PCON-SE Controller Serial Communication Type Operation Manual Sixteenth Edition IAI America Inc.
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 1. Use Environment ACON controllers can be used in an environment of pollution degree 2 or equivalent. 2. Models of Teaching Pendants and PC Software New functions have been added to the whole PCON Controller Series. Since the communication protocol is accordingly changed to the general Modbus method (compatible), the PC software and teaching pendants used in conventional RCP2 controllers are not compatible.
CAUTION 4. Using a Rotary Actuator in the Multi-rotation Specification Rotary actuators that support the multi-rotation specification let you specify multi-rotation operation or limited-rotation operation. 4.1 Notes Pay attention to the setting of the PIO pattern parameter for the controllers listed below. On the following types of controllers, relative coordinate specification cannot be used in the PIO patterns specified: [1] PCON-C/CG: PIO pattern = 5 (User parameter No.
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 1.6 1.7 2. Specifications .......................................................................................................................20 2.1 2.2 2.3 2.4 3. Introduction ...
3.10 3.11 3.12 3.13 4. Description of Operating Functions......................................................................................42 4.1 4.2 4.3 4.4 4.5 4.6 5. Parameter Table ..................................................................................................................... 84 Parameter Settings ................................................................................................................ 85 5.2.1 Parameters Relating to the Actuator Stroke Range.......
Correlation diagram of speed and loading capacity for the slider type (motor-reversing type) ...... 126 Correlation diagram of speed and loading capacity for the standard rod type ............................... 127 Correlation diagram of speed and loading capacity for the single-guide type................................ 128 Correlation diagram of speed and loading capacity for the double-guide type ..............................
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 When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. 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 Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. 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 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. 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 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. 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 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. 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.
8
1. Overview 1.1 Introduction Among the PCON series controllers, this product is designed to operate the actuator via position number specification or direct numeric specification by means of serial communication. The serial communication system can support the following two patterns as the serial communication system: [1] The product can be used under the field network (DeviceNet, CC-Link, Profibus) such as a host PLC as the gateway unit.
1.2 Main Features and Functions 1. Overview (1) Control signals are input/output via serial communication RS485 (compatible with Modbus protocol). (2) Positioning points: 64 (3) Setting of zone output boundary values The zone output boundary values were previously fixedly set with parameters. Convenience has been enhanced since they can now be set in the position table (only in the operation by position number specification).
1.3 Differences from Air Cylinders in Control Functions Item Drive method Target position setting Air cylinder Air pressure by solenoid valve control. Mechanical stopper (including shock absorber). PCON-SE Ball screw or timing belt drive using a pulse motor. [1] Position number specification mode Entry of a coordinate value in the “Position” field of the position table.
[2] Power-on position PCON-SE When the power is turned on, mechanical coordinates are not stored in the controller and thus the current position is not yet determined. For this reason, a rear end move command must be executed after the power has been turned on, in order to establish coordinates. The actuator performs homing first, and then moves to the rear end. [1] Home position 1. Overview Item Air cylinder Position check upon Judgment using a reed switch or power on other external detection sensor.
1.4 Model Number SE: Serial communication only 1. Overview High-acceleration transport specification Connection of simple absolute unit 0: 24 VDC [Motor flange size] 20P: 20, square 28P: 28, square 28P: 28, square (for RA3 type) 35P: 35, square 42P: 42, square 56P: 56, square 0: No cable * PCON-SE controllers do not come with an I/O cable.
1.5 System Configuration 1.
(2) When the SIO converter is used (RS232C serial communication) Connect the teaching pendant, PC or PLC using the SIO converter (RS232C/RS485 conversion) as shown below. 1.
1. Overview 1.6 Procedure from Unpacking to Trial Run Adjustment When using this product for the first time, pursue work while paying attention to avoid check omission and incorrect wiring by referring to the procedure below. 1. Check of Packed Items Should there be any incorrect model or insufficient item, contact your dealer.
6. Safety Speed Setting The safety speed has been set to 100 mm/s at the time of shipment. Change it if necessary. (Limited to 250 mm/s or less) → 5. Parameter Settings 8. Operational Check of Safety Circuit Confirm that the drive signal shutdown circuit (or motor drive power shutoff circuit) normally operates. → 3. Installation and Wiring 9. Trial Run Adjustment Input a movement command from PLC for positioning.
1. Overview 1.7 1.7.1 Warranty 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 1.7.2 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.
1.7.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications 1.7.6 Other Items Excluded from Warranty The price of the product delivered to you does not include expenses associated with programming, the dispatch of engineers, etc.
2. 2. Specifications 2.
2.2 Name and Function of Each Part of the Controller Status indicator LEDs 2. Specifications SV (green):Indicates the servo ON status. When this LED is blinking, the controller is in the auto servo OFF mode. ALM (red): Indicates the alarm generated status or emergency stop status. SIO connector Connector for the teaching pendant/PC, gateway unit and SIO converter The model of the actuator connected is displayed here.
