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IAI MCON-C, Instruction Manual

The IAI MCON-C is an impressive industrial robot controller capable of performing complex motions with ease. With its intuitive interface and advanced programming capabilities, this controller ensures optimal performance. Discover all the features and functionality in its comprehensive Instruction Manual, available for free download at manualshive.com.

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334 

{

: ON 

z

: OFF 

*ALM  ALM8 

(PM8) 

ALM4 

(PM4) 

ALM2 

(PM2) 

ALM1 

(PM1)  Binary Code

Description: Alarm code is shown in ( ). 

z

 

z

 

{

 

{

 

{

 

7 

Z-phase position error (0B5) 

Z-phase detection time out (0B6) 

Magnetic pole indeterminacy (0B7) 

Excitement detection error (0B8) 

Home sensor non-detection (0BA) 

Home return timeout (0BE) 

z

 

{

 

z

 

z

 

z

 

8 

Actual speed excessive (0C0) 

z

 

{

 

z

 

z

 

{

 

9 

Overcurrent (0C8) 

Overvoltage (0C9) 

Overheat (0CA) 

Current Sensor Offset Adjustment Error (0CB) 

Drive source error (0D4) 

z

 

{

 

z

 

{

 

{

 

11 

Command counter overflow in Incomplete home 

return (0D5) 

Deviation overflow (0D8) 

Software stroke limit exceeded (0D9) 

Pressing motion range over error (0DC) 

z

 

{

 

{

 

z

 

z

 

12 

Electric angling mismatching (0B4) 

Servo error (0C1) 

Illegal control system transition command (0C5) 

Motor power source voltage excessive (0D2) 

Overload (0E0) 

Driver logic error (0F0)

 

z

 

{

 

{

 

z

 

{

 

13 

Encoder send error (0E4) 

Encoder receipt error (0E5) 

Encoder Counter Error (0E6) 

A-, B- and Z-phase wire breaking (0E7) 

A and B-phase wire breaking (0E8) 

BLA encoder error detection (0EB) 

PS-phase wire breaking (0EC) 

Absolute encoder error detection 1 (0ED) 

Absolute encoder error detection 2 (0EE) 

Absolute encoder error detection 3 (0EF) 

z

 

{

 

{

 

{

 

z

 

14 

CPU error (0FA) 

Logic error (0FC) 

z

 

{

 

{

 

{

 

{

 

15 

Nonvolatile memory write verify error (0F5) 

Nonvolatile memory write timeout (0F6) 

Nonvolatile memory data destroyed (0F8) 

 

(Note) *ALM Signal is an active low signal. It is ON when the power is applied to the controller, and 

turns OFF when the signal is output. 

 

 

Chapter 9 

Troubleshooting

Summary of Contents for MCON-C

Page 1: ...MCON C CG Controller Instruction Manual Fourth Edition ...

Page 2: ......

Page 3: ...me no responsibility for the outcome of any operation not specified herein Information contained in this Instruction Manual is subject to change without notice for the purpose of product improvement If you have any question or comment regarding the content of this manual please contact the IAI sales office near you Using or copying all or part of this Instruction Manual without permission is prohi...

Page 4: ...0341 iv CompoNet CompoNet This Manual ME0341 v EtherNet IP EtherNet IP This Manual ME0341 vi EtherCAT EtherCAT This Manual ME0341 vii PROFINET IO PROFINET IO This Manual ME0341 viii CC Link IE Field CC Link IE Field This Manual ME0341 ix SSCNETⅢ H SSCNETⅢ H ME0352 x MECHATROLINK Ⅲ MECHATROLINK Ⅲ ME0317 xi EtherCat Motion EtherCat Motion ME0367 Teaching Tool PC Software PC Software ME0155 Teaching ...

Page 5: ...on In this chapter explains about the vibration suppress control function to reduce vibration caused by the actuator Chapter 5 Collision Detection Feature In this chapter explains the setup and tuning for collision detection feature Chapter 6 Power Saving Function In this chapter explains the feature to reduce the power consumption Chapter 7 Absolute Reset and Absolute Battery In this chapter expl...

Page 6: ...EtherCAT Interface 29 1 4 7 Specifications of PROFINET IO Interface 29 1 4 8 Specifications of CC Link IE Field Interface 29 1 4 9 Specifications of SSCNETⅢ H Interface 30 1 4 10 Specifications of MECHATROLINK Ⅲ Interface 30 1 4 11 Specifications of EtherCAT Motion Network Interface 30 1 5 External Dimensions 31 1 5 1 Controller Main Unit 31 1 5 2 Absolute Battery Box 32 1 6 Option 33 1 6 1 Absolu...

Page 7: ...Mode 163 3 7 1 Input and Output Signal Functions 163 3 7 2 Operation for Positioner 1 Simple Direct Modes 180 3 7 3 Operation for Direct Indication Mode 182 3 7 4 Operation for Positioner 2 Positioner 3 and Positioner 5 Modes 184 3 8 Control and functions of Input and output signals of Remote I O Mode 186 3 8 1 Operation Supportive Signal Patterns 0 to 2 4 and 5 in common 186 3 8 2 Operation with ...

Page 8: ...hless DC Electric Motor 324 Chapter 9 Troubleshooting 325 9 1 Action to Be Taken upon Occurrence of Problem 325 9 2 Fault Diagnosis 327 9 2 1 Impossible operation of controller 327 9 2 2 Positioning and speed of poor precision incorrect operation 328 9 2 3 Generation of noise and or vibration 329 9 2 4 Impossible Communication 329 9 3 Gateway Alarm 330 9 3 1 Gateway Alarm Codes 330 9 4 Driver Alar...

