and loading capacity for the single-guide type Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation Speed (mm/sec) Load capacity (kg) Load capacity (kg) Medium-speed type Speed (mm/sec) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Low-speed type * Appendix Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the lead.
Appendix Correlation diagram of speed and loading capacity for the double-guide type Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation Speed (mm/sec) Load capacity (kg) Load capacity (kg) Medium-speed type Speed (mm/sec) Load capacity (kg) Load capacity (kg) Low-speed type * Appendix Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the lead.
Appendix Correlation diagram of speed and loading capacity for the dustproof/splash-proof type Vertical installation (Note 2) Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation (Note 1) Speed (mm/sec) * Appendix Load capacity (kg) Load capacity (kg) Medium-speed type Speed (mm/sec) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Low-speed type Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates t
Appendix Correlation diagram of speed and load capacity for the high-thrust type Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation Speed (mm/sec) Load capacity (kg) Load capacity (kg) Medium-speed type Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Low-speed type * Appendix Speed (mm/sec) Speed (mm/sec) 187
Appendix Correlation diagram of speed and loading capacity for the RCP3 slider type Horizontal installation Vertical installation Lead 4 Lead 6 Load capacity (kg) Load capacity (kg) Lead 2 Lead 2 Lead 4 Speed (mm/sec) Lead 6 Speed (mm/sec) * Appendix Lead 5 Lead 10 Load capacity (kg) Load capacity (kg) Lead 2.5 Lead 2.
Appendix Correlation diagram of speed and loading capacity for the RCP3 table type Horizontal installation Vertical installation Lead 2.5 Lead 5 Lead 10 Load capacity (kg) Load capacity (kg) Lead 2.
Appendix Push Force and Current-limiting Value Caution x The relationship of push force and current-limiting value is based on the rated push speed (factory setting) and provides only a guideline. x Make sure the actual push force is equal to or greater than the minimum push force. If not, the push force will not stabilize. x Do not change the setting of push speed (parameter No. 34). If you must change the push speed, consult IAI.
Appendix Push force (N) RA10C type Current-limiting value (ratio, %) Lead (type) Number of pushmotion operations * 2.5 1.4 million times 5 25 million times * Appendix Note Use the table below as reference on the maximum limit number of push-motion operations when an actuator of each lead type is operated with the maximum push force and push-motion travel of 1 mm. 10 157.
Appendix Push force (N) RCP2 Series Short Type Lead 2.
Appendix Gripper Gripping force (N) Gripping force (N) RCP2 Series Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Push force (N) * Appendix Gripping force (N) Gripping force (N) Current-limiting value (ratio, %) Standard type High-speed type Current-limiting value (ratio, %) 193
Appendix 3-finger Gripper Gripping force (N) Gripping force (N) RCP2 Series Current-limiting value (ratio, %) Gripping force (N) * Appendix Gripping force (N) Current-limiting value (ratio, %) Current-limiting value (ratio, %) 194 Current-limiting value (ratio, %)
Appendix RCP3 Series Slim, Compact Rod Type RA2BC/RA2BR Lead 2 Push force (N) Push force (N) RA2AC/RA2AR Lead 1 Current-limiting value (ratio, %) RA2AC/RA2AR Lead 2 RA2BC/RA2BR Lead 4 Push force (N) Push force (N) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) RA2BC/RA2BR Lead 6 Push force (N) Push force (N) * Appendix RA2AC/RA2AR Lead 4 Current-limiting value (ratio, %) Current-limiting value (ratio, %) 195
Appendix RCP3 Series Slider Type SA4C Type Push force (N) Push force (N) SA3C Type Current-limiting value (ratio, %) Current-limiting value (ratio, %) Push force (N) SA5C/SA6C Type * Appendix Current-limiting value (ratio, %) RCP3 Series Slim, Compact Table Type TA3C/TA3R Type TA4C/TA4R Type Lead 4 Lead 6 Lead 2 Push force (N) Push force (N) Lead 2 Table Type TA6C/TA7C Type Push force (N) Push force (N) TA5C Type Current-limiting value (ratio, %) 196 Lead 6 Current-limiting value (
Appendix Micro-cylinder Push force (N) RCL Series Current-limiting value (ratio, %) * Appendix 197
Appendix Fault check and replacement of the cooling fan A cooling fan is installed in the large-capacity type (PCON-CF). To check if the fan is faulty, or when replacing the fan, follow the procedure below: 1) Unplug all connectors and wires connected to the controller, and take out the controller. Remove all cables except for the MPI/MPO jumper wire. Remove the resin case. x The cutout holes in the resin case are engaged with the hooks on the mounting base plate. Use a screwdriver, etc.
Appendix 3) Check if the fan is normal. Check method: [1] Connect the power cable to the 24-V and 0-V terminals on the power-supply terminal block. [2] Turn on the power to check if the fan operates. If the fan is normal, it should operate for approx. 2 seconds. If the fan is faulty, it will not operate. (Note) To extend the service life of the fan, a temperature sensor is used to detect the temperature around the power transistor.
Appendix Example of Basic PCON Positioning Sequence Given below is an example of basic sequence for creating a positioning sequence using the PCON. indicates PIO signals of the controller.
Appendix (Positioning circuit for position 2) Positioning start request to position 2 N M M Positioning start request to position 2 N Positioning start pulse to position 2 Auxiliary positioning start pulse to position 2 N Current positioning completed position (A) M P PEND Q O Auxiliary positioning start for position 2 P Start check for position 2 Q Completion of positioning to position 2 R Position 1 set S Position 2 set O O P P B Auxiliary start signal for next positioning * Ap
Appendix R PC1 Command position 1 Position 3 set signal Position 5 set signal S PC2 Command position 2 PC4 Command position 4 PC8 Command position 8 Position 3 set signal * Appendix Position 6 set signal (Start signal circuit) J Timer 2 O Start command for positioning to other position Waiting for start 5 msec or more (Must be longer than the PLC’s scan time.
Appendix Recording of Parameters Recorded date: Category: a: b: c: d: Category a a a a 5 a 6 7 8 9 10 b d b b b 12 b 13 b 15 c 16 c 17 c 18 21 22 23 24 25 26 b c a a a c b 27 c 28 b 29 31 32 33 34 35 36 37 38 b d d d b b b b b 39 c 40 c Name Zone boundary 1+ Zone boundary 1– Soft limit+ Soft limit– Home return direction [0: Reverse / 1: Forward] Push & hold stop judgment period Servo gain number Default speed Default acceleration/deceleration Default positioning band (in-positi
* Appendix Appendix 204 No.
Appendix Change History Revision Date Description of Revision First edition 2006.10 Second edition 2007.03 Third edition 2007.04 Fourth edition Fifth edition Sixth edition 2009.12 Sixth B edition • Note added regarding CE Marking at the beginning 2010.02 Seventh edition • Operation Manual Catalog No. changed 2010.03 Eighth edition • “Please Read Before Use” added after top page • “H: High-acceleration loading specification” added to model name in P.2 2010.
Appendix Change History Revision Date 206 Description of Revision 2011.07 Fourteenth edition • Contents changed in 1.5 Warranty in P. 15 to P. 16 • Caution note added regarding positioning band setting in P. 133 and P. 157 • Overcurrent error deleted in P. 160 • Contents changed and added in Appendix: List of Specifications of Connectable Actuators 2012.05 Fifteenth edition • “Explanation for UL Compliance” added before Contents • Contents added and changed in Safety Guide • 3.
Manual No.: ME0170-17A (January 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.
