PC Software RCM-101-MW, RCM-101-USB Operation Manual Fifteenth 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 Disconnection of the Teaching Pendant from the PCON, ACON, SCON ERC2, ERC3, ROBONET, PSEP, ASEP, DSEP, MSEP and MSCON Controller * After disconnecting the Teaching Pendant from the PCON, ACON, SCON, ROBONET, MSEP or MSCON controller with the AUTO/MANU switch, always turn the AUTO/MANU switch to AUTO.
Software License Agreement Before opening this product, read the software license agreement (hereinafter referred to as “Agreement”). This Agreement applies to the PC software that comes with this product (hereinafter referred to “Software”). By using this software, you are deemed to have agreed to the terms of this Agreement. You may not use this software if you do not agree to the terms of this Agreement.
Supported Models The PC software RCM-101-MW and RCM-101-USB supports the following controller models of the specified versions and later. Table 1 List of Supported Models Model Name Initial Supported Version *1 RCP V1.00.00.00 RCS *1 V3.00.00.00 *1 E-Con V3.00.05.00 *1 RCP2 V4.00.00.00 ERC *1 V4.00.00.00 ERC2 V6.00.00.00 ERC3 V8.03.00.00 PCON-C/CG/CF V6.00.00.00 PCON-CA V8.03.00.00 ACON V6.00.00.00 SCON-C V6.00.00.00 SCON-CA V8.00.00.00 ROBONET V6.00.04.00 *2 ASEP V7.00.00.00 PSEP *2 V7.00.00.00 *2 DSEP V8.
A Word of Caution [1] This software is copyrighted by IAI Corporation (IAI). [2] The software and the manual can only be used upon the software license agreement. [3] IAI cannot assume responsibility for any damage or loss resulting from the use of this software or the manual. [4] Please note that the version or edition number printed on the face of this manual does not correspond to the software version number. [5] The content of this manual is subject to change without notice.
Table of Contents 1. Preparation Before Use.................................................................................................................... 1 1.1 Items Supplied with This Software (Product Components)............................................................1 1.2 Operating Environment..................................................................................................................2 1.3 Installing the Software ............................................................
11.2.2 Setting of acceleration/deceleration speed to provide the shortest operation time figured out from the indicated carrier load and moving distance ............................................124 11.2.3 Overshoot judgment on S motion operation ...........................................................................124 11.2.4 Test Run..................................................................................................................................124 11.2.5 Takt time calculation.......
1. Preparation Before Use Please check to make sure that the following items are included in your software package. [1] Operation manual (1) [2] CD-ROM containing the software*1 (1) [3] Customer registration card (1) [4] External connection cables (1) External connection cables vary depending on the PC interface software type. The types and external connection cables are shown in the table below.
1. Preparation Before Use 1.2 Operating Environment You need the following environment to run this software. Model number Applicable operating systems Supported operating systems RCM-101-MW Windows 2000 SP4 or later, Windows XP SP2 or later *1, Windows Vista *2, Windows 7 *2 RCM-101-USB Windows 2000 SP4 or later, Windows XP SP2 or later *1, Windows Vista *2, Windows 7 *2 *1 Supported by software version V7.00.00.00 or later *2 Supported by software version V9.00.00.
1.3 Installing the Software 1.3.1 How to Install the PC Interface Software for RC [1] Insert the CD-Rom containing this software into your CD-ROM drive. [2] The installed data selection window (Fig. 1.1) will be displayed. Select the version you wish to install from these choices: PC Interface Software for RC (ENG) and PC Interface Software for RC (EUR). Then click the corresponding button to begin the installation. (Some items are not indicated depending on the version.) Fig. 1.
1. Preparation Before Use [3] A previous version install check window (Fig. 1.3) is displayed. Click Yes if no previous version has been installed. Click No if any previous version has been installed. Installation is interrupted, then uninstall using the Program add/remove icon on the control panel. Fig. 1.3 Previous Version Install Check Window If the installer still detects that a previous version is installed after you have clicked Yes, the previous version detection window (Fig. 1.4) appears.
Fig. 1.5 Installation Window [5] Customer information register window (Fig. 1.6) is displayed. Enter customer information and click Next. Fig. 1.6 Customer Information Registration 5 1. Preparation Before Use [4] The installation window (Fig. 1.5) for PC Interface Software for RC Click Next.
1. Preparation Before Use [6] Specify a destination folder to install the PC interface software for RC. (Fig. 1.7) Normally, you can install it to the default location. After specifying it, click Next. Fig. 1.7 Specification of Destination Folder [7] The wizard is ready to begin installation. Clicking Install will begin actual installation. Fig. 1.
The window shown in Fig. 1.9 will be displayed during installation. 1. Preparation Before Use Fig. 1.9 Installation Progress [8] When installation is completed, the window shown in Fig. 1.10 will be displayed. Fig. 1.
1. Preparation Before Use [9] When the install program is ended, a shortcut in Program o IAI o ROBO Cylinder o PC Interface Software for RC is displayed on the start menu. This software starts by selecting this item. [10] Remove the CD-ROM. * If install is completed with the previous version installed, two shortcuts may be located in Program o IAI o ROBO Cylinder on the start menu. In this case, only the short cut corresponding to the present version is deleted when uninstalled.
1.3.2 How to Uninstall PC Interface Software for RC [2] Select RcPc on the application add and delete window, and click Change/Remove. Fig. 1.12 Application Add and Delete [3] When a file delete check window (Fig. 1.13) is displayed, click Yes. Fig. 1.13 File Delete Check 9 1. Preparation Before Use [1] Open the application add and delete window on the control panel.
1. Preparation Before Use 1.3.3 How to Install the USB Conversion Adapter Driver Software When a USB port is used, it is required to install USB conversion adapter driver software. [Compatible software] RCM-101-USB (with USB conversion adaptor + cable) (1) Windows XP and Windows 2000 For Windows XP and Windows 2000 follow the steps below to install the software. [For how to install in Windows 7 and Windows Vista, refer to (2) Windows Vista.] [1] Insert the CD-ROM of this software into your CD-ROM drive.
Fig. 1.15 Window to Specify Folder of Copy Destination Fig. 1.16 Browse for Folder Window [4] When the folder of IAI USB (copy data) already exists in the copy destination, you are prompted to overwrite it. Click OK to overwrite it, or click Cancel to stop copying. Fig. 1.17 Overwrite Confirmation Window [5] The complete window (Fig. 1.18) will be displayed. Fig. 1.18 Complete Window 11 1. Preparation Before Use [3] You are prompted to set the folder of the copy destination.
1. Preparation Before Use [6] Once the complete window (Fig. 1.18) has been displayed, click OK. The complete window (Fig. 1.18) will disappear. Then, click Cancel on the window to specify the folder of the copy destination (Fig. 1.15). The window to specify the folder of the copy destination (Fig. 1.15) will disappear. Finally, click Exit on the data selection window (Fig. 1.14). The data selection window (Fig. 1.14) will disappear. [7] Remove the CD-ROM.
Fig. 1.20 Driver Search Select Window [11] The locate driver files window will open. Select Specify a location. Click Next. Fig. 1.21 Specify the Locate Driver Files Window 13 1. Preparation Before Use [10] The driver search select window will open. Check the Search for a suitable driver for my device (recommended). Click Next.
1. Preparation Before Use [12] The “Copy manufacturer’s files from:” window will open. Click Browse and find K: \IAI USB (the folder you have specified in [3] of 1.3.3) and set it. Click OK. Fig. 1.22 Specify the Copy Manufacturer’s Files from Window [13] The driver files search results window will open. Click Next. Fig. 1.
Fig. 1.24 IAI USB Composite Device Installation Finish Window [15] Subsequently, the found new hardware wizard window will open. Click Next. Fig. 1.25 Found New Hardware Wizard Window 15 1. Preparation Before Use [14] When the IAI USB Composite Device driver installation finish is displayed, the installation of the driver is completed. Click Finish.
1. Preparation Before Use [16] The install hardware device drivers window will open. Select the Search for a suitable driver for my device recommended. Click Next. Fig. 1.26 Driver Search Select Window [17] The locate driver files window will open. Select Specify a location. Click Next. Fig. 1.
Fig. 1.28 Specify the Copy Manufacturer’s Files from Window [19] The driver files search results window will open. Click Next. Fig. 1.29 Driver Files Search Results Window 17 1. Preparation Before Use [18] The copy manufacturer’s files from window will open. Click Browse and find K:\IAI USB (the folder you have specified in [3] of 1.3.3) and set it. Click OK.
1. Preparation Before Use [20] When the IAI USB to UART Bridge Controller driver installation finish window is displayed, the driver installation is completed. Click Finish. Fig. 1.30 IAI USB to UART Bridge Controller Installation Finish Window [21] The installation of all drivers is completed.
Fig. 1.31 Device Manager Window 19 1. Preparation Before Use [22] Click Start on the Windows taskbar, Settings, and then Control Panel to open the Control Panel. Double-click System to open System Properties. Click the Hardware tab in System. Click Device Manager in Hardware. Double-click Ports (COM & LPT) in Device Manager to expand the folder tree. If there is IAI USB to UART Bridge Controller (COM?) under Ports (COM & LPT) in Device Manager, the driver has normally been installed and operated.
1. Preparation Before Use (2) Windows 7, Windows Vista For Windows 7, follow the steps below to install the software. You shall follow the same steps for Windows Vista. [1] Insert the CD-ROM of this software into your CD-ROM drive. [2] Click on USB conversion adapter in the window to select what to install. [3] A previous version install check window is displayed. Click Yes if no previous version has been installed. Click No if any previous version has been installed.
[5] If there is an IAI USB already exists, the Notice display confirmation window will appear. Click Yes. 1. Preparation Before Use Fig. 1.34 Notice display confirmation window [6] Computer restart confirmation window appears. Click Restart Now. Windows will be restarted. Fig. 1.35 Computer Restart Confirmation Window [7] Connect the PC and USB conversion adapter using a USB cable. [8] Installation of the driver is complete. If the installation does not complete, follow the instruction from [9].
1. Preparation Before Use [9] Open Device Manager. Right-click on CP2102 USB to UART Bridge Controller, and then left-click on Update Driver Software. Fig. 1.36 Device Manager Window [10] Update window for the driver software opens. Click on Browse my computer for driver software button in Update Driver Software window. Fig. 1.
C: Program Files\IAI\IAI USBv3 Fig. 1.38 Update Driver Software Window [12] Driver software update complete (IAI USB to UART Bridge Controller) window opens. Click Close in the Update Driver Software window. Fig. 1.39 Update Driver Software Complete (IAI USB to UART Bridge Controller) Window [13] Installation of the driver is complete. 23 1. Preparation Before Use [11] Update window for the driver software opens.
1. Preparation Before Use 1.3.4 How to Change the IAI USB COM Port The COM port set during the installation of the USB conversion adapter driver software can be changed by following the procedure below: [1] Click Start on the Windows taskbar, Settings, and then Control Panel to open the Control Panel. Double-click System to open System Properties. Click the Hardware tab in System. Click Device Manager in Hardware. Double-click Ports (COM & LPT) in Device Manager to expand the folder tree.
[4] COM Port Number: Fig. 1.42 COM? Port Advanced Settings Dialog Box [5] The COM? Port Advanced Settings dialog box closes. Click OK in the Properties dialog box (Fig. 1.41), and the COM port will be changed. [6] Close the Device Manager dialog box and then open it again. You should now see the new COM port number. After confirming the new COM port number, close the Device Manager dialog box and all other dialog boxes currently open. 25 1.
1. Preparation Before Use 1.4 Starting the Software [1] Turn off the power to the controller and PC, and connect the controller to the PC using the standard RS232C cable or USB cable that comes with the software. [2] Turn on the power to the controller and PC, and start Windows. [3] If your controller has a port switch, turn the port switch ON before starting this software.