22 2.
2.3 External Dimensions An external view and dimensions of the product are shown below. 2.
2.4 SIO Converter (Option) 2. Specifications Model: RCB-TU-SIO-A (vertical installation) RCB-TU-SIO-B (horizontal installation) This unit is a RS232C-RS485 converter. If multiple controllers are linked, you can connect a teaching pendant to the mini DIN, 8-pin connector to move, or edit parameters, for all axes.
[4] D-sub, 9-pin connector (RS232C) A connection port with the PLC’s communication module. A PC can also be connected to this port. For the communication cable, use the RS232C cross cable specified below. [5] Mini DIN, 8-pin connector (RS485) 2. Specifications A connection port with the teaching pendant or PC. For the communication cable, use the cable (with RS232C/RS485 converter) supplied with the PC software (RCM-101-MW). [6] PORT switch A switch for enabling/disabling the mini DIN connector.
3. Installation and Wiring Pay sufficient attention to the installation environment of the controller. 3. Installation and Wiring 3.1 Installation 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.
3.3 Noise Elimination and Grounding This section explains how to eliminate noise in the use of the controller. (1) Wiring and power supply [1] As for grounding, provide a dedicated class D grounding (former class 3 grounding). The grounding cable shall have a size of 2.0 ~ 5.5 mm2 or larger. Other equipment Controller 3. Installation and Wiring Controller Other equipment Use the thickest possible line and wire it over the shortest distance.
3. Installation and Wiring 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 40°C. Install the controller vertically on a wall, as shown below. Since cooling is provided by way of natural convection, always observe this installation direction and provide a minimum clearance of 50 mm above and below the controller to ensure sufficient natural airflows.
3.5 External Connection Diagram An example of standard wiring is shown below. (Note) When encoder relay cables are of the robot cable specification, the line colors will be different, refer to “3.9.2 Encoder Relay Cables.” PCON-SE controller 3.
3.6 Wiring the Power Supply 3. Installation and Wiring Connect the +24 V side of the 24 VDC power supply to the 24 V terminal on the power supply terminal block and the 0V side to the 0V terminal. Power supply Cable inlet Open the cable inlet by pushing terminal block it with a flathead screwdriver. Input power supply: 24 VDC: (2 A max. per unit) 24V 0V Use a power cable satisfying the following specifications: Item Applicable wire Description Twisted wire: AWG size 22 (0.
3.8 3.8.1 Wiring the Emergency Stop Circuit Drive Signal Shutdown (Standard) The motor drive is stopped by the controller internal circuit. The motor drive power supply is not shut off. When the SIO converter is used Teaching pendant EMG push button 3. Installation and Wiring SIO converter T.P.
3. Installation and Wiring (2) When the gateway unit is used Teaching pendant Gateway unit EMG push button T.P. connector EMG reset EMG push switch button SIO connector PCON-SE controller SIO communication Connection SIO detecting connector signal (H) connection detecting circuit Gateway power supply Port switch EMG signal detection (H) Input power supply 24 VDC (2 A max.
3.8.2 Cutting off the Motor Drive Power Supply If the safety category of the entire equipment requires motor drive power cut off, connect the EMG relay contact between the MPI terminal and MPO terminal. In addition, connect 24 V of the controller power supply to the EMG terminal. (Note) Please pay sufficient attention that the EMG switch of the teaching pendant leads to motor drive signal shutdown and not motor drive power cutoff. When the SIO converter is used EMG push button SIO converter T.P.
(2) When the gateway unit is used Teaching pendant 3. Installation and Wiring EMG push button Gateway unit T.P. connector EMG reset EMG push switch button PCON-SE controller SIO connector SIO communication Connection detecting signal (H) Gateway power supply Port switch SIO connector connection detecting circuit EMG signal detection (H) Power supply terminal block Motor drive power supply Control power supply Time constant Input power supply 24 VDC (2 A max.
3.9 3.9.1 Connecting the Actuator Motor Relay Cable • Connect the motor relay cable to the MOT connector. Signal table for controller-end connector (CN2) Signal A VMM B A VMM B Wire color Orange Gray White Yellow Pink Yellow (Green) 3. Installation and Wiring Pin No.
3.9.2 Encoder Relay Cable 3. Installation and Wiring • Connect the encoder relay cable to the PG connector Signal table for controller-end connector (CN2) Pin No. Signal name Description 1 F.
3.10 Connecting the SIO Communication 3.10.1 (1) Connecting the RS232C Serial Communication Basic information Connect the teaching pendant, PC or PLC, and controller using the SIO converter (RS232C/RS485 conversion) as shown below. PC software RS232C-compatible USB-compatible Optional 3.
(2) Connecting the multiple axes Item Description Maximum number of units that can 16 axes max. (depending on the operation mode) be connected Communication cable length Total cable length: 100 m or less 3.