Page 9: ...65 11 2 Scope of the Warranty 465 11 3 Honoring the Warranty 465 11 4 Limited Liability 465 11 5 Conditions of Conformance with Applicable Standards Regulations Etc and Applications 466 11 6 Other Items Excluded from Warranty 466 Change History 467 ...

Page 10: ... 2 2 Check the emergency stop circuit Servo ON Turn the servo ON for all the connected axes by operating a teaching tool such as PC Caution Please perform this process with the actuator away from the mechanical end or interfering objects as much as possible Move the actuator away from interfering surroundings It may generate an alarm if the actuator hit the mechanical end or interfering objects wh...

Page 11: ...ant safety parts of machinery Safety device etc Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Do not use it in any of the following environments 1 Location where there is any inflammable gas inflammable object or explosive 2 Place with potential exposure to radiation 3 Location with the ambient temperature or relative humidity e...

Page 12: ...the safety factor of the hook in such factors as shear strength Do not get on the load that is hung on a crane Do not leave a load hung up with a crane Do not stand under the load that is hung up with a crane 3 Storage and Preservation The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation Store the ...

Page 13: ...seness Failure to do so may cause a fire electric shock or malfunction of the product Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failure to do so may cause the product to malfunction or cause fire 4 Installation and Start 3 Grounding The grounding operation should be performed to prevent an electric shock or electrost...

Page 14: ... to secure safety Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity 5 Teaching When the work is carried out with 2 or more persons make it c...

Page 15: ...minal block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction 7 Automatic Operation Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Before starting automatic operation make sure that all peripheral equipment is in an automatic operation ready...

Page 16: ...sult in a damage to the product When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Pay attention not to lose the cover or untigh...

Page 17: ...he product is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning Caution This indicates a potentially hazardous situation which if the product is not handled correctly may result in minor injury or property damage Caution Notice Thi...

Page 18: ... Refer to Chapter 3 2 Initial Setting and Chapter 8 Parameter Set the operation mode and operation pattern setting to the logic that suits your use after the power is turned ON 5 Actuator would not operate without servo on and pause signals 1 Servo ON Signal SON The servo on signal SON is available to select whether to enable or disable in the Parameter No 21 Refer to 8 2 13 Servo ON input disable...

Page 19: ... from rubbing or wire break due to the cables getting twisted Take particular note on actuators of 360 degree specification because they can be rotated infinitely in a single direction 8 Limitations on operation of rotary actuator in index mode Rotary actuators of 360 specification can select the normal mode for finite rotations or the index mode enabling multi rotation control by using parameter ...

Page 20: ... from 0 to 10msec for some PLC Therefore the same process as when the timer is not set is held and may cause a failure such as the actuator cannot get positioned to the indicated position number in Positioner Mode Set 2 as the minimum value for the setting of 10msec timer and when setting to 100msec use 10msec timer and set to 10 This controller scan time 1msec PLC e g scan time is 20msec Output P...

Page 21: ...n the teaching tool before turning the servo on is the coordinates before adjustment operation 3 After the first time the servo is tuned on after the power has been supplied the home return complete signal HEND and the limit switch output signal LS are output 4 When the first servo on is conducted out of the soft limit range an error would not be output Soft limit monitoring starts after it is mov...

Page 22: ...12 International Standards Compliances MCON with the following overseas standard RoHS Directive CE Marking UL ...

Page 23: ... External Brake Input Connector 4 Drive Cutoff Emergency Stop Input Connector 2 Power Line Input Connector 1 FG Terminal 3 Model Code Record Card 11 System I O Connector 13 Fieldbus Connector 8 Fan Unit 16 Slot 1 Actuator Connector Upper side 3rd axis Axis No 2 AX2 Lower side 4th axis Axis No 3 AX3 15 Slot 2 Actuator Connector Upper side 5th axis Axis No 4 AX4 Lower side 6th axis Axis No 5 AX5 14 ...

Page 24: ...ach axis connected to this connector to make a compulsory brake release available and the actuator can be moved manually while the servo is OFF Refer to 2 3 6 6 Absolute Battery Connector This connector is mounted on the simple absolute type An external absolute battery box for eight axes can be connected with one cable This is not mounted on the incremental type 7 Status LEDs for Driver These lam...

Page 25: ...ng modes by the mode selection on each switch and teaching tool Condition MCON status Switch on Front Panel Teaching Tool Note 1 Operation Mode Switchover Input Note 2 AUTO Prohibit PIO Startup OFF Input 0V AUTO Accept PIO Startup OFF Input 0V AUTO Accept PIO Startup ON Release MANU Accept PIO Startup ON Release AUTO MANU Accept PIO Startup OFF Input 0V AUTO Prohibit PIO Startup ON Release MANU Pr...

Page 26: ...han the one that the board was originally inserted to The parameter dedicated for the indicated actuator is already written to the driver board at the purchase order Inserting the driver board to another slot may lead to a wrong wiring 3 On the slot without a driver board inserted there is a face plate attached Caution Cutoff boot of driving source is to be done on each driver board 2 axes control...

Page 27: ...0 defines the home position and items in are for the home reversed type option 1 Rod Type 2 Slider Type 3 Table Type 4 Arm Type Caution There are some actuators that are not applicable to the origin reversed type Check further on the catalog or the Instruction Manual of the actuator 0 0 0 0 0 0 0 0 ...

Page 28: ...hment is not included in the actuator package Please prepare separately 6 Rotary Type 330 Rotation Type Multi Rotation Type For Multi Rotation Type with the origin reversed type the directions of and are the other way around Finger Attachment Note 0 330 ...