If a warning of “Baud rate of personal computer is not supported” is given and connection with the controller cannot be performed, select other baud rate. 䊶 Click setting of main menu, and select “Application”. 䊶 Change baud rate on the “Setting of application” window (Fig.9.1). 䃂 When PCON, ACON, SCON, MSCON, ERC2 and ERC3 are connected, the operation mode is in “Safety speed effective (with safety limit speed)” when this software is started.
1. Preparation Before Use 1.5 Setting of communication Window The “Setting of communication” window (Fig. 1.45) is displayed only at the initial start after the software has been installed. In this window, setting for communication with the controller is made. Fig. 1.45 Setting of Communication Window [1] Port From the list, select the serial port to be used to communicate with the controller. [2] Baud rate From the list, select the baud rate.
2. Checking for Connected Axes Fig. 2.1 Check for Connected Axes Window (Checking for Connection) Fig. 2.2 Check for Connected Axes Window (Connection Check Completed) Check for connected axes can be cancelled by pressing the [ESC] key. (In this case, offline mode is set.
3. Main Window 3. Main Window (1) PCON, ACON, SCON, ROBONET, ASEP, PSEP, DSEP, MSEP, MSCON controllers, ERC2 and ERC3 As shown in Fig. 3.1, the main window consists of main menu, toolbar buttons, tree view and status bar. The tree view on the left side of the window can be displayed by operation of “Window” o “Tree view” on the menu. (Initial window: Main menu) Main menu Toolbar buttons Tree view Fig. 3.1 Main Window (Online Window) Status bar Select each item explained in 3.
(2) RCP, RCS, E-Con, RCP2 controller and ERC As shown in Fig. 3.2, the main window consists of main menu, toolbar buttons, tree view, and status bar. The tree view on the left side of the window can be displayed by operation of “Window” o “Tree view” on the menu. (Initial window: Main menu) Toolbar buttons Tree view Fig. 3.2 Main Window (Online Window) Select each item explained in 3.1, “Operating from the Main Menu” or 3.
3.1 Operating from the Main Menu (1) File 3. Main Window [1] [New] Create new position data. [2] [Open] Load position data or parameters from a file. [3] [Close] Close the active file. [4] [Send to Controller] (Available in the online mode) [Position Data] Write position data in a file to the controller. [Parameter] Write parameters in a file to the controller. [5] [Backup] (Available in the online mode) [Save from Controller to File] Save all position data and parameters in the controller to a file.
(2) Position (Available in the online mode) [2] [Send to Controller] Transfer (write) edited position data to the controller. * In the case of pulse sequence mode of PCON-PL/PO, ACON-PL/PO, SCON-CA, PCON-CA and ERC3 position data cannot be sent to the controller. Even when you attempt to send position data to the controller, it is not displayed as a selectable controller on the “select axis number” window. [3] [Print] Print the position data you are currently editing.
(4) Monitor (Available in the online mode) 3. Main Window [1] [Status] You can check the various statuses of each axis (axis status, internal flags and I/O ports). [2] [CTL Alarm List] Display the CTL alarm list window. [3] [Velocity/Current] Display the velocity/current monitor window. * RCP, RCS and E-Con cannot use this function. Refer to “Supported Models.” [4] [Servo Monitor] Display the servo monitor window. * This window is available only with SCON-CA, PCON-CA, ERC3 (Software Version V8.03.00.
(5) Setup [1] [Application Setup] Set up the application (baud rate and ports). [ASEP, PSEP, DSEP and MSEP Controller] You can change the passwords needed to open the parameter setting window and initial setting window. With ASEP, PSEP, DSEP and MSEP controllers, the password for the position data edit window is set by parameter No. 20. Note that if the password for the position data edit window is “0000” (factory-set password), you need not enter any password to open the position data edit window.
(6) Window [1] [Cascade] Rearrange all open windows in such a way that they are cascaded (staggered) on top of each other. 3. Main Window [2] [Tile Vertical] Rearranges all open windows as vertical tiles. [3] [Tile Horizontal] Rearranges all open windows as horizontal tiles. [4] [Arrange Icons] Arrange all window icons (minimized windows). [5] [Minimize All] Minimize all open windows. [6] [Maximize All] Restore all window icons (minimized windows) to their original size.
3.2 Operations Using the Toolbar Buttons [1] [2] [3] [4][5][6][7] [8][9][10][11] [1] New position data Same as clicking File, pointing to New, and then selecting Position Data. [2] Open file Same as clicking File, and then selecting Open. [3] Edit/teach position data Same as clicking Position, and then selecting Edit/Teach. * In the case of pulse sequence mode of PCON-PL/PO, ACON-PL/PO, SCON, PCON-CA and ERC3 position data cannot be entered. For this reason, the JOG window (Fig. 5.
3. Main Window [12][13][14] [15] Fig. 3.4 Toolbar Buttons [12] Cascade windows Same as clicking Window, and then selecting Cascade. [13] Tile windows vertically Same as clicking Window, and then selecting Tile Vertical. [14] Tile windows horizontally Same as clicking Window, and then selecting Tile Horizontal. [15] Select manual operation mode. Select from the following four menus. * Menus are not displayed in case of RCP, RCS, E-Con, RCP2 controllers and ERC.
3.3 Tree View From the main menu, click Window, and then select Tree View. 3. Main Window [1] [2] (Note) Fig. 3.5 Tree View Axis No. 0 [PCON-CY] The axis number of each axis and the corresponding controller model are shown. A light blue icon is shown if the controller is normal. If the controller is in an error state, a red icon is shown. Position data You can double-click this item to open the position data edit window.
3.4 Status Bar 3. Main Window [1] [2] Fig. 3.6 Status Bar [1] Tool tip Moving the mouse cursor over a toolbar button will display the tool tip on the button. [2] Port name The serial port currently in use is indicated. [3] Baud rate The baud rate (bps) of the current communication is indicated.
4. Selecting an Axis To perform any of the following operations, select the axis number of the target axis in the “Select axis number” window (Fig. 4.1). Open the position data edit window in the online mode. Refer to 5.1 and 6.2 (Note) Send position data edited in the offline mode to the controller. Refer to 5.2 and 6.3 (Note) Open the parameter edit window in the online mode. Refer to 6 (Note) Send parameters edited in the offline mode to the controller.
5. Editing Position Data on CON Controllers and Older Models Edit position data online or offline on the following controller series: CON controllers: ERC2, ERC3, PCON, ACON, SCON, ROBONET and MSCON Older models: RCP, RCS, E-Con, RCP2, ERC 5. Editing Position Data on CON Controllers and Older Models 5.1 Online Mode This mode reads data from the controller to edit. For ERC2, ERC3, PCON, ACON, SCON, ROBONET and MSCON Fig. 5.5 is displayed.
To change the password, perform the operations explained below. [How to Set Password for Position Data Edit Window] [1] From the main menu, click Setup and then select Setting of application. Click the Change Password button. [2] Select the Position data edit password, and then click the OK button. Fig. 5.3 Select Password Window [3] Enter the current password, new password, and new password again (for confirmation), and then click the OK button.
5. Editing Position Data on CON Controllers and Older Models In the position data edit window, you can create position data by “MDI (Mathematical Direct Input),” “Direct Teaching,” “Jogging” or “Inching” operation. Created/edited position data will become effective after it has been sent to the controller. To send position data to the controller, click Position from the main menu and then select Send to Controller, or click in the position data edit window.
Fig. 5.7 Jog Window (Online Display) : PCON-PL/PO, ACON-PL/PO, SCON, PCON-CA or ERC3 in Pulse-train Mode 45 5. Editing Position Data on CON Controllers and Older Models Fig. 5.6 Edit position data Window: PCON, ACON, SCON, ERC2, ERC3, ROBONET (Software Version V8.00.00.
5. Editing Position Data on CON Controllers and Older Models “Modified” is shown if a change has been made to the loaded data. The input range of each item is shown. Fig. 5.8 Position Data Edit Window (Detail Display in Online Mode): RCP, RCS, E-Con, RCP2 and ERC * While the position data edit window of a given axis is open in the online mode, the parameter edit window of the same axis cannot be opened. (You can open the parameter edit window of any other axis.
[3] Reload position data Reload position data from the controller and then refresh the displayed data. If the position data has been changed in the position data edit window (when “Modified” is shown in the status bar), clicking this button will display the warning message shown in Fig. 5.10. * Take note that if you select Yes in this window, data that have been edited but not yet been written to the controller will be lost. [4] Print Output position data to the printer. Print setting window is displayed.
5. Editing Position Data on CON Controllers and Older Models * Clicking this button while multiple rows are selected in the position data input area will cause the software to automatically populate the Start Position No. and End Position No. field. Start Position No.: First position in the selected range End Position No.: Last position in the selected range Fig. 5.12 Divide Position Data at Equal Intervals Window If data has been input between the specified two positions, the warning message in Fig. 5.
(2) Current position/alarm code The current position of the axis you are editing (unit: mm) and the associated alarm code, if any, are shown. Fig. 5.15 Current Position/Alarm Code For emergency stop, “Emergency stop” is displayed on the current position and alarm code displaying part. Fig. 5.16 Emergency Stop Indication Fig. 5.17 Motor Voltage Low Indication * When the motor voltage low is displayed, it means a state that the motor drive power is shut off.
(4) Positioning (test operation mode) You can move the axis to the position corresponding to the cursor row in the position data input area. The moving speed is calculated by multiplying the speed set in the position data input area with the speed factor. (The speed factor can also be set by the track bar.) 5. Editing Position Data on CON Controllers and Older Models Speed factor Track bar Multiple axes simultaneous start Step, continue and stop buttons from the left Fig. 5.
Simultaneous Movement of Multiple Axes Multiple axes simultaneous start button You can use this button to simultaneously move the selected axes, from among the multiple axes currently connected by link cables. Click the multiple axes simultaneous start button in the positioning setting area. The “Start multiple axes simultaneously” window will open. Axis number Position Checkbox Step, continue and stop buttons from the left Fig. 5.21 Start Multiple Axes Simultaneously Window 51 5.
5. Editing Position Data on CON Controllers and Older Models Checkbox: The axes with a check mark in this box will move. The selectable checkboxes are those of axes whose point edit window is currently open. Axis: Axis number. Position: Set a position number in one field. This position determines the movement range for each specified axis based on a routine similar to continuous movement, and the axis will move over the determined range. All selected axes will move to this position.
(5) Program Just like positioning, this is also a test operation mode. In the program mode, however, you can set a desired sequence of movement. In the position number input area, enter position numbers (0 to maximum numbers of positions) or “R” (a symbol specifying a repeat of the preceding numbers), and then click Start. The stop time of “T1” to “T5” is able to be input from the Version V8.03.00.00 and later. Up to 16 steps can be specified, including “R.
(6) Servo, Home and Alarm buttons 5. Editing Position Data on CON Controllers and Older Models Fig. 5.24 Servo, Home and Alarm Buttons [1] Servo button This button lets you turn on/off the servo. When the servo is on, a blue lamp illuminates on the button. After home return, you can turn off the servo, move the actuator manually and then click Teach to capture a desired position. Note: Closing the software when the servo is off will keep the servo in the off state, thus disabling the PIO operation.
(7) Position data input area: PCON, ACON, SCON-C, SCON-CA, ERC2, ERC3, ROBONET and MSCON Input the position data.
5. Editing Position Data on CON Controllers and Older Models Fig. 5.25 Position Data Input Area (Normal Mode) [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [11] [12] [13] Fig. 5.26 Position Data Input Area (Detail Mode) [1] No.: Indicates the position data number.
[4] Acc/Dcl: Input 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 cycle time will be reduced if the transfer mass is significantly smaller than the rated value. Make the numeric value smaller if transferred work part vibrates and causes trouble during acceleration/deceleration.