Detailed Connection Diagram Connection details of SIO communication are shown below. The controller link cable is available as an option, but the communication trunk line must be prepared by the customer. Gateway Unit Paired shielded cable Recommended: Taiyo Cabletec SIO communication trunk line 4-way junction (AMP: 5-1473574-4) 3.
Controller link cable (CB-RCB-CTL002) *This cable is available as an option for each controller. Controller end 3. Installation and Wiring e-CON connector 3-1473562-4 (Housing color: Orange) Mini DIN connector Signal Yellow Orange Signal Blue The following parts are supplied with the controller link cable. [1] 4-way junction Model: 5-1473574-4 [2] e-CON connector 4-1473562-4 Outer diameter of applicable wire [3] Terminal resistor 220 Ω 1/4 W 40 by AMP by AMP 1.35 to 1.
3.11 Connection to Field Network The gateway unit is used to connect the controllers to the field network of DeviceNet, CC-Link, or Profibus. The connection to the gateway unit is shown below. The details are the same as those in 3.10.1 (2). Field network 3.
3.13 Setting the Baud Rate When inter-connecting multiple controllers, baud rates of all controllers must be set to the same value. The baud rate can be set using parameter No. 16. Connect a teaching pendant or PC (software) on a 1-to-1 relationship to the SIO connector whose baud rate you wish to set, and set a desired baud rate. 4. Description of Operating Functions 4.
Set the acceleration and deceleration separately in the position table. Set the acceleration and deceleration separately in the position table. Set it in the position table. Set it in the position table. Combine two or more position nos.
4.1 Description of Position Table A position table is created by using the PC software or teaching pendant. For its usage, refer to each operation manual. In this section, a position table is explained by taking the PC software screens as examples. (In the case of the teaching pendant, the display contents are different.) 4. Description of Operating Functions No. 0 1 2 Position [mm] 5.00 380.00 200.00 Zone + [mm] 100.00 400.00 250.00 Speed [mm/s] 300.00 300.00 300.00 Zone – [mm] 0.00 300.00 150.
(4) Acceleration/deceleration: Enter the acceleration/deceleration at which the actuator will be moved, in [G]. Basically, use acceleration/deceleration within the catalog rated value range. The input range allows larger value input than the catalog rated values, on the assumption that the tact time will be reduced if the transfer mass is significantly smaller than the rated value. Make the numeric value smaller if transfer work vibrates and causes trouble during acceleration/deceleration.
Push & hold operation It defines the maximum push amount from the target position in the push & hold operation. Set the positioning band in such a way as to prevent positioning completion before the actuator contacts work by considering mechanical variations of work. Position at which the position complete signal turns ON when the actuator contacts work and push completion is judged Speed 4.
(9) Acceleration/deceleration mode: This field is not available for this controller. The default value is 0. (10) Incremental: It defines whether the specification is the absolute coordinate specification or relative coordinate specification. The default value is 0. 0: Absolute coordinate specification 1: Relative coordinate specification (11) Command mode: This field is invalid in this controller. The default value is 0. This field is invalid in this controller. The default value is 0. Use parameter No.
4.2 Setting Data in Numeric Specification Mode 4. Description of Operating Functions If operation is performed in the numeric specification mode, the position table will become invalid. Set the data related to operation (target position, speed, acceleration/deceleration, current-limiting value during push & hold operation, positioning band, etc.) directly via serial communication. For details, refer to the Gateway Unit Operation Manual and ROBO Cylinder Series Serial Communication Operation Manual.
4.3 Control Signals, Control Data In order to operate PCON-SE via serial communication, it is required to write/read the 16-bit internal memory (Modbus register, Modbus status) of the controller. The main signals and their symbol names handled at that time are shown below. For details, refer to the serial communication operation manual for your ROBO Cylinder series.
(PLC → Controller) Register 4. Description of Operating Functions Position no. specification register POSR Address 0D03H *1 [POS specification] Position no. specification register POSR Address 9800H *1 [POS specification] 50 Bit Bit Signal address position symbol Signal name Description 15 – 6 ⎯ ⎯ ⎯ 043AH 5 PC32 ⎯ 043BH 4 PC16 ⎯ 043CH 3 PC8 ⎯ Specify the command position no. with the 6-bit binary code. Setting the position start signal CSTR to “1” starts positioning operation.
(PLC → Controller) Register Address PCMD Position data specification 9900H b15 9901H *1 [Numeric specification] b7 b0 Sign Low order b15 9902H *1 [Numeric specification] b8 b7 b0 High order Low order 32-bit integer (unit: 0.01 mm) The setting range is 0H to 000F423FH (0 to 999999). Specify the position-complete detection width for positioning operation. It becomes the set value of the push width for push & hold operation (required to specify with the CTLF flag).