Page 29: ... AWG20 to 22 Motor Driving Power Supply 3 5 to 0 75mm2 AWG12 to 18 Choose a size that withstands the current Refer to 2 3 1 Connection to Power Input Connector 3 External Brake Input Connector FMCD1 5 5 ST 3 5 Supplier PHOENIX CONTACT 1 Recommended cable size 0 5 to 0 2mm2 AWG20 to 24 4 Drive Cutoff Emergency Stop Input Connector FMCD1 5 8 ST 3 5 Supplier PHOENIX CONTACT 1 Recommended Cable Size E...

Page 30: ... CC Link Connector For CC Link Type MSTB2 5 5 STF 5 08 AU Supplier PHOENIX CONTACT 1 Terminal Resistance 130Ω1 2W 110Ω1 2W enclosed one unit each 9 Absolute Battery Box Option For Simple Absolute Type MSEP ABB 1 Battery AB 7 Please purchase separately 10 Safety Guide 1 The picture shows an image 11 First Step Guide ME0344 1 The picture shows an image 12 Instruction Manual DVD 1 The picture shows a...

Page 31: ...d Type Deadman Switch Type TB 02 TB 02D 5 Data Setter TB 03 Wired Link TB 03 1 1 3 Instruction manuals related to this product which are contained in the instruction manual DVD No Name Manual No 1 MCON Controller Instruction Manual ME0341 2 PC Software RCM 101 MW RCM 101 USB Instruction Manual ME0155 3 Touch Panel Teaching to Apply for TB 01 TB 01D TB 01DR Position Controllers Instruction Manual M...

Page 32: ...formation of the connected axes Axis No 0 to 7 7 CAUTION Connect the wiring correctly and properly Use IAI Corporation specified cables Made In Japan 2 Model Code Card Equipment Name Model MCON C 5 20PWAI PWAI 20WAI 20WAl 3DI N DV 2 0 ABB Serial No Version Model Version 0 0 A0 A0 NN NN BOA NN AXIS No Model Serial No 0 RCP5 SA4C WA 35P 16 200 P3 S 1 2 RCA2 TCA4NA I 20 4 50 A1 S 3 RCA2 TCA4NA I 20 4...

Page 33: ...r A Ineffective axis equipped with servo motor driver P Ineffective axis equipped with pulse motor driver D Ineffective axis equipped with brushless DC motor driver N Not connected not equipped with motor driver Encoder Type WAI Incremental Battery less Absolute Shared Pulse Motor Type Servo Motor Type I Incremental Brushless DC Motor Type SA Simple Absolute Pulse Motor Type Servo Motor Type Optio...

Page 34: ...ng Points 256 points There is no limit for simple direct and direct indication modes Note The number of positioning points differs depending on the operation mode select by the parameter setting LED Display mounted on Front Panel Status LED for Driver 8 points for each driver board Status LED for Fieldbus 7 points Forcibly Releasing of Electromagnetic Brake Can be released with the forcibly releas...

Page 35: ... supplied ordinary 100ms Note 3 High output type driver board can control one axis per board Note 4 Maximum current draw is realized during the excitation phase following the initial servo power ON Normal Approx 1 to 2 sec MAX 10 sec Encoder Resolution See below for the resolution of encoders mounted on the connectable actuators Actuator Type Encoder Resolution RCP2 to 5 All types 800 pulse rev Pu...

Page 36: ...he same time by having the timing of emergency stop release turning the motor power on and timing to turn the servo on shifted Note 1 from each other and so on Huge current flow of the same time may cause a transient voltage drop Be careful especially when selecting a power source equipped with remote sensing Note1 The timing to turn the servo on can be shifted in Driver Shutdown Release Delay Tim...

Page 37: ...Note 1 For T branch communication refer to the Instruction Manuals for the master unit and programmable logic controller PLC to be mounted Note 2 The cable side connector is a standard accessory Refer to 1 1 1 Parts 1 4 2 Specifications of CC Link Interface Item Specification Communication Protocol CC Link ver1 10 or ver2 00 Station Type Remote Device Station MAX four stations occupied Baud Rate 1...

Page 38: ...ication Cable Length Follows CompoNet specifications Slave Type Word Mixed Slave Available Node Addresses for Setting 0 to 63 Setting conducted on controller parameter Number of occupied channels Refer to 3 4 1 PLC Address Construction by each Operation Mode Communications Cable Note 1 Round Cable JIS C3306 VCTF2 core Flat cable I with no sheathed Flat cable II sheathed Connector Controller Side X...

Page 39: ...ch segment 100m Max Number of Connection Master Unit Available Node Addresses for Setting 0 0 0 0 to 255 255 255 255 Communications Cable Note 1 Category 5 or more Double shielded cable braided with aluminum foil recommended Connector RJ45 Connector 1pc GSDML File Version Ver 2 3 Note 1 Prepare separately for the communication cable 1 4 8 Specifications of CC Link IE Field Interface Item Specifica...

Page 40: ...1 4 10 Specifications of MECHATROLINK Ⅲ Interface Refer to MECHATROLINK Ⅲ interface MECHATROLINK Ⅲ Applicable Controller Instruction Manual ME0317 1 4 11 Specifications of EtherCAT Motion Network Interface Refer to EtherCAT Motion interface EtherCAT Motion Applicable Controller Instruction Manual ME0367 Chapter 1 Specifications Check ...

Page 41: ...31 1 5 External Dimensions 1 5 1 Controller Main Unit 123 115 95 111 108 7 5 59 from DIN rail center 10 5 φ5 φ5 5 5 4 4 10 5 Front View Rear View Side View Chapter 1 Specifications Check ...