5. Editing Position Data on CON Controllers and Older Models [6] LoTh : In the case of a SCON-CA and PCON-CF controller, the load output signal (PI0) will be output when the command torque exceeds the value set in the “LoTh” field (%) within the certification range. The certification range is set by “Zone+/-.” Use this signal to determine if a press-fit operation has been successful. * For details, refer to the operation manual for your PCON-CF controller.
[8] Zone +: [9] Zone -: It defines the zone where the zone output signal of the standard type turns ON. Individual setting is available for each target position to give flexibility. [Setting example] No. 0 1 2 Position [mm] 5.00 380.00 200.00 Zone+ [mm] 100.00 400.00 250.00 Zone- [mm] 0.00 300.00 150.00 Note Backward end Forward end Midpoint Movement command to Position No. 0 (backward end) Backward end Movement command to Position No.
[10] Acc/Dcl Mode: It defines the acceleration/deceleration characteristics. The default value is 0. 0: Trapezoid pattern 1: S-shaped motion 2: First-order delay filter Trapezoid pattern 5. Editing Position Data on CON Controllers and Older Models Speed Deceleration Acceleration Time * Set the acceleration and deceleration in the “Acc” and “Dcl” fields of the position table. S-shaped motion A curve, which is gradual at the beginning of acceleration but rises sharply halfway, is drawn.
First-order delay filter More gradual acceleration/deceleration curves are drawn than the linear acceleration/deceleration (trapezoid pattern). Use this in the applications by giving micro vibrations to work part during acceleration/deceleration not desired. Speed Time [11] ABS/INC: Select either the absolute or incremental positioning. The factory setting is 0.
5. Editing Position Data on CON Controllers and Older Models [13] Stop Mode: It defines the power saving method on standby after completion of positioning to the target position set in the “Position” field of the position number. 0: No power saving method * The default setting is 0 (none). 1: Auto servo OFF method. Delay time defined with the parameter No. 36 2: Auto servo OFF method. Delay time defined with the parameter No. 37 3: Auto servo OFF method. Delay time defined with the parameter No.
(8) Position data input area On the SCON-CA (Software Version V8.00.00.00 or later) and MSCON, the following input items have been changed or added. These items are effective only on SCON-CA and MSCON controllers: [1] Gain Set “Cmnd Mode” has been changed to “Gain Set.” [2] Vib. Sup. No. “Vib. Sup. No.” has been added. (Note) For PCON, ACON, SCON, ERC2 and ROBONET as well as SCON-CA and MSCON, Version V8.00.00.00 and later show the following screen display. [2] Fig. 5.
[2] Vib. Sup. No.······You can suppress the vibration (resonance) of the load installed on the actuator. Three levels of vibration can be suppressed. Four parameters are provided for each vibration level, where all four parameters constitute one set. Set the position number requiring vibration suppression, and applicable parameter set, in the position table. Setting 5.
(9) Position data input area: RCP, RCS, E-Con, RCP2 and ERC Enter position data in this area. It is normally possible to input four items of “Position,” “Speed,” “ACC” and “Comment,” however, it becomes further possible to input items of “Push,” “Pos. band,” “MAX ACC,” “ABS INC” by switching to detailed . indication with the “Indication switching” button [1] [2] [3] [4] [5] [6] [7] [8] Fig. 5.29 Position Data Input Area (Detail Mode) [1] No.: Shows position data No.
The speed when moving the actuator (mm/sec). The default value will depend on the actuator type. [4] Acc/Dcl: The acceleration/deceleration setting for the move to the corresponding position (in G’s). The default value will depend on the actuator type. [5] Push: Selects the positioning mode or push mode. The default value is set as 0. 0: Positioning Mode (normal movement) Besides 0: Push Mode (%) In the case of push mode, data number is the motor current limiting value during push.
[7] MAX Acceleration: Selects either the assigned acceleration or the maximum acceleration. Inputs are either 1 or 0. The default value is set as 0. 0: Assigned acceleration The value placed in [4] will be used as the actual acceleration value and deceleration value. 1: Maximum acceleration This will automatically utilize the maximum acceleration matched to the load. Deceleration remains as the assigned value in [4].
5.2 Offline Mode When editing data after creating new data or loading data from a file, you are editing the data in the offline mode. In this mode, the window controls relating to axis operation are grayed out, and only the toolbar buttons and position data input area become active. Items that cannot be operated offline are grayed out. 5.2.1 Creating New Position Data 5.
[3] The created position data can be saved to a file or sent to the connected controller. (Saving the position data to a file) To save the position data to a file, click the tool button . The save as window appears. Enter a desired file name and click the Save button, and the position data will be saved to a file under the specified name. (Sending the position data to the connected controller) Connect the controller and PC. Click Position and select Send to Controller, or click the tool button .
5.2.2 Reading a File To read position data from a file, click File and then select Open to open the “Open” window. Alternatively, you can click File, point to Send to Controller and then select Position to open the “Open” window. Select folder in which position data is saved. 5. Editing Position Data on CON Controllers and Older Models Saved file name Select controller. Fig. 5.
The edited position data can be saved to a file or sent to the connected controller. (Saving the position data to a file) To save the position data to a file, click the tool button . The save as window appears. Enter a desired file name and click the Save button, and the position data will be saved to a file under the specified name. (Sending the position data to the connected controller) Connect the controller and PC. Click Position and select Send to Controller, or click the tool button .
6. Initial Setting and Position Data Editing for SEP Controllers SEP controllers: ASEP, PSEP, DSEP and MSEP 6.1 Initial Setting 6. Initial Setting and Position Data Editing for SEP Controllers Select a desired operation pattern (PIO pattern) (from 0 to 5) and set the necessary operation parameters (such as selecting the single-solenoid or double-solenoid mode). (Note) For Fieldbus Type MSEP Controllers, Positioner Mode of Operation Pattern (PIO Pattern) 6 can be selected.
[How to Set Initial Password] * The password should be the same as the one used for editing parameters. When the password set here is changed, the parameter edit password will also change to the new password. [1] From the main menu, click Setting and then select Application. Click the Change Password button. [2] Enter the current password, (the default password is “0000” for Version V7.00.03.00 or later, or "5119" for Version V7.00.01.00/V7.00.02.
6. Initial Setting and Position Data Editing for SEP Controllers In the initial setting for SEP controller window, set the necessary operation parameters (such as selecting the single-solenoid or double-solenoid mode), and then click OK. The operation parameters to be set vary depending on the operation pattern (PIO pattern). Those parameters that need not be set are grayed out. Fig. 6.
Six types of operation patterns (PIO patterns) are available on ASEP, PSEP, DSEP and MSEP controllers. Set each item according to the selected operation pattern (PIO pattern). (Note) For MSEP Controllers, Positioner Mode of Operation Pattern (PIO Pattern) 6 can be selected in addition to the 6 types. The initial setting is not necessary if Positioner Mode is selected. Operation pattern Equivalent air cylinder circuits are shown for your reference.
Operation pattern Equivalent air cylinder circuits are shown for your reference. Operation pattern Description 6. Initial Setting and Position Data Editing for SEP Controllers PIO pattern 2 Single solenoid type (Movement between two points) (Position data change) The actuator can be moved between two points using the same control you normally use with an air cylinder. You can switch between positioning operation and push-motion operation during operation.
[Types of Operation Parameters] y Solenoid Select either the single-solenoid operation mode or double-solenoid operation mode. y Servo control Select whether or not to use servo control (IN3 input signal SON (servo ON/OFF control)). y Stop signal Select whether or not to use the pause signal *STP (input to IN2) when the single-solenoid type and operation pattern 5 are selected. y Home operation Select a desired home return method. y AUTO: Home return commences when the power is input.
The operation parameters to be set vary depending on the operation pattern (PIO pattern). Setting item 6.
6.2 Editing Position Data 6.2.1 Online Mode In this mode, data is read from the controller and edited. The window is different according to each operation pattern. Click Position from the main menu and select Edit/Teach, or click the button. In the axis selection window, select the axis number corresponding to the position data you want to edit. Refer to 4, “Selecting an axis.” If the position data edit password is not “0000,” the input password window appears. Enter the password.
To change the password, perform the operations explained below. [How to Set Password for Edit Position Data Window] [1] Click Parameter from the main menu, and then select Edit. [2] In the axis selection window, select the axis number corresponding to the parameters you want to edit. (Refer to 4, “Selecting an Axis.) [3] Enter the password in the input password window. (The factory-set password is “0000.”) 6.
[8] After the parameters have been sent, a confirmation window appears asking if you want to restart the controller (execute a software reset). Click Yes to execute a software reset. Fig. 6.11 Confirmation Window for Restarting Controller 81 6. Initial Setting and Position Data Editing for SEP Controllers [9] Once a password has been set, you must enter the password to edit position data.
6. Initial Setting and Position Data Editing for SEP Controllers In the position data edit window, you can create position data by “MDI (Mathematical Direct Input),” “Direct Teaching,” “Jogging” or “Inching” operation. Created/edited position data will become effective after it has been sent to the controller. To send position data to the controller, click Position from the main menu and then select Send to Controller, or click in the position data edit window.
How the respective buttons and input areas are operated is explained below. (1) Tool buttons [1] [2] [3] [4] [5] [6] [7] [8] Fig. 6.14 Tool Buttons [1] Save to file Save data to a file. [3] Read position data again Read position data from the controller again, and then refresh the data display. If position data has been modified in the edit window (= “Modified” is shown in the status bar), the warning message shown in Fig. 6.15 appears.
(2) Current position/alarm code The current position of the axis you are editing (unit: mm) and the associated alarm code, if any, are shown. Fig. 6.17 Current Position/Alarm Code For emergency stop, “Emergency stop” is displayed on the current position and alarm code displaying part. 6. Initial Setting and Position Data Editing for SEP Controllers Fig. 6.18 Emergency Stop Indication When motor voltage lowers, “Motor volt. low” is displayed on the current position and alarm code displaying part. Fig. 6.
(4) Positioning (test operation mode) You can move the axis to the position corresponding to the cursor row in the position data input area. The moving speed is calculated by multiplying the speed set in the position data input area with the speed factor. (The speed factor can also be set by the track bar.) Speed factor Track bar Fig. 6.
(5) Servo, Home and Alarm buttons 6. Initial Setting and Position Data Editing for SEP Controllers Fig. 6.22 Servo, Home and Alarm Buttons [1] Servo button This button lets you turn on/off the servo. When the servo is on, a blue lamp illuminates on the button. After home return, you can turn off the servo, move the actuator manually and then click Teach to capture a desired position. [2] Home button This button lets you perform home return.
(6) Position input area Set the position data needed to operate the actuator. Forward position Backward position Center position Motor Actuator [1] Position ························Set the position to move the actuator to.
If CON method pressing is selected in MSEP Controllers, the maximum pressing amount in the pressing operation from the target position needs to be defined in Positioner Mode. While considering the mechanical inconsistency of the work piece, set the positioning band so the positioning would not end before the work piece gets pressed towards the target. Position at which the position complete signal turns ON when the actuator contacts work part and push completion is judged 6.
When changing the speed in operation pattern (PIO pattern) 1, set the position at which to change the speed, and new speed, in addition to position data. Fig. 6.24 Position Data Input Area: Operation Pattern 1 [8] Speed Chg Pos············Set the position at which to switch the speed while the actuator is moving to the forward position or backward position. [9] Speed Chg Vel·············Set the speed to change to. Fig. 6.25 Position Data Input Area: Operation Pattern 2 89 6.
6.2.2 Offline Mode When editing data after creating new data or loading data from a file, you are editing the data in the offline mode. In this mode, the window controls relating to axis operation are grayed out, and only the tool buttons and position data input area become active. Items that cannot be operated offline are grayed out. (1) Creating new position data To create new position data, click File from the main menu, and then select New. 6.