(PLC→ Controller) 4. Description of Operating Functions Register Address Description PPOW b15 b8 b7 Current-limiting 9907H ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ value during push & hold operation *1 16-bit integer (unit: %, setting range: 00H – FFH/0 ~ 100%) *2 [Numeric When this register is rewritten, movement starts.
(2) Controller output signals (Controller → PLC) Register Bit Bit Signal address position symbol Signal name 15 Device status register DSS1 0101H 14 Emergency stop status SFTY Safety speed valid 0102H 13 PWR 0103H 12 SV Address 9005H 0104H 11 PSFL 0105H 10 ALMH Major failure status 0106H 9 ALML Minor failure status 010AH EMGS 8–6 ⎯ 5 STP 010BH 4 010CH 3 Controller ready Servo ready Push & hold missing 1: Under emergency stop 1: Safety speed valid condition 1: Controller pr
(Controller → PLC) Register Bit Bit Signal address position symbol Zone status register ZONS 4. Description of Operating Functions Address 9013H ⎯ 15 – 9 0147H 8 Signal name Description ⎯ ⎯ This signal becomes “1” when the current position is within the setting range if individual zone boundaries are set in the position table.
4.4 4.4.1 Operation Timings Timing after Power ON Safety circuit condition Emergency stop is reset Controller power supply 24 VDC power ON Illuminates in orange only for 2 sec and then goes out. Green SV lamp (Front panel) Initial parameter settings Controller ready output (PWR) Pause is cancelled Pause input (STP) Servo ON command (SON) Initial state ͆1͇ Operation ready (SV) 170 msec or less Position complete output (PEND) (Note 1) T1: Excited-pole detection time = 0.
4. Description of Operating Functions Warning: Since a pulse motor is adopted as the driving motor, excited phase detection operation is performed when the servo is turned ON for the first time after the power has been input. What this means is that the actuator must be able to move when the servo is turned ON.
4.4.2 Home Return Operation Since this controller adopts the incremental position detector (encoder), mechanical coordinates will be lost if the power is cut off. Because of this, it is required to establish the mechanical coordinates by performing home return operation immediately after power-on. To perform home return operation, input the home return command (HOME).
Home return command (HOME) When the rise edge (0→1) of this signal is detected, home return operation starts. Upon completion of home return, the home return completion (HEND) signal will be output. The HOME signal can be input any number of times even after the completion of home return. (Note) Home return operation is automatically performed during the first positioning operation (CSTR signal) without performing home return after power-on. 4.
4.4.3 Positioning Operation First, turn on the 24 VDC power supply and set the position complete signal (PEND) to “1” by referring to 4.4.2. Home return has not been completed immediately after the power is input. It is required to perform home return by issuing the home return command (HOME) as described in 4.4.3. If positioning start (CSTR signal) is output by specifying a position (position no.
4. Description of Operating Functions Operational Description [1] If operation becomes ready after the power is turned on, the operation ready (SV) and position complete (PEND) signals become “1.” After confirming that PEND is “1,” specify position 1 and set the positioning start signal (CSTR) to 1. To specify a position, specify the position number as six bits from PC1 to PC32 or directly specify the numeric value in register PCMD.
Positioning start (CSTR) Upon detecting a rise edge (0→1) of this signal, the controller will read the target position number as a binary code consisting of six bits from PC1 to PC32 (position no. specification register), and execute positioning to the target position of the corresponding position data. Before issuing a start command, all operation data such as the target position and speed must be set in the position table using the PC or teaching pendant.
Position Complete (PEND) This signal indicates that the target position has been reached, and turns ON in the following condition: [1] The operation ready signal (SV) is “1” and [2] The current position deviation from each target position is within the positioning band or [3] Work is contacted (not missed) during push & hold operation. 4. Description of Operating Functions This signal is used as a trigger signal to peripheral equipment when the target position is reached.
4.4.4 Push & Hold Operation The actuator can continue to hold work in position while the rod end is pushing it, like an air cylinder. Therefore, it can be used in the operation of work clamping or press fit process. (1) Basic operation After moving to the target position set as shown below, the actuator will move at the set push speed and push work by the push amount set as the maximum.
4. Description of Operating Functions [1] Push & hold mode Set a numeric value other than 0 in the “Push” field of the position table. (Current-limiting value) In the case of numeric specification, specify “1” to bit 0 in the control flag specification register CTLF. [2] Push speed Set the push speed with parameter No. 34 (push speed). (It is individually set on an actuator model basis before shipment.
(2) Work is not contacted (missed) If work is not contacted even though the actuator has moved the distance by the set positioning band (when the motor current does not reach the current-limiting value during push & hold operation), the positioning complete signal will not be output. However, the completed position number will be output. At this time, the PSFL bit of the device status register (DSS1) becomes “1.” Accordingly, perform timeout check process for ample period on the host PLC side.