Page 42: ...32 1 5 2 Absolute Battery Box 111 108 59 from DIN rail center 10 5 φ5 φ5 5 5 4 4 123 115 98 Front View Rear View Side View Chapter 1 Specifications Check ...

Page 43: ...ble length 0 5m Front View when Cover ON AX3 AX7 AX1 AX4 AX5 AX6 AX7 AX3AX2AX1AX0 AX4 AX6 AX0 AX2 AX5 5th Axis Battery Axis No 4 7th Axis Battery Axis No 6 1st Axis Battery Axis No 0 3rd Axis Battery Axis No 2 6th Axis Battery Axis No 5 8th Axis Battery Axis No 7 2nd Axis Battery Axis No 1 4th Axis Battery Axis No 3 Front View when Cover OFF Connector to connect with MCON Note Do not apply force n...

Page 44: ... 2 K Kaneko Cord Cable Diameter φ4 6 2 8 Rectangular Wire wound Resistor BGR10THA12RJ KOA Condition to Require Regenerative Units Number of Connected Actuator 3 to 8 units of high acceleration deceleration type actuators Number of Regenerative Resistor Unit 1 Caution The regenerative resistor consumes regenerative current and converts it to heat Therefore the temperature may get high in some opera...

Page 45: ...t may come in contact with water oil or chemical droplets Environment that blocks the air vent Refer to 1 8 Noise Elimination and Mounting Method When using the product in any of the locations specified below provide a sufficient shield Location subject to electrostatic noise Location where high electrical or magnetic field is present Location with the mains or power lines passing nearby 2 Storage...

Page 46: ...rber parallel with the coil 2 DC solenoid valves magnet switches and relays Measure Mount the windings and diodes in parallel Select a diode built in type for the DC relay Earth Terminal Grounding resistance at 100Ω or less Formerly Class III grounding Copper wire Connect a ground wire with a diameter of 1 6 mm 2mm 2 AWG14 Connect the ground line to the FG terminal block on the controller unit Put...

Page 47: ...ment as much as possible Approximately 20 C is the recommended temperature 20mm or more 20mm or more 20mm or more 20mm or more 20mm or more 50mm or more Ensure enough space for wiring 50mm or more Air outlet Heat Radiation Air outlet Heat Radiation Air inlet Air inlet Rear View Ceiling For the attachment of the unit use the fixture holes on the four corners or attach on the DIN rail Attachment sho...

Page 48: ...38 Chapter 1 Specifications Check ...

Page 49: ... or removing the connector while the power is turned ON causes a controller failure Teaching Pendant Touch Panel Teaching to be purchased separately Host System Master Unit PLC etc Please prepare separately Communication power supply if necessary 24V DC Please prepare separately Actuator Emergency Stop Circuit Control Drive Power Supply 24V DC Please prepare separately PC software to be purchased ...

Page 50: ... CR1 select the one with coil current 0 1A or less Note 5 By cutting out the connection between EMG SLOT and EMGINSLOT only the disconnected slot number can be made in the condition of an emergency stop Slot Number Caution When supplying the power by turning ON OFF the 24V DC keep the 0V being connected and have the 24V supplied disconnected cut one side only EMGINSLOT0 EMGINSLOT1 EMGINSLOT2 EMGIN...

Page 51: ...ergency Stop Input Connector Power Line Input Connector System I O Connector MSEP MPISLOT3 MPOSLOT3 CR2 Note 2 MPISLOT2 MPOSLOT2 CR2 Note 2 MPOSLOT1 MPISLOT1 CR2 Note 2 MPISLOT0 MPOSLOT0 CR2 Note 2 MP 24V 0V CP 24V 0V EMG SLOT0 Note 5 EMG SLOT0 EMGINSLOT0 EMG SLOT1 EMGINSLOT1 EMG SLOT2 EMGINSLOT2 EMG SLOT3 EMGINSLOT3 S1 4 3 2 1 12 11 10 9 7 8 5 6 15 16 13 14 1 3 4 2 3 4 3 2 1 12 11 10 9 7 8 5 6 15...

Page 52: ...each cable 1 Connection to RCP2 Series 2 Connection to RCP6 RCP5 RCP4 RCP3 RCA2 RCD and RCL Series 3 Connection to RCP2 Small Rotary Series 4 Connection to RCA Series AX0 1st axis AX1 2nd axis AX2 3rd axis AX3 4th axis AX4 5th axis AX5 6th axis AX6 7th axis AX7 8th axis MCON AX0 to 7 5 Actuator Connector Connection Cable Note 1 MCON AX0 to 7 5 Actuator Connector Connection Cable Note 1 MCON AX0 to...

Page 53: ...in brackets for RCD show the symbols for the applicable controllers Note 3 The maximum cable length for RCD is 10m for both the standard cable and robot cable 3 Connection to Absolute Battery Unit for Simple Absolute Type Only Note Do not apply force not being perpendicular to the connector when insert or detach the cable 4 Layout for Mode Switchover Circuit When a switchover of the operation mode...

Page 54: ...resistor consumes regenerative current and converts it to heat Therefore the temperature may get high in some operational conditions Attach on the metal part of the device with a screw the heat Axis No 0 Brake Release Input Circuit Axis No 7 Brake Release Input Circuit Axis No 6 Brake Release Input Circuit Axis No 4 Brake Release Input Circuit Axis No 5 Brake Release Input Circuit Axis No 3 Brake ...