[3] The position data input window corresponding to the selected operation pattern appears. Enter desired position data in the position data input area. [4] The created position data can be saved to a file or sent to the connected controller. (Saving the position data to a file) To save the position data to a file, click the tool button . The save as window appears. Enter a desired file name and click the Save button, and the position data will be saved to a file under the specified name. Fig.6.
[5] Reading a File To read position data from a file, click File and then select Open to open the “Open” window. Alternatively, you can click File, point to Send to Controller and then select Position to open the “Open” window. Select folder in which position data is saved. 6. Initial Setting and Position Data Editing for SEP Controllers Saved file name Select controller. Fig. 6.
Tool buttons Position data input area The edited position data can be saved to a file or sent to the connected controller. (Saving the position data to a file) To save the position data to a file, click the tool button . The save as window appears. Enter a desired file name and click the Save button, and the position data will be saved to a file under the specified name. Fig. 6.32 Save As Window (Sending the position data to the connected controller) Connect the controller and PC.
7. Editing Parameters To load parameter data from the controller, click Parameter (P) and then select Edit (E) from the main menu, or click in the toolbar. In the “Select axis number” window, select the axis number corresponding to the axis whose parameters you want to edit. (Refer to 4, “Selecting an Axis.”) * On the versions V7.0.3.0 or later, the default password is “0000”, so the input password window will not appear. * On the versions V7.00.1.00/V7.00.2.00, the default password is “5119.
To read a parameter from the file, click File and then select Open to display a “File open” window. Or click File, point to Send to controller and then select Parameter, to display the “Open” window. Select folder in which parameter data is saved. Saved file name. 7. Editing Parameters Select controller. Fig. 7.5 “Open” Window Select (click) “File name” you want to open, and click Open on the “File Open” window, then the parameter edit window is displayed.
To send parameter read from the file to the controller, click Parameter and then select Send to controller, or button on the parameter edit window. click the Select axis number window is displayed, then select axis No. of the controller. (Refer to “4. Selecting an axis.”) Click OK on the select axis number window, then the following warning window is displayed. Click Yes, then the parameter is sent to the controller. 7. Editing Parameters Fig. 7.6 Warning Fig. 7.
Depending on the controller model, a confirmation window (Fig. 7.8) may be displayed after parameters have been sent to the controller, asking if you want to restart the controller (execute a software reset). (This window appears only when the controller to which data has been written supports the software reset function. (Except RCP, RCS and E-Con controllers.)) Fig.7.8 Controller Restart Confirmation Window If you want to change the soft limits, set values corresponding to 0.
8. Monitoring Various statuses, controller error lists, and velocity/current waveforms (other than RCP, RCS and E-CON models), can be monitored. 8.1 Status Monitor Window 8. Monitoring To monitor various statuses, click Monitor and then select Status in the main menu, or click in the toolbar. In the “Select axis number” window, select the axis number corresponding to the axis whose statuses you want to monitor. (Refer to 4, “Selecting an Axis.”) (Fig.8.
[In the case of PCON, ACON, SCON, ERC2, ERC3, ROBONET, ASEP, PSEP, DSEP, MSEP and MSCON] MANU: Status (MANU or AUTO) of the manual Axis status switch is displayed. Even some machine types Location which are not equipped with manual switch, such Speed (moving speed) as PCON-CY, indicate MANU. Alarm code Emergency stop, motor voltage low indication Internal flags * As shown in Fig. 8.3 and 8.
8. Monitoring On models supporting the force control function, Force FB and Calibration are displayed. (Note) These items are displayed only on SCON-CA controllers (of Version V8.00.00.00 or later). Fig. 8.
DO output test button Clicking the DO output button opens the I/O Test window. Here, you can click a desired port and add a check mark to forcibly turn ON the applicable signal. Fig. 8.4 Emergency Stop Indication Fig. 8.5 Motor Voltage Low Indication 101 8. Monitoring Fig. 8.
[In the case of RCP, RCS, E-Con, RCP2 and ERC] Axis status Location Speed (moving speed) Alarm code Inputs The ON/OFF status of each PIO input port is shown. Internal flags Power: Main controller power ON/OFF status Servo: Servo command status Home Cmplt: Home return complete flag ON/OFF Run: Actual servo status Outputs The ON/OFF status of each PIO output port is shown. 8.
8.2 CTL Alarm List To monitor the controller error list, click Monitor and then select CTL alarm list from the main menu, or click in the toolbar. In the “Select axis number” window, select the axis number corresponding to the axis whose controller error list you want to monitor. (Refer to 4. Selecting an Axis.) Fig. 8.7 Controller Alarm List Window 8. Monitoring Fig. 8.
(2) Toolbar [1] [2] [3] [4] 8. Monitoring Fig. 8.9 Toolbar [1] Save as Save the error list to a file (CSV format). * The saved file cannot be read in this application. [2] Print Print the error list. [3] Refresh Acquire the error list from the controller again to refresh the information displayed in the window. [4] Alarm list clear Content of the alarm list is not deleted even if the power is turned OFF (ERC2, ERC3, SCON, ACON, PCON, ROBONET, ASEP, PSEP, DSEP, MSEP and MSCON).
8.3 Velocity/Current Monitor Window To monitor velocity/current, click Monitor and then select Velocity/Current from the main menu, or click in the toolbar. In the select axis number window, select the axis number corresponding to the axis whose velocity/current you want to monitor. (Refer to 4. Selecting an Axis.) is clicked. The software will start monitoring velocity/current when Monitor start button Rated current ratio checkbox 8. Monitoring Fig. 8.
(3) Toolbar [1] [2] [3] [4] [5] [6] Fig. 8.12 Toolbar [7] [8] [1] Save as Save the displayed current data and velocity data to a file (CSV format). * Only the range of data displayed in the data display area will be saved. * The saved file cannot be read in this application. [2] Print Print the displayed current and velocity data. 8. Monitoring [3] Monitor start button Start monitoring. [4] Monitor stop button Stop monitoring.
8.4 Servo Monitor Window (Note) This window can be displayed only on SCON-CA, PCON-CA and ERC3 (of Software Version V8.03.00.00 or later) and MSCON controllers. To monitor the amount of velocity operation, etc., click Monitor from the main menu and then select Servo Monitor. On the axis selection window, select the target axis number. [Refer to 4, “Axis Selection.”] Press Fixed next. (Version V9.02.00.00 or later) Press and monitoring starts.
[Number of channels] The number of channels is 4 or 8. A desired number can be selected using user parameter No. 112, “Monitoring mode selection.” (Setting: “0” = 0 channel (This function is not used), “1” = 4 channels, “2” = 8 channels) [Buffering period] For the buffering period, a desired value between 1 and 100 [msec] can be set using user parameter No. 113, “Buffering period.
(1) Common buttons [1] [2] [3] [4] [5] [6] [7] [8] Fig. 8.15 Servo Monitor Window (Common Buttons) [1] [2] [3] [4] [5] [7] [8] 109 8. Monitoring [6] Save As button Save the monitored data to a file (*.bsmrc). Print button Print the graph. Start Monitor button Start monitoring. End Monitor button End monitoring. Zoom In along Vertical Graph Axis button Zoom in along the vertical axis of the graph. Zoom Out along Vertical Graph Axis button Zoom out along the vertical axis of the graph.
(2) Display setting area [6] [2] [1] 8. Monitoring [3] [4] [5] Fig. 8.16 Servo Monitor Window (Display Setting Area) [1] [2] [3] [4] [5] [6] Show/hide selection check boxes Selecting each check box displays a graph of the corresponding channel. When the check box is cleared, the graph disappears. Data type selection combo boxes Select the type of each data you want to monitor. Position/speed display setting radio buttons Select the display unit of position/speed data (mm or pls).
(3) Peak value display area [1] [2] [3] Fig. 8.17 Servo Monitor Window (Peak Value Display Area) [1] [2] [3] [4] Minimum value The minimum value of data monitored on each channel is shown. Maximum value The maximum value of data monitored on each channel is shown. Position/speed display setting radio buttons Select the display unit of position/speed data (mm or pls). Current display setting radio buttons Select the display unit of current data ([mA] or [% of rated current]). 111 8.
8.5 Maintenance information Window (Note) This window is available only with SCON-CA, PCON-CA ERC3, MSEP and MSCON controllers (Version V8.03.00.00 or later, V9.01.00.00 or later for MSEP, V9.02.00.00 or later for MSCON). The total number of movements of the actuator, and total distance traveled, are displayed. x Total number of movements The cumulative number of times the actuator has moved is displayed. x Total distance traveled The cumulative distance the actuator has traveled is displayed.
9. Setup 9.1 Setting of application Window Click Setting from the main menu, and then select Application. [1] Port When is clicked, the serial port list to communicate with the controller is displayed. Select port from the list. If there is not check mark in the box of “Show All”, the COM ports detected automatically are shown. With check mark, all the COM ports are shown. [2] Baud rate When is clicked, the communication baud rate the serial port list is displayed. Select baud rate from the list.
[7] Alarm at Input out of Recommended Range (V8.03.00.00 or later) is clicked, the display can be selected from show/not to show of the alarm issued when the When input value is out of the recommended range and may cause an abnormal noise or vibration at the time of parameter or position data input. 9. Setup [8] Servo Monitoring File Store Format (V8.03.00.00 or later) When is clicked, the file format to save the data monitored in the servo monitoring window can be set.
Changing any of the items in [1] to [4] and then clicking OK will display the re-connection confirmation window shown in Fig. 9.2. To reflect the change, click Yes to reconnect the axes. * The change will become effective once the application is restarted or the axes are reconnected. Fig. 9.2 Re-connection Confirmation Window 9.
9.2 Assigning an Axis Number To assign an axis number to any model without axis number setting rotary switches, click Setting from the main menu and then select Controller o Addressing Axis Number. Fig. 9.3 Addressing Axis Number Window 9. Setup In the axis number assignment window (Fig. 9.3), select a desired axis number and then click OK. When the warning window (Fig. 9.4) appears, click OK. The axis number will change. Fig. 9.4 Warning Window In the addressing axis number window (Fig. 9.
9.3 Time Setting (Note) This setting is available only with SCON-CA, PCON-CA ERC3 PIO Converter, MSEP and MSCON controllers (Version V8.03.00.00 or later, V9.01.00.00 or later for MSEP, V9.02.00.00 or later for MSCON). From the main menu, click Setting, point to Controller Setup, and then select Time setting. On the axis selection window, select the target axis number. Refer to 4, “Axis Selection.
[3] Synchronizing to PC Clock The date and time on the PC is set to the controller. When the setting is complete, the message “The time setting was completed” (Fig. 9.7) appears. Fig. 9.7 Time Setting Completion Message 9. Setup If the setting was not successful, the message “It failed in the time setting” (Fig. 9.8) appears. Fig. 9.8 Time Setting Failure Message [4] Setting button Clicking this button sets the date and time set in [1] and [2] to the controller.
9.4 Load Cell Calibration (Note) This setting is available only with SCON-CA controllers (of Version V8.00.00.00 or later). From the main menu, click Setting, point to Controller Setup, and then select Load Cell Calibration. On the axis selection window, select the target axis number. Refer to 4, “Axis Selection.
(1) The message “Load cell calibration executing…” (Fig. 9.12) appears and the calibration is performed. Fig. 9.12 Load Cell Calibration In-Progress Message 9. Setup (2) When the calibration is complete, the message “The load cell calibration was completed” (Figure 9.13) appears. Fig. 9.13 Load Cell Calibration Completion Message If the calibration was not successful, the message “It failed in the load cell calibration” (Fig. 9.14) appears.
10. Version Information [1] [2] [3] Fig. 10.1 Version Information [1] Application version The version of this application is shown. [3] Controller version The software version and manufacturing information of each connected controller are shown. (Manufacturing information may not be displayed depending on the controller type.) 121 10. Version Information [2] Version Information of each Function DLL (V8.03.00.00 or later) In here, shows the version information of each function DLL.