(4) Positioning band is entered with an incorrect sign If the positioning band is entered with an incorrect sign, the position will deviate by twice the positioning band, as shown below. Therefore, exercise sufficient caution. Speed Intended operation 4.
The graphs below show the relationships of current-limiting value [%] and push force [N] of respective actuators. Note: For the relationships applicable to RCP3 controllers, refer to the operation manual for RCP3. • Slider Type (2) SA7C Type Low-speed type (Lead: 4 mm) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Medium-speed type (Lead: 6 mm) Medium-speed type (Lead: 8 mm) Push force (N) Push force (N) 4.
(3) SS8C type 4. Description of Operating Functions Push force (N) Low-speed type (Lead: 5 mm) Current-limiting value (ratio, %) Push force (N) Medium-speed type (Lead: 10 mm) Current-limiting value (ratio, %) Push force (N) High-speed type (Lead: 20 mm) Current-limiting value (ratio, %) Caution: Precision of each push force at standstill is not guaranteed, and the above are reference values only.
• Rod type (1) RA2C type (2) RA3C type 4. Description of Operating Functions Push force (N) Push force (N) Low-speed type (Lead: 2.5 mm) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Push force (N) Medium-speed type (Lead: 5 mm) Current-limiting value (ratio, %) Caution: Precision of each push force at standstill is not guaranteed, and the above are reference values only.
(3) RA4C type (4) RA6C type Push force (N) Low-speed type (Lead: 4 mm) Current-limiting value (ratio, %) Medium-speed type (Lead: 5 mm) Medium-speed type (Lead: 8 mm) Push force (N) Current-limiting value (ratio, %) Push force (N) 4. Description of Operating Functions Push force (N) Low-speed type (Lead: 2.
4.4.5 Pause The actuator will decelerate to a stop by setting the pause command (STP) to “1” during its operation. Since the remaining movement is retained, setting STP to “0” again will restart the remaining movement. Command position Positioning start (CSTR) 4.
4.4.6 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. 4.
(Note) If the pause command is output during home return operation, the movement command will be retained when the actuator has not pushed the mechanical end but operation must again begin with home return after the actuator has pushed the mechanical end and performed pushing-back operation. Alarm reset (RES) An alarm can be reset at a rise edge of 0 to 1. If the cause for the alarm is not resolved, the alarm status will be entered again.
4.4.7 Operation at Different Acceleration and Deceleration Settings (1) If the operation by position number specification is used, the acceleration and deceleration can be set separately in the position table. (2) If the operation by numeric specification is used, the acceleration/deceleration data (set on register 9906H) will become valid during data receiving. Therefore, to make the deceleration different from the acceleration, change the acceleration/deceleration data during movement. 4.
4.4.
4.4.9 Pitch Feeding by Relative Coordinate Specification For the target position in the position table, relative coordinate specification is also available. Therefore, it can be used in constant-pitch positioning (constant-pitch feeding). 4. Description of Operating Functions (1) Operation example in the position no. The following is the description of an example of positioning with a 50 mm pitch from position No. 1. Create a position table as shown below.
Position command Position 1 * Position 2 * Positioning start (CSTR) Position complete (PEND) Completed position Position 1 Position 2 Moving (MOVE) Zone signal (PZONE) Speed Actuator movement Time Distance from home * T1: Set T1 to 0 msec or more in consideration of the scan time of the host controller. [Operational description] [1] [2] [3] [4] [5] Perform positioning operation to position 1 (100.00 mm).
(2) Notes on positioning operation Selecting/entering a position number using relative coordinates during positioning will cause the actuator to move to the position corresponding to the initial position plus the relative movement. (If the relative movement is a negative value, the actuator will move to the position corresponding to the initial position minus the relative movement.
(3) Notes on push & hold operation If the start signal is input with a position number using relative coordinates (push specification) selected/entered while the actuator is moving in the push & hold mode, the actuator will move to the position corresponding to the position at the time of start input plus the relative movement. Therefore, the end position will become indeterminate.
4.4.10 Power-saving Mode at Standby Positions 4. Description of Operating Functions One general characteristic of pulse motors is that their holding current at standstill is higher compared to AC servo motors. Accordingly, as part of our energy-saving efforts IAI has developed a special mode to reduce the power consumption at standstill when the actuator is programmed to stop for a long time at a standby position.
4.5 Notes on ROBO Grippers Gripping force (N) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Gripping force (N) Gripping force (N) Gripping force (N) Current-limiting value (ratio, %) Gripping force (N) Gripping force (N) [Graphs of Gripping Force and Current-limiting Value] Current-limiting value (ratio, %) Current-limiting value (ratio, %) 81 4.
(2) Removing the Gripped Work This gripper is structured in such a way that it will maintain its gripping force on the work through the self-lock function even when the servo is turned OFF or controller power is cut off. If the gripped work must be removed while the power is cut off, do so by turning the open/close screw or taking out the finger attachment on one side. Finger attachment. Open/close screw Use a screwdriver to turn the screw counterclockwise. Open direction 4.