Page 55: ...e 121Ω Master Unit Terminal Resistance 121Ω 24V Power Supply 2 CC Link Type Slave Devices MCON CC Link Type SLD and FG are internally connected Terminal Resistance is required to be mounted on the terminal The terminal resistor differs depending on the type of the dedicated cable for CC Link Cable FANC SBH 130Ω1 2W High Performance Cable dedicated for CC Link Cable FANC SB 110Ω1 2W CC Link Dedicat...

Page 56: ...Supply power separately to the slave devices that requires the communication power supply It is not necessary to supply communication power to MCON Unit however there is no problem even if communication power is supplied 5 EtherNet IP Type Master Unit Switching Hub Slave Devices Ethernet Straight Cable Category 5 or more Double shielded cable braided with aluminum foil recommended MCON Unit EtherN...

Page 57: ... MEHCATROLINK Ⅲ Type Refer to wiring of MEHCATROLINK Ⅲ MEHCATROLINK Ⅲ Applicable Controller Instruction Manual ME0317 Ethernet Straight Cable Category 5 or more Double shielded cable braided with aluminum foil recommended Terminal resistance is not required Ethernet Straight Cable Category 5 or more Double shielded cable braided with aluminum foil recommended Master Unit Slave Devices MCON Unit PR...

Page 58: ...standard package Manufactured by PHOENIX CONTACT Controller Side MSTBA2 5HC 4 G 5 08 Pin No Signal Name Description Applicable cable diameter 1 0V 1 2 3 4 2 CP 24V Power Input for Control 24V DC 10 KIV0 5 to 0 3mm2 AWG20 to 22 3 0V Front view of connector on controller side 4 MP 24V Power Input for Motor Drive 24V DC 10 KIV3 5 to 0 75mm2 AWG12 to 18 Select the cable thickness allowable for the cur...

Page 59: ... terminal Connector Name System I O Connector Cable Side FMCD1 5 4 ST 3 5 Enclosed in standard package Manufactured by PHOENIX CONTACT 1 2 3 4 6 7 8 5 Controller Side MCDN1 5 4 G1 3 5P26THR Pin No Signal Name Description Applicable cable diameter 1 EMG 24V 24V power output for emergency stop 2 S2 For external emergency stop signal input 3 S1 For external emergency stop signal output 4 EMG Emergenc...

Page 60: ...nd 1 4 MPISLOT0 For motor power input slot 0 Axis No 0 and 1 KIV1 25 to 0 5mm2 AWG16 to 20 Select the cable thickness allowable for the current figured out in the power capacity 1 2 3 4 5 7 8 6 9 10 11 12 13 14 15 16 Front view of connector on controller side 5 EMG 24VSLOT1 For emergency stop power output slot 1 Axis No 2 and 3 6 EMGINSLOT1 For emergency stop power input slot 1 Axis No 2 and 3 7 E...

Page 61: ...A phase 6 φ B Motor Driving B phase 7 LS Limit Switch Positive Side 8 LS Limit Switch Negative Side 9 BK Brake Release Positive Side 10 BK Brake Release Negative Side 11 NC Not to be used 12 NC Not to be used 13 A EncoderA phase differential input 14 A EncoderA phase differential input 15 B Encoder B phase differential input 16 B Encoder B phase differential input 17 5V Encoder Power Supply 18 PS ...

Page 62: ...egative Side 11 A EncoderA phase differential input 12 A EncoderA phase differential input 13 B Encoder B phase differential input 14 B Encoder B phase differential input 15 Z Encoder Z phase differential input 16 Z Encoder Z phase differential input 17 5V Encoder Power Supply 18 PS Encoder Line Driver Enable Output 19 GND Ground 20 LSGND Ground for Limit Switch 21 NC Disconnected 22 NC Disconnect...

Page 63: ... 10 NC Disconnected 11 A EncoderA phase differential input 12 A EncoderA phase differential input 13 B Encoder B phase differential input 14 B Encoder B phase differential input 15 HS1 Hall IC Input 1 16 HS2 Hall IC Input 2 17 5V Encoder Power Supply 18 NC Disconnected 19 GND Ground 20 HS3 Hall IC Input 3 21 NC Disconnected 22 NC Disconnected 23 NC Disconnected Front view of connector on controlle...

Page 64: ... No 4 Axis No 4 Absolute Battery Temperature Sensor A8 BATTMP AXIS No 5 Axis No 5 Absolute Battery Temperature Sensor A9 BATTMP AXIS No 6 Axis No 6 Absolute Battery Temperature Sensor A10 BATTMP AXIS No 7 Axis No 7 Absolute Battery Temperature Sensor B10 GND 0V B9 BAT AXIS No 0 Axis No 0 Absolute Battery B8 BAT AXIS No 1 Axis No 1 Absolute Battery B7 BAT AXIS No 2 Axis No 2 Absolute Battery B6 BAT...

Page 65: ...ACT Controller Side MCDN1 5 5 G1 3 5P26THR Pin No Signal Name Description Applicable cable diameter 1 BKRLS AXIS No 3 Axis No 3 Brake Release Input 2 BKRLS AXIS No 2 Axis No 2 Brake Release Input 3 BKRLS AXIS No 1 Axis No 1 Brake Release Input 4 BKRLS AXIS No 0 Axis No 0 Brake Release Input 5 GND 0V 6 BKRLS AXIS No 7 Axis No 7 Brake Release Input 7 BKRLS AXIS No 6 Axis No 6 Brake Release Input 8 B...