11. Smart Tuning Function (Version V8.03.00.00 or Later) If RC PC software (Version V8. 03. 00. 00 or later) is installed, the key file (OffBrdTune.dll file) and such as AtrDatActuator_24V_PM_BU.oact that are required for the smart tuning function are also installed. They are installed in the folder that the executable file for ‘RcPc PC PC software’ is stored. Example of storage folder: C:\Program Files\IAI\RoboCylinder DB_OFFBRD folder PC software for RC IAI America Inc.
11.1 Restrictions 11.1.1 Actuator Applicable for Smart Tuning Function Smart Tuning Function is available only on the actuators registered in the actuator attribute data (AtrDatActuator_24V_PM_BU.oact). 11.1.2 Parameter Setting Smart Tuning Function is available only when the parameters are set as shown below: [1] User Parameter No.152 High Output Setting : 1 (Enabled) [2] User Parameter No.
11.2.1 Setting of maximum acceleration/deceleration speed considering the indicated carrier load and velocity It is the function to set the maximum acceleration/deceleration speed available at the indicated carrier load and velocity. 11.2.
11.3 Operation in Edit position data Window In this section, explains the following operations performed in Edit position data window. [1] Setting of maximum acceleration/deceleration speed considering the indicated carrier load and velocity [2] Setting of acceleration/deceleration speed to provide the shortest operation time figured out from the indicated carrier load and moving distance [3] Overshoot judgment on S motion operation 11.3.
Fig. 11.6 Smart Tuning Setting Window (Function Invalid) [2] Box to show actuator setting applicable for velocity and acceleration/deceleration settings Data type Model Lead [mm] Stroke [mm] Direction Setting Actuator Button Fig. 11.7 Box to show actuator setting applicable for velocity and acceleration/deceleration settings Data Type (Version V9.02.00.
(2) Actuator setting for Vel and Acc setting [4] Direction [1] Model [6] Cancel Button [2] Lead [mm] [3] Stroke [mm] [5] Setting Button Fig. 11.9 Actuator setting for Vel and Acc setting Window 127 11. Smart Tuning Function (Version V8.03.00.00 or Later) [1] Model Select the actuator model code that is applicable for the velocity and acceleration/deceleration settings. (Note) The models available to select from are only the ones registered in “Actuator Attribute Data File”.
(3) Carrier load setting for Smart tuning function [1] Load Setting [2] OK Button [3] Cancel Button 11. Smart Tuning Function (Version V8.03.00.00 or Later) Fig. 11.10 Carrier load setting for Smart tuning function Window [1] Load Setting Input the carrier load to be set to Carrier Load Pattern No.0 to 3. The range available to input is from 0 to the value of the maximum carrier load. (Input the values in [kg] unit for the straight axis type and [kgm2] for the rotary axis.
11.3.2 Explanation of Each Operation (1) The way to operate the maximum acceleration/deceleration speed setting function against the indicated carrier load and velocity [1] Click Smart tuning button to activate the smart tuning. The display turns on and the function turns available. [1] Smart tuning button Setting Actuator Button Fig. 11.
[4] Click Load Setting button at the setting display of the actuator applicable for velocity and acceleration/deceleration settings. Load Setting Button Fig. 11.14 Box to show carrier load setting for velocity and acceleration/deceleration settings [5] Set the carrier load in “Carrier load setting for Smart tuning function” window. Click OK button. [1] Load Setting 11. Smart Tuning Function (Version V8.03.00.00 or Later) [2] OK Button [3] Cancel Button Fig. 11.
[7] Set the position and velocity in the blank position numbers. (Note) In the position numbers with data already set, this function cannot be used. Position and velocity setting cell Acceleration and deceleration setting cell Carrier load setting cell Position data input area Fig. 11.17 Edit position data Window (Note) If the set velocity exceeds the maximum velocity for the carrier load, overwrite the set velocity with the maximum speed for the carrier load.
(2) The way to operate the velocity and acceleration/deceleration speed setting function to figure out the shortest operation time from the indicated carrier load and moving distance [1] Click Smart tuning button to activate the smart tuning. The display turns on and the function turns available. 11. Smart Tuning Function (Version V8.03.00.00 or Later) [1] Smart tuning button Fig. 11.
[4] Click Load Setting button at the setting display of the actuator applicable for velocity and acceleration/deceleration settings. Load Setting Button Fig. 11.22 Box to show carrier load setting for velocity and acceleration/deceleration settings [5] Set the carrier load in “Load setting for Vel and Acc setting” window. Click OK button. [1] Load Setting [2] OK Button [3] Cancel Button [6] Set the position and velocity in the blank position numbers.
[7] “Smart tuning method select” window will appear. Select “Auto-configure Auto-configure Acc and vel depend Carrier load and distance.” and click OK Button. Fig. 11.25 Smart tuning method select Window (Auto-configure Acc and Vel depend Carrier load and distance being selected) [8] “Moving Distance Setting” window appears. Select the way to indicate the moving distance. 11. Smart Tuning Function (Version V8.03.00.00 or Later) 㩷 Fig. 11.27 Distance setting Window (Assign distance) Fig. 11.
[10] The velocity and acceleration/deceleration speed to provide the shortest operation time are set to the position that the position was set in Step [6] under the condition that the distance from the point of the start position number to the point at the end position number is considered as the movement distance. (Note) The following message may appear depending on the combination of the velocity and acceleration/deceleration speed.
(3) The way to operate the overshoot judgment function at S motion operation [1] Click Smart tuning button to activate the smart tuning. The display turns on and the function turns available. 11. Smart Tuning Function (Version V8.03.00.00 or Later) [1] Smart tuning button Fig. 11.32 Smart tuning button [2] Click Setting Actuator button at the setting display of the actuator applicable for velocity and acceleration/deceleration settings. Setting Actuator Button Fig. 11.
[4] Click Load Setting button at the setting display of the actuator applicable for velocity and acceleration/deceleration settings. Load Setting Button Fig. 11.35 Box to show carrier load setting for velocity and acceleration/deceleration settings [5] Set the carrier load in “Carrier load setting for Smart tuning function” window. Click OK button.
[7] “Distance setting” window appears. Select the way to indicate the moving distance. Fig. 11.38 Distance setting Window (Select 2 position) Fig. 11.39 Distance setting Window (Assign distance) For the following sections, the operation differs for the cases when indicating 2 points of positions and when indicating the moving distance. Ɣ When indicating 2 points of positions [8] Set the start position number setting box and click on OK button. 11. Smart Tuning Function (Version V8.03.00.
Ɣ When indicating moving distance [8] Set the moving distance setting box and click on OK button. Fig. 11.43 Distance setting Window (Assign distance) [9] In the position where the cursor showed the popup menu (background color: blue), the overshoot judgment is conducted at the set moving distance. When the risk of overshooting is high, the message shows “Risk High”, while when it is low, shows “Risk Low”. Fig. 11.45 Overshoot Judgment Message (Risk Low) 139 11.
11.4 Operation on Test Run and Takt Time Calculation This section explains how to operate the test run and takt time calculation. To open the operation window for test run and takt time calculation, select [Main Menu] [Parameter] [Control Parameter Setting] [Offboard Tuning]. Select actuator window (Fig. 11.46) will be displayed. 11.4.1 Outline of Test Run Operation In the test run operation, the setting work is to be done in the order of following windows.
11.4.2 Explanation of Each Window for Test Run Operation (1) Select actuator Window Select the model in this window. Select the model in [2] Select actuator model, and click Next. [1] Displayed Window/Model Information Display Area [4] Common Buttons Area [3] Adjustment record data Display Area Fig. 11.46 Select actuator Window [1] Displayed Window/Model Information Display Area Displayed Window Information Model Information Fig. 11.
[2] Select actuator model Source Data Select for Model Select Tuning Record Data File Select Model Select Settings Tuning Record Data Select Fig. 11.48 Select actuator model Source Data Select for Model Select Select whether creating a “new adjustment model” or “choosing from the adjustment record”. If creating a “new adjustment model” is selected, select a model to have a test run and takt time calculation from the models registered in the actuator attribute data file.
Adjustment Record Data Select This is used when switch over the adjustment record data. Number of selectable adjustment record data is shown on the right side. It is able to narrow down the search of the adjustment record data by model select setting. The item with blank in the model select setting gets excluded from the search conditions. Example) If set as: Model Code = RCP4-RA5C, Lead = 3mm The search result is narrowed down from the adjustment record data to those for RCP4-RA5C with 3mm lead.
[3] Adjustment Record Data Display Area In here, shows the details of the adjustment record data selected in “Select from Adjustment Record” in the actuator select actuator. Fig. 11.51 Adjustment record data Display Area (Select actuator Window) Data No. It shows the data number of the displayed adjustment record. 11. Smart Tuning Function (Version V8.03.00.00 or Later) Model, Lead (mm), Stroke (mm) It shows the information of actuator selected in “Select actuator” window.
Adjustment gain Since it is not applicable for PCON-CA and ERC3 gain tuning, adjustment gain display is shown with blank. Fig. 11.53 Adjustment gain (Not stored) Sys identification Since PCON-CA and ERC3 are not applicable for system identification, a blank is displayed here. Fig. 11.54 Sys identification (Not stored) 145 11. Smart Tuning Function (Version V8.03.00.00 or Later) Load In “Carrier load select” window, the carrier load which was indicated is displayed.
[4] Common Buttons Area Fig. 11.55 Common Buttons Area (Condition of all buttons displayed) Next Button Click this button and the next window is displayed. In “Adjustment record data save” window, this button changes to the following. Fig. 11.56 Display in Adjustment record data save Window 11. Smart Tuning Function (Version V8.03.00.
(2) Carrier load Select Window Set the carrier load in this window. After setting, click Next. [1] Carrier Load Indication Method Select [2] Carrier Load Indication [3] System Identification Setting [4] System Identification Result [3] System Identification Setting This cannot be used for PCON-CA and ERC3. [4] System Identification Result This cannot be used for PCON-CA and ERC3. 147 11. Smart Tuning Function (Version V8.03.00.00 or Later) Fig. 11.
(3) Test run Indicate the operation settings in this window, and the actuator can have a test run. (Note) The test run function is available only in the online work. When it is offline the screen shows as shown in the next page and the test run function cannot be used. 11. Smart Tuning Function (Version V8.03.00.00 or Later) [2] Test run setting [1] Gain Display Area [3] Test run result Display Area Fig. 11.
Fig. 11.59 Test run Window (in online work) Fig. 11.60 Gain Display Area [2] Test run setting Fig. 11.61 Test run setting 149 11. Smart Tuning Function (Version V8.03.00.00 or Later) [1] Gain Display Area The servo gain used in the test run is shown.
Start pos (mm) Set the test run start position of the actuator. End pos (mm) Set the test run end position of the actuator. Vel (mm/s) Set the test run velocity of the actuator. Acc (G) Set the test run acceleration of the actuator. Dcl (G) Set the test run deceleration of the actuator. 11. Smart Tuning Function (Version V8.03.00.00 or Later) Use gain set No. Set the gain set number used in the test run. * No. 0 is only available for PCON-CA and ERC3.
Operation Start Button Click this button to start the test run. (Note) Without clicking on Stop button, the test run automatically finishes at the end. (Note) In some cases of start position and end position settings, the following message may appear. In the case this message is displayed, change the start position and end position so the moving distance can be long enough. Fig. 11.
[3] Test run Result Display Test run result Graph Tool Button Fig. 11.66 Test run result Display Area 11. Smart Tuning Function (Version V8.03.00.00 or Later) Tool button Fig. 11.67 Tool button (Test run Window) Open the comparison file Click this button, and comparison file to be shown with the test run result. Comparison file is a file in the servo monitor format. Save with a new name Click this button to save the wave formed data of the test run result with the data format described below.