4.6 Using a Rotary Actuator in the Multi-rotation Specification Rotary actuators that support the multi-rotation specification let you specify multi-rotation operation or limited-rotation operation. (1) Home Return When a home return command is issued, the actuator moves in the home return direction to detect the limit switch and upon detecting the limit switch, the actuator reverses its direction.
5. Parameter Settings 5.1 Parameter Table Parameters are classified into four types according to their content. a: Parameter relating to the actuator stroke range b: Parameter relating to the actuator operating characteristics c: Parameter relating to the external interface d: Servo gain adjustment * Category Symbol 1 a ZONM 2 a ZONL 3 a LIMM 4 a LIML Soft limit- 5 a ORG Home return direction (0: Reverse/1: Forward) 6 b PSWT 5. Parameter Settings No.
5.2 Parameter Settings If a parameter has been changed, always restart the controller using a software reset command or by reconnecting the power. 5.2.1 Parameters Relating to the Actuator Stroke Range Soft limit (No. 3/4 LIMM/LIML) Example) Set the effective range to between 0 mm and 80 mm Parameter No. 3 (positive side) 80.3 Parameter No. 4 (negative side) -0.3 Soft limits set in the controller Approx. 0.3 mm Approx. 0.3 mm Effective range Approx. 0.1 mm Approx. 0.
Home return offset (No. 22 OFST) The controller is shipped from the factory with an optimal value set in parameter No. 22, so the distance from each mechanical end to the home becomes uniform. The minimum setting unit is 0.01 [mm].
5.2.2 Parameters Relating to the Actuator Operating Characteristics Default speed (No. 8 VCMD) The factory setting is the rated speed 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 speed data for the applicable position number. To reduce the default speed from the rated speed, change the setting in parameter No. 8. Default acceleration/deceleration (No.
• Default movement direction for excitation-phase signal detection (No. 28 PHSP1) Excitation-phase detection is performed at the first servo ON after the power is input. Define the detection direction at this time. This setting need not be changed in normal conditions of use. However, if the actuator contacts the mechanical end or an obstacle and cannot be moved by hand when the power is input, this setting must be changed to the direction in which the motor is easier to operate.
• Default stop mode (No. 53 CTLF) You can apply the power-saving mode when the actuator waits for a long period while the system is operating. Whether to enable or disable this mode is defined by parameter No. 53. Set value Disable the power-saving mode 0 Full-servo control mode 4 The factory setting is “0 [Disable].” 89 5. Parameter Settings Full-servo Control Method You can lower the holding current of a pulse motor by servo-controlling the motor.
• Push speed (No. 34 PSHV) This meter defines the speed after the target position has been reached during push & hold operation. The factory setting is the default value in accordance with the actuator characteristics. Set an appropriate value in consideration of the material, shape, etc., of the work. However, the maximum speed is controlled to 20 [mm/sec] even in the high-speed type although it varies depending on the actuator. Use the push speed as a slower speed than this maximum one.
• Enable function (No. 42 FPIO4) In ANSI-compliant teaching pendants, parameter No. 42 defines whether the deadman switch function is enabled or disabled. ANSI-compliant teaching pendants are to be developed in the future. Set value Enable (use) 0 Disable (not use) 1 The factory setting is 1 [Disable]. • Home check sensor input polarity (No.
• Home sensor input polarity (No. 18 LS) This parameter is available for RCP2-RTB/RTC-controlled rotational axes operating in the home sensor mode. Definition of setting: 0 (Sensor not used) 1 (The sensor polarity is contact a) 2 (The sensor polarity is contact b) • 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. 5. Parameter Settings • Axis operation type (No.
• Rotational axis shortcut selection (No. 80 ATYP) Set this parameter if you wish to rotate a rotational axis in a fixed direction. Shortcut refers to the actuator moving to the closest point from the current point. Set value Do not select 0 Select 1 When the shortcut mode is selected, you can have the actuator rotate in a fixed direction. Positions Point No. 1 Point No. 2 Set value 0 90 180 270 5. Parameter Settings Point No. 4 Point number 1 2 3 4 One degree of position data corresponds to 1 mm.
5.2.3 5. Parameter Settings • Parameters Relating to the External Interface Position complete signal output method (No. 39 FPIO) Parameter No. 39 defines the condition of the position complete signal when the servo OFF condition or “deviation” occurs while the actuator has stopped under the positioning completed state.
• Silent interval magnification (No. 45 SIVM) This parameter applies to commands via RS485 serial communication. It defines the magnification of the silent interval time in the delimiter judgment of the RTU mode. The factory setting is based on the communication time of 3.5 characters in accordance with the Modbus specification. This parameter need not be changed under normal operation by the PC or teaching pendant.