Page 66: ...n Applicable cable diameter 1 SGA Teaching Tool Signal 2 SGB Teaching Tool Signal 3 5V Power supply for teaching tool 4 ENB Enable signal input 5 EMGA Emergency Stop Signal A 6 24V Power supply for teaching tool 7 0V 0V 8 EMGB Emergency Stop Signal B Shell 0V 0V Cable dedicated for IAI products Caution For MCON CG it is not available to operate the machine with nothing plugged in the SIO connector...

Page 67: ...troller Side MSTB2 5 5 GF 5 08 AU Pin No Signal Name Color Description Applicable cable diameter 1 2 3 4 5 1 V BK Power Supply Cable Negative Side Front view of connector on controller side 2 CAN L BL Communication Data Low Side 3 Shield None Shield 4 CAN H WT Communication Data High Side 5 V RD Power Supply Cable Positive Side Dedicated cable for DeviceNet Note Connect a terminal resistor 121Ω be...

Page 68: ...ommunication Line A 1 2 3 4 5 2 DB WT Communication Line B 3 DG YW Digital GND 4 SLD Connect the shield of the shielded cable Connect the FG of the 5 pins and controller FG internally Front view of connector on controller side 5 FG Frame Ground Connect the SLD of the 4 pins and controller FG internally Dedicated cable for CC Link Note Connect a terminal resistor between DA and DB if the unit comes...

Page 69: ...e Description Applicable cable diameter 1 NC Disconnected 2 NC Disconnected 1 6 9 5 3 B Line Communication Line B RS485 4 RTS Request for Sending 5 GND Signal GND Insulation Front view of connector on controller side 6 5V 5V Output Insulation 7 NC Disconnected 8 A Line Communication Line A RS485 9 NC Disconnected PROFIBUS DP Dedicated Cable Note Connect a terminal resistor between A line and B lin...

Page 70: ...s via communication cables there is no problem with connecting the power supply to BS and BS terminals Note Connect a terminal resistor 121Ω between BDH and BDL if the unit comes to the end of the network Refer to 2 2 7 Wiring Layout for Fieldbus 5 EtherNet IP Type Connector Name EtherNet IP Connector Cable Side 8P8C Modular Plug Please prepare separately Controller Side 8P8C Modular Jack Pin No S...

Page 71: ...esses the performance of Category 5 or more There are IN and OUT designated for the communication port Be careful not to plug in the communication cable in the wrong way 7 PROFINET IO Type Connector Name PROFINET Connector Cable Side 8P8C Modular Plug Please prepare separately Controller Side 8P8C Modular Jack Pin No Signal Name Description Applicable cable diameter 1 TD Data sending 2 TD Data sen...

Page 72: ... 3 TP1 Data 1 Front view of connector on controller side 4 TP2 Data 2 5 TP2 Data 2 6 TP1 Data 1 7 TP3 Data 3 8 TP3 Data 3 It is recommended to apply straight STP cable categorized 5e or above for Ethernet cable Note There is no definition of IN and OUT for the communication port 9 SSCNETⅢ H Type Refer to wiring of connector for SSCNETⅢ H SSCNETⅢ H Applicable Controller Instruction Manual ME0352 10...

Page 73: ...r an actuator such as slider type rod type rotary type gripper type etc the method to control the operation is the same unless otherwise specified in this manual PLC Master Actuator Controller Slave Transfer data with Fieldbus Teaching pendant Slave Command target position speed etc Confirmation of movement complete read status signal Slave 3 1 Basic Operation ...

Page 74: ...4 that suit to the system Refer to Chapter 8 Parameter 3 Setting of Position Data Refer to Sections 3 3 Note Setting of Direct Indication Mode is not necessary Set the data for those to be used such as target position speed etc to the position data 4 Fieldbus Settings Refer to Sections 3 4 1 and 3 4 2 Assign MCON to PLC master unit Refer to the instruction manuals for the master unit and PLC 5 Lin...

Page 75: ...e current position in 0 01mm unit monitoring of current speed and command current is also available Communication with Fieldbus 24V Target Position Positioning Width Speed Acceleration Deceleration Push Control Signal PLC Current Position Current Value Command Value Current Speed Command Value Alarm Code Status Signal Dedicated Cable Electric Cylinder Positioner 2 Mode This is the operation mode o...

Page 76: ...l for Remote I O Mode for details PIO Pattern Operation Mode I O Specification 0 Positioning mode Position number specification 64 points Zone signal output 1 point Position zone signal output Note 2 1 point 1 Teaching mode Positioning points 64 points Position zone signal output Note 2 1 point Jog operation is available The current position can be written to a specified position 2 256 point mode ...

Page 77: ...f clocks and calendars Example Software Stroke Limit Set a proper operation range for definition of the stroke end prevention of interferences with peripherals and safety Zone Output Set to require signal outputs in an arbitrary position zone within the operation zone Parameters should be set to meet the use of the controller prior to operation Once set they may not set every operation Refer to Ch...

Page 78: ...ctuator com Refer to the instruction manual of the PC software for the details of the PC software Make sure the system I O connector wires and operation mode setting switch are in MANU condition when having the setting done Refer to Name and Function of Each Part 9 11 3 2 1 Operation Mode Setting Setting in gateway parameter setting tool Step 1 Connect between the PC and SIO connector on MCON with...

Page 79: ...e detected Main windows Initial condition Step 4 Reading is started from MCON to PC Click on the Read button and a confirmation window appears Click on the Yes button If the writing is finished in normal condition writing complete window appears Click OK button 3 2 Initial Setting ...

Page 80: ...g slave set the value the number of occupied station is added to the current station number Caution Caution for Setup of CC Link IE Field Type There is a section to set up the network number in addition to the setup of current station number Have the same network number set up in this as the one in the connected PLC 3 2 Initial Setting ...