Zoom in/out of Vertical Axis Click these buttons to zoom in and out the vertical axis of the test run result. Zoom in/out of Horizontal Axis Click these buttons to zoom in and out the horizontal axis of the test run result. Displayed Data Switchover The data (velocity/current) shown on the test run result graph can be switched over with this radio button. * Only the velocity is available to show for PCON-CA and ERC3. 11. Smart Tuning Function (Version V8.03.00.
(4) Adjustment record data save window Save the adjustment record in this window. [1] Adjustment Record Data Display 11. Smart Tuning Function (Version V8.03.00.00 or Later) [2] Save new record /Over write present record Fig. 11.68 Adjustment record data save Window [1] Adjustment Record Data Display Data saved as the adjustment record can be displayed. For the two items shown below, the display and function change from the adjustment record data display in “Select actuator” window.
Gain Set No. Select Select the gain set number that is to be saved as the origin gain. The gain which is set to the controller at the startup of the Test run and Takt Time Calculation Operation Window can be saved. Since PCON-CA and ERC3 are not applicable for the gain setting, the only number being able to choose for Gain Set Number is ‘0’.
11.4.3 Explanation of Takt Time Calculation Window Takt time calculation can be performed in this window. * Click the Takt Time Calculation button in “Test Run” or “Adjustment Record Save” window. Takt Time Calculation Fig. 11.74 Common Buttons Area in Smart tuning Window 11. Smart Tuning Function (Version V8.03.00.00 or Later) [1] Display Switchover Tab Fig. 11.
(1) Test run plan [1] Friction Display Area [2] Operation Pattern Setting Grid [3] Operation Pattern Setting Tool Buttons Fig. 11.76 Test run plan Setting Window The settings of operation pattern to be held for takt time calculation can be conducted in this window. The maximum operation patterns available to set are 10 patterns. [1] Friction Display Fig. 11.77 Friction Display Area Viscs frct In here, shows the coefficient of viscous friction. The setting unit is [Nms].
11. Smart Tuning Function (Version V8.03.00.00 or Later) Dynmic frct In here, shows the kinetic friction torque. The setting unit is [Nm]. (Note) Since PCON-CA and ERC3 are not complied with system identification, “0.000000” is displayed in the box. Tuning For a controller applicable for gain tuning, the way to tune is displayed. * Since PCON-CA and ERC3 are not applicable for gain tuning, a blank is displayed here.
Acc (G) Set the acceleration. Dcl (G) Set the deceleration. INP (mm) Set the positioning width. SMotion Set the operation type from trapezoid and S motion operations, which is to be used for the takt time calculation. The numbers corresponding to the trapezoid and S motion operations are as shown below. • Trapezoid : 0 • S Motion : 1 INC Set the movement type from absolute move and incremental move, which is to be used for the takt time calculation.
[3] Operation Pattern Setting Tool Buttons Fig. 11.79 Operation Pattern Setting Tool Buttons Fastest ptn Button Click this button to set the operation pattern that provides the shortest operation time considering the moving distance. (Note) Fastest Operation Setting cannot be set unless the settings for the carrier load and moving distance are complete. Copy Button Click this button to copy the content of selected cell.
[4] Parameter Setting Fig. 11.80 Parameter Setting Change parameter for S Motion Click this button to change the following parameters for the gain set indicated in the operation pattern that the takt time calculation is already complete with S motion operation. Name No.56 “Sigmoid motion ratio setting [%]” No.
11. Smart Tuning Function (Version V8.03.00.00 or Later) (2) Test run result [1] Test run result Time Display Area [2] Test run result Graph Display Area Fig. 11.81 Test run result Display Window [1] Test run result Time Display Area Pattern selection Fig. 11.
Operation pattern selection Select the pattern to be displayed in the takt time calculation result graph with this combo box. The operation pattern numbers that the takt time calculation was held with are available to choose. Takt time (s) In here, shows the takt time of the operation pattern selected in the pattern select in “Test run result Time Display Area”.
Tool Button Fig. 11.82 Tool Button (Takt Time Calculation Window) Zoom in/out of Vertical Axis Click this button to zoom in/out the vertical axis of the operation graph. Zoom in/out of Horizontal Axis Click this button to zoom in/out the horizontal axis of the operation graph. Displayed Data Switchover The data (velocity/position) shown on the takt time calculation result graph can be switched over with this radio button. 11. Smart Tuning Function (Version V8.03.00.
12. Off Board Tuning Function on SCON-CA and MSCON Controller If RC PC software (Version V8. 05. 00. 00 or later, V9.02.00.00 or later for MSCON) is installed, the key file (OffBrdTune.dll file), and an actuator attribute data file (such as AtrDatActuator_200V_AC.oact) that are required for the off board tuning function are also installed, the off board tuning function can be used. They are installed in the folder that the executable file for ‘RcPc PC software’ is stored.
12.1 Restrictions 12.1.1 Actuators Applicable for Off Board Tuning Function The Off Board Tuning Function is only available for the actuators registered in the actuator attribute data file (AtrDatActuator_200V_AC.oact). The gain calculation is conducted based on the actuator attribute data file. The gain calculation for the actuator not registered in the actuator attribute data file cannot be conducted. 12.1.
12.2 Guideline of Off Board Tuning Function Off Board Tuning Function is a function aiming for the optimum gain calculation considering the carrier load. The following 6 types of gains are calculated: [1] Servo-Motor Gain Number [2] Position Feed Forward Gain [3] Speed Loop Proportional Gain [4] Speed Loop Integral Gain [5] Torque Filter Time Constant [6] Current Control Band Number There are 4 gain sets to store the 6 types of gain stated above to the parameters in the controller.
12.4 Operation to Select Target Axis Number for Off Board Tuning 12.4.1 Explanation of Each Item Shown in Window Select the axis number to conduct the off board tuning in this window. If online work is desired for off board tuning, select Online work, select the axis number, and click on the OK button. If offline is desired for off board tuning, select Offline work, select the motor type, and click on the OK button.
[3] Select Motor type Select the motor type of the actuator for the tuning in the offline work. [4] OK/CANCEL button OK button Click on the OK button to close “Select target axis no. for off board tuning” window and activate “Select actuator” window. There may be a case the following message box opens after clicking OK. Follow the message and select the appropriate answer. Fig. 12.
12.5 Operation on Off Board Tuning 12.5.1 Outline of Operation The off board tuning is to be conducted in the process shown below: [1] Set the model in Select actuator window. Click Next and the step forwards to Carrier load select window. Ļ [2] Set the load in Carrier load Select window. There are 2 ways to set the load as shown below. • To indicate the carrier load • To identify the system that actually moves the actuator Click Next and the step forwards to Select adjustment method window. Ļ 12.
12.5.2 Explanations for each Item in Select actuator Window Select the model of the actuator for tuning in this window. [1] Displayed Window/Model Information Display Area [4] Common Buttons Area [3] Adjustment record data Display Area Fig. 12.5 Select actuator Window [1] Displayed Window/Model Information Display Displayed Window Information Model Information Fig. 12.6 Displayed Window/Model Information Display Displayed Window Information The name of the window currently displayed is shown.
[2] Select actuator model Select actuator Settings Source Data Select for Select actuator Adjustment Record Data File Select Adjustment Record Data Select Fig. 12.7 Select actuator model Source Data Select for Select actuator Select the source data for the model selection. If choosing “New adjustment model”, select the model to tune from the models registered in the actuator attribute data file.
Adjustment Record Data Select This is used when switch over the adjustment record data. Number of selectable adjustment record data is shown on the right side. It is able to narrow down the search of the adjustment record data by select actuator setting. The item with blank in the select actuator setting gets excluded from the search conditions. Example) If set as: Model Code = ISB-SXM-60, Lead = 4mm The search result is narrowed down from the adjustment record data to those for ISB-SXM-60 with 4mm lead.
[3] Adjustment record data Display Fig. 12.10 Adjustment record data Display (Select actuator Window) The details of the adjustment record data selected in Adjustment record data select is displayed. Data No. It shows the data number of the displayed adjustment record. Model, Lead (mm) and Stroke (mm) It shows the information of actuator selected in “Select actuator” window. Origin gain In here, shows the origin gain if the origin gain is the stored adjustment record data.
Adjustment gain The gain after tuning is displayed. For the adjustment record the adjustment gain is sent to the controller, the gain set number that the gain is set to is shown in Gain Set No., and “-“ is shown if not sent. Sys identification The result of the system identification is displayed for the adjustment record the system identification is conducted. Nothing is displayed as shown below for the adjustment record data saved with no system identification. Fig. 12.
[4] Common Buttons Area Fig. 12.16 Common Buttons Area (Condition of all buttons displayed) Next button Click this button and the next window is displayed. In “Adjustment Record Save” window, this button changes to the following. Fig. 12.17 Display in Adjustment Record Save Window 12.
12.5.3 Explanations for each Item in Carrier load Select Window Set the carrier load in this window. There are 2 ways for the selection of the carrier load, one is to indicate the carrier load and the other is to figure out from the system identification, and selection can be made from these 2 ways. (Note) The system identification is available to select only in the online work. In the offline work, the window switches to the one as shown in Fig. 12.19.
12. Off Board Tuning Function on SCON-CA Controller Fig. 12.19 Carrier load Select Window (in offline work) [1] Carrier Load Indication Method Select Assign carrier load Select this radio button and the indicated carrier load can be set. It calculates by the system identification. Select this radio button and the actuator actually operates in back and forth directions to estimate the carrier load from the speed and current data obtained from the controller.
Fig. 12.20 System Identification Setting Start pos (mm) The start position for the back and forth operation can be set. (Note) In the operation for the system identification, the actuator moves back and forth between the start position and end position. Load (kg) Set the carrier load. (Note) This is the value used for the system identification calculation and the maximum speed operation setting. Set the size of the load roughly even if you do not know the accurate load size.
Acc (G) Set the acceleration speed for back and forth operation. Dcl (G) Set the deceleration speed for back and forth operation. Vel (mm/s) Set the velocity for back and forth operation. 12. Off Board Tuning Function on SCON-CA Controller Complete pos Set the data at what coordinates the actuator is to be stopped after the back and forth operation for system identification is complete.
[4] System Identification Result Result display for system identification calculation Tool button Tool button Fig. 12.22 Tool button (Carrier load Select Window) Save with a new name Click this button and the data of the waveforms for the velocity and current shown in the system identification test run result graph is saved as a csv file. Zoom in/out of Vertical Axis Click this button to zoom in/out the vertical axis of the system identification operation graph.
System identification operation graph Fig. 12.23 System Identification Result Graph (Velocity (Resp)) 12. Off Board Tuning Function on SCON-CA Controller The graph for the data selected with the displayed data switchover radio button is shown.
12.5.4 Explanations for each Item in Select adjustment method Window Set the gain adjustment method in this window. [1] Select Adjust gain set No. [2] Select adjustment method [1] Select Adjust gain set No. Select the gain set number which the adjusted gain is to be sent. The relation of the gain set numbers and the parameters where the gain is sent to is as shown below. (Note) The gain set number where the gain is adjusted to would not be shown when in the offline work.
[2] Select adjustment method Base ctrl band Simple tuning Setting Manual Setting Fig. 12.25 Select adjustment method Base ctrl band Select this radio button and click on Next button to perform the gain adjustment by the base control band. The base control band setting suits to a case when the automatic calculation of the gain considering the carrier load is required, but it is not necessary to increase the responsiveness. 12.
Manual Setting Fig. 12.27 Manual Setting 185 12. Off Board Tuning Function on SCON-CA Controller Select this radio button and click the Next button, and then the Manual window will show up. The manual suits to a case when it is necessary to set the value which the gain calculation is based on individually considering the target (directionality of the adjustment). Basis gain Select the gain that the adjustment is based on in the Manual window.