5.2.4 Servo Gain Adjustment Since servo adjustment is made in accordance with the standard specification of the actuator before shipment, this setting need not be changed in normal conditions of use. However, because vibrations or abnormal sounds may be produced due to the affixing method of the actuator or load conditions, parameters related to servo adjustment are released. Especially custom-made items (the lead length of the ball screw is greater, stroke is longer, etc.
Speed loop integral gain (No. 32 VLPT) Parameter No. 32 Unit Input range Default 1 – 217270 Individual setting in accordance with actuator characteristics 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.
6. 6. Troubleshooting 6.1 Troubleshooting Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take an appropriate action in accordance with 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 the host controller for errors.
6.2 Alarm Level Classification Alarms are classified into the following two levels in accordance with the symptoms they represent: Alarm level ALM lamp Failure status register Operation cancellation Lit (red) ALMH is “1.” Cold start Lit (red) ALMH is “1.” What happens when alarm generates The actuator decelerates to a stop and then the servo turns OFF. The actuator decelerates to a stop and then the servo turns OFF. How to reset Reset the alarm by the PC/teaching pendant.
6.3 (1) Alarm Description and Cause/Action Operation-cancellation level alarms 6. Troubleshooting Code Error name 080 Movement command during servo OFF Cause/Action Cause: A movement command was issued by numeric specification while the servo was OFF. Action: Issue a movement command after confirming the servo is ON (SV or PEND is “1”). 083 Numeric command during Cause: Numeric specification of the absolute position was performed home return non-completion while home return was not yet completed.
Code Error name 0A1 Parameter data error 0A2 0A3 0BE 0C0 101 6. Troubleshooting 0BA Cause/Action Cause: The data input in the parameter area is not in an appropriate range. (Example) This error generates when there is a clear contradiction in magnitude correlation such as when 300 mm is entered by mistake for the value of soft limit- when the set value of soft limit+ is 200.3 mm. Action: Change the data to an appropriate value.
6. Troubleshooting Code Error name 0C1 Servo error 0C9 Excessive motor supply voltage 0CA Overheating 0CC Abnormal control supply voltage 0CE Drop in control supply voltage 0D8 Deviation overflow 0D9 Soft limit over error 102 Cause/Action When this error generates, it means that the motor could not operate for at least 2 seconds after the move command was received and before the target position was reached. Cause: [1] The connector on the motor relay cable is loose or the cable is broken.
(2) Code Cold-start level alarms Error name 0B8 Excitation detection error Cause/Action This control performs excited phase detection when the servo is turned ON for the first time after the power has been input. When this error generates, it means that the specified encoder signal level could not be detected after 100 ms of excitation. [1] The connector of the motor relay cable is loose or its circuit is open. [2] If the actuator is equipped with a brake, the brake cannot be released.
Code Error name 0ED Absolute encoder error (1) 6. Troubleshooting 0EE Absolute encoder error (2) 0EF Absolute encoder error (3) 104 Cause/Action Cause: [1] When the power was reconnected following the completion of an absolute reset, the current position changed due to an external factor, etc., while the ABS unit was communicating. [2] When an absolute reset was performed, the current position changed due to an external factor, etc., while the controller was communicating with the simple absolute unit.
Code Error name 0F4 Mismatched PCB 0F5 Nonvolatile memory write verify error 0F8 Damaged nonvolatile memory 0FA CPU error 105 6. Troubleshooting 0F6 Nonvolatile memory write timeout Cause/Action This controller has a different motor drive circuit in accordance with the motor capacity. Therefore, a mounted motor is determined based on the printed circuit board (PCB).
6.4 Messages Displayed during Operation Using the Teaching Pendant or PC Software This section explains the warning messages that may be displayed during operation using the teaching pendant or PC software. Code Message name 112 Invalid data 113 Value too small Cause/Action An inappropriate value was entered in a parameter. (Example) 9601 was entered as the serial communication speed by mistake. Reenter an appropriate value. The entered value is smaller than the setting range. 6.
Code Message name 20C CSTR-ON during operation 20E Soft limit over 210 HOME-ON during operation 307 Memory command refused 309 Write address error 30C No connected axis This message indicates that the home return signal (HOME) became “1” by the PLC while the actuator was moving, and that duplicate movement commands occurred as a result. This message indicates that position table or parameter writing operation was performed in the monitor mode.
6.5 • Specific Problems The ALM lamp illuminates in red when the power is input. 6. Troubleshooting (An alarm is present, or an emergency stop has been actuated or the motor power is cut off.) Check whether an alarm is present by connecting the PC or teaching pendant. If an alarm is present, check the description of the error and remove the cause. If an error is not present, the emergency stop circuit may be activated.
• Home return ends in mid-process in a vertical application. Cause: [1] [2] The loading mass exceeds the rating. 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: If [1] is the case, increase the value set in user parameter No. 13 (current-limiting value during home return). Increasing this value increases the home return torque.