Page 81: ...de of Drive Unit 1 AX2 3rd axis AX3 4th axis Note By selecting the operation mode for Drive Unit 0 Refer to Step 7 the operation mode for Drive Unit 1 becomes available to be selected Step 9 For the number of driver axes 5 or more select the operation mode of Drive Unit 2 AX4 5th axis AX5 6th axis Note By selecting the operation mode for Drive Unit 1 Refer to Step 8 the operation mode for Drive Un...

Page 82: ...ion to get an even number It is necessary to secure as much area as when not set as a reserved axis even if set as the reserved axis Step 12 Conduct only for EtherNet IP Type move onto Step 13 if not applied Click on Setting in the menu and select EtherNet IP Setting and the setting window for the IP address subnet mask and default gateway opens Establish the settings to suit your system Step 13 W...

Page 83: ...ccept the reading Once the reading process is complete confirm that the written contents are reflected If not written properly do the process again from Step 1 Reference The settings are conducted in the special parameters for the process of communication error change in pressing method for Fieldbus Type and speed unit change for Direct Indication Mode Refer to 3 9 About Gateway Parameter Setting ...

Page 84: ...way parameter Setting Tool for all the axes Parameter No 158 Valid Axis Invalid Axis Select Actuator Connection Status Parameter Setting Value Actuator connection 0 Enabled Actuator Not Connected Disabled Axis 1 Disabled Step 4 Set Parameter No 25 PIO Pattern to the axes set valid in Step 3 by following the contents set in Step 6 of 3 2 1 Operation Mode Setting Refer to the table of Operation Mode...

Page 85: ...tton is pressed the confirmation message window appears Click on Yes button Step 7 A confirmation window for Gateway Unit reboot opens Click Yes button to accept the reboot Rebooting is also to be conducted in unit of the driving units two axes unit Step 8 Reboot all Note 1 the axes and the setup is complete Note 1 It is not necessary to have a transfer and reboot o the drive units with no paramet...

Page 86: ...100 100deg s They are treated as above Please note that the display on the screen of a teaching tool such as the PC software is in mm 1 Position No It is the number commanded by PLC in operation command Caution Do not use position No 0 if available positions remains enough At the first servo ON after power ON the completed position No output is 0 even if the actuator is not located at position No ...

Page 87: ...e may be shortened extremely fast 3 If the payload is extremely lighter than the rated payload increase acceleration deceleration to larger than their rated values to shorten the tact time Contact our company Inform us of the weight shape and mounting method of the work and the installation conditions of the actuator 4 For the gripper type have the setting done for the speed and acceleration decel...

Page 88: ...relevant output signal LS is turned ON when the actuator reaches the setting range The operation is accomplished as if a sensor were installed to detect the actuator PIO pattern 5 does not correspond to the pressing operation Set the positioning band more than the minimum unit of the movement amount movement amount for one pulse of an encoder of the used actuator Note 1 PIO pattern This is the ope...

Page 89: ... the negative side set in 10 The feature follows the specified position number It is valid only when the position is specified but invalid in another position operation 10 Zone mm Note 2 Set the coordinate value on the negative side at which position zone output signal PZONE is turned ON Note 2 If set to Zone Zone PZONE Signal turns ON out of the ranges of Zone and Zone 3 3 Setting of Position Dat...

Page 90: ...n data error to occur Caution at S shaped Motion 1 Since it requires a speed change during the operation even if having the position command or direct command that S shaped motion is set while the actuator is moving S shaped motion control cannot be performed and will be the trapezoid control Make sure to make a command while the actuator is stopped 2 S shaped motion control is invalid in the inde...

Page 91: ... By utilizing Smart Tuning Function Note 1 in the PC software the setting close to the optimum can be obtained Note 1 Refer to Chapter 10 4 List of Specifications of Connectable Actuators for the applicable models It may require the setting of the gain set dedicated for the home return operation in the case this function is used to have the high speed setting or the setting to apply a transported ...

Page 92: ...ervo control Pulse motor type 5 Full servo control for a certain time Parameter No 36 set values and then automatically turning servo OFF Pulse motor type 6 Full servo control for a certain time Parameter No 37 set values and then automatically turning servo OFF Pulse motor type 7 Full servo control for a certain time Parameter No 38 set values and then automatically turning servo OFF Pulse motor ...

Page 93: ... vibration frequency that can be controlled applicable specific frequency is from 0 5 to 30Hz 2 The vibration control is applicable only for the vibration generated by the load of the actuator connected to this controller Other vibrations cannot be controlled 3 The vibration control is applicable only for the vibration in the direction of the actuator operation Vibration in other directions cannot...

Page 94: ...xis No 2 n 11 Control Signal Axis No 0 Control Signal Axis No 0 Positioning Width Axis No 0 Assignment Area for Axis No 1 Assignment Area for Axis No 3 Assignment Area for Axis No 1 Assignment Area for Axis No 3 n 12 Velocity Axis No 0 Assignment Area for Axis No 4 Assignment Area for Axis No 4 n 13 Occupied Area Note 2 Acceleration Deceleration Axis No 0 Assignment Area for Axis No 5 Assignment A...

Page 95: ...arameter Setting Tool to the master unit Connection cannot be established if information other than occupation is set Refer to 3 2 1 Operation Mode Setting Caution Remote I O Mode cannot be used together with other modes Only Positioner 3 Mode and Remote I O Mode are available to be selected in CompoNet CompoNet occupies 32 bytes no matter of the number of axes 3 4 Fieldbus Type Address Map ...