[Parameter Transfer] In the online work a message box appears in the following timings; • When “Base control band” is selected and the Next button is clicked in the Select adjustment method window • When “Simple tuning” is selected and the Next button is clicked in the Select adjustment method window Fig. 12.
12.5.5 Explanations for each Item in Manual Window Perform the gain adjustment with operating each adjustment switches in this window. [1] Manual Setting [2] Adjustment Status Display Fig. 12.31 Manual Window 187 12.
[1] Manual Setting Fig. 12.32 Manual Setting Basis gain The basis gain for the adjustment set in “Select adjustment method” window is displayed. Directionality The directionality for the adjustment set in “Select adjustment method” window is displayed. Content Select the content of the adjustment. The content can be selected from the following four items. Select an appropriate content if an improvement is required at the same time in addition to the directionality of the adjustment.
[2] Adjustment Status Display Fig. 12.33 Adjustment Status Display Display of interlock adjuster switch under influence Display of status change in each direction Display of adjustment degree No impact Improved Worsened Possibly worsened If taking PI Break Frequency in Figure 12.
Display of adjustment degree This shows the degree of the adjustment against the initial condition of each adjustment switch for the five items listed on the left side of the window. The left side of the gauge extends if it is worsened and the right side extends when there is an improvement. The gauge for the adjustment degree is displayed in 2 steps. The worsened gauge changes as “yellow red” while improved gauge goes “light blue blue”. 㩷 Fig. 12.
[3] Adjustment Band Settings Fig. 12.37 Adjustment Band Settings Band setting scroll bar Band setting display Band setting degree display Fig. 12.38 Adjustment Band Settings (Pos Gain) Band setting scroll bar By operating this scroll bar, the band setting of the switch can be changed. (Note) The operation is available only on the switches that are available for adjustment only. Band setting display In here, displays the current band setting. Fig. 12.
Band setting scroll bar By operating this scroll bar, the band setting can be changed by the interlock adjuster. By utilizing the interlock adjuster, the band setting for a several switches can be changed at the same time. (Note) The combinations of the interlock adjuster the band setting is changed at the same time may differ depending on the directionality and content. (Note) The operation is available only on the interlock adjuster that are available for adjustment only.
12.5.6 Explanations for each Item in Test run Window A test run of the actuator is available with using the adjusted gain in this window. (Note) The test run function is available only in the online work. When it is offline the screen shows as shown in the Fig. 12.44 and the test run function cannot be used. [1] Tuning Setting/Result Display [2] Test run setting [3] Test run result Display Fig. 12.44 Test run Window (in online work) 193 12.
12. Off Board Tuning Function on SCON-CA Controller Fig. 12.45 Test run Window (in offline work) [1] Tuning Setting/Result Display Gain display Adjustment method select setting display Fig. 12.47 Gain display (Test run Window) Fig. 12.46 Tuning Setting (When Manual) Adjustment method select setting display The tuning method set in “Select Tuning Method” window is displayed. (Note) The display differs depending on the selected tuning method.
Gain display Shows the gain indicated in the used gain set number for the test run setting. The selection is to be made from the following two; • Adjustment gain 䋺 Shows the adjustment gain. The gain set number shows “-” as shown in the figure below when the adjustment gain is not sent to the controller. • Test run gain 䋺 Shows the gain indicated in the used gain set number for the test run setting. Fig. 12.50 Adjustment Gain Display (Test run Window) (not sent) [2] Test run setting Fig. 12.
Drv Mode Set the operation mode during test run. The following two items can be selected for the operation mode. • Trapezoid • S motion (Note) When Operation Start button is clicked, a message box may open to confirm the change to the S motion parameter depending on the parameter settings. Select Yes and the following user parameters are changed as described, and the test run starts executed. Set value Trapezoid S-shape (Note 1) No.
Start button Click this button to start the test run. (Note) Without clicking on Stop button, the test run automatically finishes at the end. (Note) In some cases of start position and end position settings, the following message may appear. In the case this message is displayed, change the start position and end position so the moving distance can be long enough. Fig. 12.
[3] Test Run Result Display Test run result Graph Tool button Fig. 12.56 Test run result Display Tool button 12. Off Board Tuning Function on SCON-CA Controller Fig. 12.57 Tool button (Test run Window) Reading File for Comparison Click on this button and a file is read and drawn on the same graph to compare with the test run result.
Test run result Graph Positioning Complete Time Fig. 12.58 Test run result Graph (Velocity (Resp)) The graph for the data selected with the displayed data switchover radio button is shown. The vertical red line and PEND display on the top right indicated with the arrows show the positioning complete time. 12.
12.5.7 Explanations for each Item in Adjustment record data save Window [1] Adjustment Record Data Display 12. Off Board Tuning Function on SCON-CA Controller [2] Save new record /Over write present record Fig. 12.59 Adjustment record save Window [1] Adjustment Record Data Display Data saved as the adjustment record can be displayed. For the two items shown below, the display and function change from the adjustment record data display in “Select actuator” window. Gain Set No. Select Fig. 12.
Gain Set No. Select Select the gain set number that is to be saved as the origin gain. At the time the Off board tuning window is activated, the gain set selected from the gain sets No. 0 to 3 set to the controller can be saved. If the origin gain is already saved to the adjustment record data at the time “Adjustment record” was chosen in “Select actuator” window, the origin gain saved in the adjustment record can be saved by selecting “*” in the gain set number in the following window. Fig. 12.
12.6 Operations in Takt time calculation To conduct the takt time calculation, click on the Takt Time Calculation button in the Off board tuning window. (Note) “Takt time calculation” window can be opened from “Test run” window or “Adjustment record data save” window. Takt Time Calculation button Fig. 12.65 Common Buttons Area in Off board tuning Window 12.6.1 Explanations for each Item in Takt time calculation Window 12.
12.6.2 Test run plan Setting Window The settings of operation pattern to be held for takt time calculation can be conducted in this window. The maximum operation patterns available to set are 10 patterns. [1] Friction Display Area [3] Operation Pattern Setting Tool Buttons [2] Operation Pattern Setting Grid [4] Parameter Setting [1] Friction Display Area Fig. 12.68 Friction Display Area Viscs frct In here, shows the coefficient of viscous friction. The setting unit is [Nms].
[2] Operation Pattern Setting Grid Set the operation patterns to have takt time calculation. Once the takt time calculation is complete, the operation pattern can be copied and pasted to Position Data Edit window. Fig. 12.69 Operation Pattern Setting Grid Load (kg) Set the carrier load. (Note) Only the ratio of load can be reflected to the calculation for the setting of carrier load. 12. Off Board Tuning Function on SCON-CA Controller Pos (mm) Set the position. The top line (No.
INC Set the movement type from absolute move and incremental move, which is to be used for the takt time calculation. The numbers corresponding to the absolute and incremental moves are as shown below. • Absolute :0 • Incremental : 1 Gain Set Set the gain set number used for the takt time calculation. Rest time (s) Set the rest time. [3] Operation Pattern Setting Tool Buttons Fig. 12.70 Operation Pattern Setting Tool Buttons 205 12.
[4] Parameter Setting Fig. 12.71 Parameter Setting Change parameter for S Motion Click this button to change the following parameters for the gain set indicated in the operation pattern that the takt time calculation is already complete with S motion operation. Name Set value No.56 “Sigmoid motion ratio setting [%]” 100 No.** “Position feed-forward gain” 90 ** : The position feed-forward gain corresponding to the gain set number set to the operation pattern is to be applied.
12.6.3 Test run result Display Window [1] Test run result Time Display Area [2] Test run result Graph Display Area Fig. 12.72 Test run result Display Window [1] Test run result Time Display Area Fig. 12.73 Test run result Time Display Area 207 12.
12. Off Board Tuning Function on SCON-CA Controller Pattern select Select the pattern to be displayed in the takt time calculation result graph with this combo box. The pattern numbers that the takt time calculation was held with are available to choose. Takt time (s) The takt time for the pattern selected in the Pattern select is shown. Cycle time (s) The cycle time for the pattern selected in the Pattern select is shown. Cycle time is the sum of takt time and pause time.
[2] Test run result Graph Display Area Test run result Graph Tool button Tool button Fig. 12.74 Test run result Graph Display Zoom in/out of Horizontal Axis Click this button to zoom in/out the horizontal axis of the operation graph. Displayed Data Switchover The data (velocity/position) shown on the takt time calculation result graph can be switched over with this radio button.
Test run result Graph 12. Off Board Tuning Function on SCON-CA Controller Fig. 12.76 Test run result Graph (Velocity Responsiveness) The data selected with the check box on the displayed data switchover radio button can be shown.
13. Frequency Analysis Function for SCON-CA Controller Anti-Vibration Control (Version V8.00.00.00 or Later) (Note) To use the frequency analysis for vibration control function, you must install the key file (Fam.dll file). Contact IAI for information on how you can obtain the key file (Fam.dll file). [Setting up the vibration suppression frequency analysis function] Move the key file (Fam.dll file) you have obtained to the folder in which the execution file of the “RcPc RC PC Software” is stored.
13.1 Operation Overview A general operation flow from measuring the vibration frequency of the load whose vibration you want to suppress, to setting the applicable parameters, is shown below. [For each window, refer to 13.2, “Explanation of Each Window.] [For the specific operations, refer to 13.3, “Operations”] [1] Select the measurement data. Select “Import new controller data” so that you can move the actuator and import vibration data to measure the vibration frequency of the load.
[3] Perform FFT analysis of the desired data to extract the vibration frequency of the load. FFT analysis result Fig. 13.4 Analysis Result Display Window [4] Set the characteristic vibration frequency in the “Peak Freq [Hz]” field, and then select Forward to Controller and set the parameters. Fig. 13.5 Analysis Result Display Window 213 13.
13.2 Explanation of Each Window 13.2.1 Measurement Data Selection Window This window is used to select measurement data. Click the Parameter (P) menu, point to Controller Parameter Setup (C), and then select Frequency Analysis for Vibration Control (F), and the measurement data selection window will appear. [1] Import new controller data [2] Read external measurement data file [3] Read analytical already data file Fig. 13.
[2] Read external measurement data file Select this option if you want to read an external measurement data file containing data measured with a measuring equipment, etc., to perform FFT analysis and extract the vibration frequency of the load. You can select a desired existing analysis file by clicking the file browse button. Or, enter the file name directly in the file path display/file history field. When the file has been selected, click OK.
[3] Read analytical already data file Select this option if you want to read an existing analytical data file. You can select a desired existing analytical data file by clicking the file browse button. Or, enter the file name directly in the file path display/file history field. Click OK. If the extension of the file you have read is “fmdrc,” the frequency analysis for vibration control window appears where you can perform FFT analysis.
13.2.2 Sampling Window This window is used to import vibration data from the controller by moving the actuator. You can also perform various operations in this window, such as setting the range of data used in FFT analysis after vibration data has been imported from the controller or external measurement data or existing analysis data (extension “fmd”) has been read.
[1] Tool buttons Fig. 13.11 Tool Buttons Save As Clicking this button opens the pop-up menu where you can select the type of data to be saved to a file. Select the applicable data type in this menu and save the selected data to a file under a desired name. Fig. 13.12 File Save Data Type Selection Pop-up Menu Only data of the supported data types can be saved. For example, assume that measurement data is displayed but FFT analysis result is not yet displayed.
[2] Sampling/FFT analysis result window switching tabs Fig. 13.14 Sampling/FFT Analysis Result Window Switching Tabs You can click a desired tab to switch between the sampling window and FFT analysis result window. [For the FFT analysis result window, refer to 13.2.3, “Analysis Result Display Window.”] The selectable tab is shown with black text, while the text on the unavailable tab is grayed out. The currently selected tab is indicated by blue text.