• A servo error generated while the ROBO Gripper was moving. Cause: The work was not at an appropriate position and the finger attachment(s) contacted the work in the positioning mode. Action: Consider the position deviation of the work and readjust the starting position of push and thickness of the finger attachment (including the buffer material) accordingly so that the work can be clamped in the push mode.
A malfunction occurs when the servo turns ON after the power is input. Cause: Exciting-phase detection is not normally performed when the servo turns ON due to the following: [1] The slider or rod is contacting the mechanical end. [2] Transferred work is pushed by a strong external force. Action: [1] Check that the slider or rod is not contacting the mechanical end. If it is contacting the mechanical end, separate it.
7. Operation Examples For operation examples of this product, refer to the following operation manuals: 7.
* 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 Actuator series Type Feed screw No. of encoder pulses Lead 1 RA2C Ball screw 800 RA3C Ball screw 800 [mm] 5 2.5 5 RGD3C Ball screw 800 2.
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 * Appendix RGS6C Ball screw 800 RCP2 (rod type) 8 4 16 RGD6C Ball screw 800 8 4 5 SRA4R Ball screw 800 2.5 5 SRGS4R Ball screw 800 2.5 5 SRGD4R Ball screw 800 2.5 114 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 15 Vertical Horizontal RCP2 (slider type) 6 7.5 Vertical Horizontal 3 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 * Appendix Horizontal 12 15 Vertical Horizontal RCP2 (slider type) 6 7.5 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 Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical 10 5 20 10 Ball screw 800 6 15 600 (at 50 to 500st) 470 (at 600st) 7.5 300 (at 50 to 500st) 230 (at 600st) 3.
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 * Appendix 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 * Appendix 800 SA2BC Lead screw 800 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 2 120 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 * Appendix Vertical Horizontal 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 Ball screw 800 4 2 6 TA3R Ball screw 800 4 2 6 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) Load capacity (kg) Load capacity (kg) * Appendix 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) 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 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) * Appendix 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 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) 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 dustproof/splash-proof type Vertical installation (Note 2) Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation (Note 1) Speed (mm/sec) Load capacity (kg) Load capacity (kg) * Appendix 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 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) Lead 10 Load capacity (kg) Lead 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 • The relationship of push force and current-limiting value is based on the rated push speed (factory setting) 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. • Do not change the setting of push speed (parameter No. 7). If you must change the push speed, consult IAI.
Appendix Push force (N) RCP2 Series Short Type Lead 2.
Appendix Gripper Gripping force (N) Gripping force (N) RCP2 Series Current-limiting value (ratio, %) Gripping force (N) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Push force (N) * Appendix Gripping force (N) Current-limiting value (ratio, %) Standard type High-speed type Current-limiting value (ratio, %) 135
Appendix 3-finger Gripper Gripping force (N) Gripping force (N) RCP2 Series Current-limiting value (ratio, %) Gripping force (N) Gripping force (N) * Appendix Current-limiting value (ratio, %) Current-limiting value (ratio, %) 136 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 Current-limiting value (ratio, %) Current-limiting value (ratio, %) RA2AC/RA2AR Lead 4 RA2BC/RA2BR Lead 6 Push force (N) Push force (N) * Appendix Push force (N) Push force (N) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) 137
Appendix RCP3 Series Slider Type SA4C Type Push force (N) Push force (N) SA3C Type Current-limiting value (ratio, %) Current-limiting value (ratio, %) * Appendix Push force (N) SA5C/SA6C Type 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, %) 138 Lead 6 Current-limiting value (r
Appendix RCL Series Push force (N) Micro-cylinder Current-limiting value (ratio, %) * Appendix 139
140 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 No.
41 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 Position [mm] Speed [mm/s] Acceleration [G] Deceleration [G] Push [%] Threshold [%] Positioning band [mm] Zone + Zone – [mm] [mm] * Appendix No.
142 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 No.
Appendix Parameter Record Recorded date: Types: a: Parameter relating to actuator stroke range No.
Appendix Change History Revision Date Description of Revision First edition Change History Second edition 2007.04 Third edition 2007.06 Fourth edition 2008.08 Fifth edition 2009.12 Fifth B edition • Added “About CE Marking”. 2010.02 Sixth edition • Operation Manual Catalog No. changed 2010.03 Seventh edition • “Please Read Before Use” added after top page • “H: High-acceleration loading specification” added to model name in P.6 2010.04 Eighth edition • “Precautions for Safety” in P.
Appendix Revision Date Description of Revision 2012.05 Fourteenth edition • “Explanation for UL Compliance” added before Contents • Contents added and changed in Safety Guide • 3.1 Installation Environment revised 2012.07 Fifteenth edition • Contents changed in UL 2013.
Manual No.: ME0163-16A (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.