Start Time [sec] Specify the start position of the range of measurement data to be used for FFT analysis, in units of [sec]. Enter a value directly in the input field or click the buttons on the right side of the input field to change the current setting, to set the analysis start time. You can also set a desired analysis time by dragging the mouse while holding down the right button over the measurement data graph to move the two red vertical lines displayed on the graph.
Num of Thinning Set how many data will be skipped before the next analysis data is adopted when the data to be analyzed is generated from the measurement data. Enter a value directly in the input field or click the buttons on the right side of the input field to change the current setting. Any value between 0 and 31 can be set, but the number of measurement data cannot exceed the total number of data to be analyzed that has been generated through thinning.
AnalyzTime [sec] The range of data to be analyzed you have just set is indicated in [sec]. The analysis time is calculated from the number of use data and number of thinning. If the data has been read from an existing analytical data file (file extension: fsd), the new setting will be saved when the file is saved.
FreqResol [Hz] The effective frequency resolution of FFT analysis is indicated. This value indicates the resolution of FFT analysis result. FFT analysis result data are integer multiples of the frequency resolution. Window Func Select the window function to be applied to the data to be analyzed in FFT analysis. One of the following four window functions can be selected: • Rectangle • Hanning • Humming • Blackman General shapes of window functions are shown below for your reference. Fig. 11.
[4] Sampling setting Data type selection Linked driving start Position number selection Wait time setting Start/Stop buttons Fig. 13.24 All-axis Setting Items These settings are available only when “Import new controller data” has been selected. 13. Frequency Analysis Function for SCON-CA Controller Anti-Vibration Control Select data type When you move the actuator to import data, the type of data corresponding to the selected check box is imported.
Wait time [sec] If sampling is to be performed with the “Link start drive” check box selected, set how long the actuator will wait after moving to the target position, before starting the next movement. (Note) This box can be set only when “Import new controller data” has been selected. (Note) This box can be set only when the “Link start drive” check box is selected. (Note) An error of approx.0.0 to 0.1 [sec] may generate between the set wait time [sec] and wait time during actual operation.
[5] Measurement Data Sampling data type selection Graph display range setting Sampling interval display Fig. 13.25 Measurement Data Full-scale button Measurement data graph Imported measurement data is displayed in a graph. The vertical axis of the graph represents the amplitude of imported waveform, while the horizontal axis represents the time. 13.
[6] Analytical object data Analytical object data graph Graph display range setting Offset Fig. 13.26 Analytical Object Data Full-scale button Analytical object data graph The current analytical object data is displayed in a graph. The vertical axis of the graph represents the amplitude of waveform, while the horizontal axis represents the time. Graph display range setting You can change the display area of the graph by changing the values set in the four input fields.
13.2.3 Analysis Result Display Window Setting items common to all axes on the frequency analysis for vibration control window Clicking the Execute FFT button performs FFT analysis and the display switches to this window. 13. Frequency Analysis Function for SCON-CA Controller Anti-Vibration Control [1] FFT analysis setting data [2] Peak frequency setting [4] Frequency resolution [3] Maximum value of FFT [6] Parameter set number selection [5] Axis number selection Fig. 13.
[1] FFT analysis result data Graph display range setting Full-scale button FFT analysis result data graph Fig. 13.28 FFT Analysis Result Data Graph FFT analysis result data graph FFT analysis result of the measured axis is displayed in a graph. FFT analysis result data is displayed in a normalized pattern based on the maximum value of data being 1.
[2] Peak frequency setting Here, set the frequency you want to set in the applicable controller parameter. Any value between 0.5 and 30 [Hz] can be set. Enter a value directly in the input field, or click the [T] button on the right side of the input field, if candidate peak frequencies have been set, to select a desired setting from the displayed list. The set frequency is indicated by a red vertical line on the FFT analysis result data graph.
[4] Frequency resolution The frequency resolution of FFT analysis result is shown. The distance between adjacent plotting points on the FFT analysis result data graph is indicated visually in [Hz]. (Note) This value is determined by the analysis time, which in turn is determined in the “sampling” window, and will not change even when settings are changed on the “FFT analysis result” window. [5] Axis number selection Set the axis number to forward the parameters to.
13.2.4 Print Setting Window Clicking the Print button in the measurement data display/analysis details setting window switches the display to this window. Set the print options. [1] Print setting for measurement data [3] Print setting for FFT result data [4] Print/Close buttons [2] Print setting for analysis data 13. Frequency Analysis Function for SCON-CA Controller Anti-Vibration Control Fig. 13.
Print setting can be performed only for printable data types as of the time the print setting window opens. Display examples of windows where only print setting for measurement data is possible, and print setting for FFT result data is possible, are shown below. Fig. 13.32 Print Setting (for Measurement Data Only) Fig. 13.
• Print list: Measurement data included in the range specified in the “Setting for print list range” area is printed in the format shown below. Fig. 13.35 Printing Format of Measurement Data List 13. Frequency Analysis Function for SCON-CA Controller Anti-Vibration Control • Print Graph The measurement data graph currently displayed in the “sampling” window is printed in the format shown below. Fig. 13.
Setting for print list range Set the range of data rows you want to print by entering values in the “Print start time [sec]” and “Print end time [sec]” input fields. Only the measurement data rows included in the range set here will be printed. The setting unit of fields in the “Setting for print list range” area is [sec]. [2] Print setting for analysis data Print type selection Setting for print list range Fig. 13.
• Print data graph The analysis data graph currently displayed in the “sampling” window is printed in the format specified below. Fig. 13.39 Printing Format of Analysis Data Graph (Note) Different options can be selected in the “Print setting for measurement data” area and “Print setting for analysis data” area, respectively. 13. Frequency Analysis Function for SCON-CA Controller Anti-Vibration Control [3] Print setting for FFT result data Print type selection Setting for print list range Fig. 13.
Fig. 13.41 Printing Format of FFT Result Data List [4] Print/Close buttons Clicking either button closes the print setting window. If the Print button is clicked, data is printed based on the print setting options effective when the button is clicked. If the Close button is clicked, data is not printed. 237 13. Frequency Analysis Function for SCON-CA Controller Anti-Vibration Control Fig. 13.
13.3 Operating Procedure Perform operations according to the procedure specified below. (1) Select measurement data. [1] Click the Parameter (P) menu, point to Control Parameter Setup (C), and then select Frequency Analysis for Vibration Control (F). [2] When the “measurement data selection” window appears, select the type of measurement data to be imported in the “measurement data display/analysis details setting/analysis result display” window under the frequency analysis for vibration control function.
(2) If “Import new controller data” has been selected, move the actuator to import analysis data. [1] The “sampling” window (new controller data) appears. [1] Tool buttons [2] Sampling/FFT analysis result window switching [4] Sampling setting [6] Data to be analyzed Fig. 13.44 Sampling Window [2] Under “Select data type” on the “Sampling” tab, select the data type you want to import during sampling. Multiple data types can be selected.
13. Frequency Analysis Function for SCON-CA Controller Anti-Vibration Control [5] Clicking the Start button in the bottom left-hand corner of the window starts sampling. While sampling is in progress, the display of the “sampling” window changes as shown below and the measurement data graph gets updated continuously. Fig. 13.45 Sampling Window (Sampling in Progress) [6] When the maximum number of importable data have been sampled, sampling stops automatically.
(3) Perform FFT analysis. Perform steps [1] to [6] in the sampling window. (Steps [1] to [4] can be performed in any order.) [1] Set the analysis start time in the “FFT setting” area. [2] Set the number of use data in the “FFT setting” area. [3] Set the number of thinning in the “FFT setting” area. [4] Set the window function in the “FFT setting” area. [5] When all items in the “FFT setting” area have been set, click the Execute FFT button, and FFT analysis will be performed. The FFT result is displayed.
(4) From the FFT result, select the setting of characteristic vibration frequency to be forwarded to the controller as a parameter set value, and forward to the controller. [1] Set the value you want to forward to the controller, in the “Peak Freq” field. Set the axis number and parameter set number. 13. Frequency Analysis Function for SCON-CA Controller Anti-Vibration Control 㵰Peak Freq” field Fig. 13.47 FFT Analysis Result Window [2] Click the Forward to Controller button.
14. Appendix 14.1 Parameter (Factory Default Setting) Initializing Method Note: Parameters (factory default setting) can be initialized only for PCON, ACON, SCON, ERC2, ERC3, ROBONET, ASEP, PSEP, DSEP, MSEP and MSCON controller. Note: Note that parameters set by user are changed to the factory default parameters when parameters (factory default setting) are initialized. (1) Right click a blank part of the toolbar (Appendix Fig. 14.1) while pressing the Ctrl key, then input password window as shown in Fig.
(3) When the menu “Controller Initialization” (factory default setting) displayed in (2) is selected, a dialog box in appendix Fig. 14.4 is displayed. Click OK when one axis is connected. Set axis No. and click OK when multiple axes are connected. Fig. 14.4 Initialization Dialog Box (4) Then, a warning dialog in Fig. 14.5 is displayed. If there is no problem, click Yes. Fig. 14.5 Warning Windows 14. Appendix A warning dialog in Fig. 14.6 is further displayed when the servo is ON.
14.2 PC Software Error List These errors are specific to the PC software. For the controller errors, refer to the operation manual for each controller. Code Message 103 File write error 104 105 Entered value too small Entered value too large 108 Teaching prohibited before home return 10B File open error (read) 10C File open error (write) 10D File read error 10F 111 119 The entered value is smaller than the setting range. The entered value is larger than the setting range.
Code Message 11A No effective axis 122 123 124 14. Appendix 125 20C 20D 20E 211 Description This error indicates that “axis number assignment” was attempted when no axis was connected. Or, the axis number of controller may not have been recognized. Causes : [1] The controller is not operating properly. [2] The signal wire (SGA/SGB), and only the signal wire, is broken in the supplied cable. [3] If a SIO converter is used, the link cable is not connected although 24 V is supplied to the converter.
Code Message 212 JOG signal ON COM port open error 301 Receive timeout error 302 Receive buffer overflow 303 Receive overrun 304 Receive framing error 247 14. Appendix 300 Description This error indicates that the jog signal (JOG) was turned ON by the PLC while the actuator was moving, and duplication of move commands occurred as a result. This error indicates that the COM port specified in the “application of setting window” could not be opened.
Code Message 305 Communication error Checksum error 307 CRC error 308 Receive message error 310 Connected model not supported 311 Baud rate specification error (PC COM port) 14. Appendix 306 Description A communication error not specified above occurred when a response message was received from the controller. Causes : [1] Communication fault due to poor connection between the PC and controller [2] Communication fault due to noise (garbled data, etc.
15. File Extensions Model name RCP RCS E-Con RCP2 ERC ERC2 ERC3 PCON, RPCON PCON-CA ACON, RACON SCON-C SCON-CA ASEP PSEP DSEP MSEP (for servo motor) MSEP (for pulse motor) MSCON List of File Extensions Position data file Parameter file *.ptr *.pmr *.ptr *.prr * pte *.pre *.ptr2 *.pmr2 *.ptre *.pmre *.ptre2 *.pmre2 *.ptre3 *.pmre3 *.ptpc *.prpc *.ptpa *.prpa *.ptac *.prac *.ptsc *.prsc *.ptsa *.prsa *.ptas *.pras *.ptps *.prps *.ptds *.prds *.ptma *.prma *.ptmp *.prmp *.ptms *.prms Backup file *.bkr *.
16. Change History Revision Date December 2009 February 2010 August 2011 Added descriptions of ASEP/PSEP controller operations. Change the default system password from “5119” to “0000.” Sixth edition Change in software license agreement September 2011 Seventh edition P39 Added the PCON-CA position window. P58 Added PCON-CA in (8), “Position data input area” P97 Added the PCON-CA alarm display window. P101 to 104 Added 8.4, “Servo Monitor Window.” P105 8.
Manual No.: ME0155-15A (April 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.