Page 96: ...signment Area for Axis No 5 Assignment Area for Axis No 5 n 14 Alarm Code Axis No 0 Assignment Area for Axis No 6 Assignment Area for Axis No 6 n 15 Assignment Area for Axis No 1 Status Signal Axis No 0 Assignment Area for Axis No 7 Assignment Area for Axis No 7 n 16 to n 23 Assignment Area for Axis No 1 Connected Axes Response Area n 24 to n 71 Assignment Area for Axis No 2 Assignment Area for Ax...

Page 97: ...ode and Remote are available for selection For CC Link Station Type and Extended Cyclic Setting Occupied Station Number Settings Register the setting displayed on Gateway Parameter Setting Tool to the host Refer to 3 2 1 Operation Mode Setting Connection cannot be established with other ways Caution If Remote I O Mode is selected all the axes connected to MCON are involved in Remote I O Mode This ...

Page 98: ...ween MCON and PLC PLC MCON MCON PLC CH No Description CH No Description n to n 1 Gateway Control n to n 1 Gateway Status n 2 to n 7 Demand Command n 2 to n 7 Response Command n 8 to n 11 Axis No 0 Control Information n 8 to n 11 Axis No 0 Status Information n 12 to n 15 Axis No 1 Control Information n 12 to n 15 Axis No 1 Status Information n 16 to n 19 Axis No 2 Control Information n 16 to n 19 A...

Page 99: ...to n 47 Axis No 7 Status Information Combination Example 3 When number of Simple Direct Mode Positioner 1 Mode axes is 2 and number of Direct Indication Mode 6 n is the top channel number for each PLC input and output between MCON and PLC PLC MCON MCON PLC CH No Description CH No Description n to n 1 Gateway Control n to n 1 Gateway Status n 2 to n 7 Demand Command n 2 to n 7 Response Command n 8 ...

Page 100: ...n n 20 to n 23 Axis No 1 Status Information n 24 to n 27 n 24 to n 27 n 28 to n 31 Axis No 2 Control Information n 28 to n 31 Axis No 2 Status Information n 32 to n 35 n 32 to n 35 n 36 to n 39 Axis No 3 Control Information n 36 to n 39 Axis No 3 Status Information n 40 to n 43 n 40 to n 43 n 44 to n 47 Axis No 4 Control Information n 44 to n 47 Axis No 4 Status Information n 48 to n 51 n 48 to n ...

Page 101: ...formation RWr 00 to 03 Axis No 0 Status Information RWw 04 to 07 Axis No 1 Control Information RWr 04 to 07 Axis No 1 Status Information RWw 08 to 0B Axis No 2 Control Information RWr 08 to 0B Axis No 2 Status Information RWw 0C to 0F Axis No 3 Control Information RWr 0C to 0F Axis No 3 Status Information RWw 10 to 13 Axis No 4 Control Information RWr 10 to 13 Axis No 4 Status Information RWw 14 t...

Page 102: ...2 Status Information RWw 0C to 0F Axis No 3 Control Information RWr 0C to 0F Axis No 3 Status Information RWw 10 to 13 Axis No 4 Control Information RWr 10 to 13 Axis No 4 Status Information RWw 14 to 17 Axis No 5 Control Information RWr 14 to 17 Axis No 5 Status Information RWw 18 to 1B RWr 18 to 1B RWw 1C to 1F Axis No 6 Control Information RWr 1C to 1F Axis No 6 Status Information RWw 20 to 23 ...

Page 103: ...08 to 0B RWr 08 to 0B RWw 0C to 0F Axis No 2 Control Information RWr 0C to 0F Axis No 2 Status Information RWw 10 to 13 RWr 10 to 13 RWw 14 to 17 Axis No 3 Control Information RWr 14 to 17 Axis No 3 Status Information RWw 18 to 1B RWr 18 to 1B RWw 1C to 1F Axis No 4 Control Information RWr 1C to 1F Axis No 4 Status Information RWw 20 to 23 RWr 20 to 23 RWw 24 to 27 Axis No 5 Control Information RW...

Page 104: ...to 0F Axis No 1 Control Information RWr 0C to 0F Axis No 1 Status Information RWw 10 to 13 RWr 10 to 13 RWw 14 to 17 Axis No 2 Control Information RWr 14 to 17 Axis No 2 Status Information RWw 18 to 1B RWr 18 to 1B RWw 1C to 1F Axis No 3 Control Information RWr 1C to 1F Axis No 3 Status Information RWw 20 to 23 RWr 20 to 23 RWw 24 to 27 Axis No 4 Control Information RWr 24 to 27 Axis No 4 Status I...

Page 105: ...o n 79 Axis No 7 Control Information n 72 to n 79 Axis No 7 Status Information Combination Example 2 When number of Simple Direct Mode Positioner 1 Mode axes is 6 and number of Direct Indication Mode 2 n is the top node address for each PLC input and output between MCON and PLC PLC MCON MCON PLC Node Address Byte Address Description Node Address Byte Address Description n to n 3 Gateway Control n ...

Page 106: ...l Information n 120 to n 127 Axis No 7 Status Information Combination Example 4 When number of Simple Direct Mode Positioner 1 Mode axes is 0 and number of Direct Indication Mode 8 n is the top node address for each PLC input and output between MCON and PLC PLC MCON MCON PLC Node Address Byte Address Description Node Address Byte Address Description n to n 3 Gateway Control n to n 3 Gateway Status...

Page 107: ...No 6 Status Information 10 Axis No 7 Control Information 10 Axis No 7 Status Information Combination Example 2 When number of Simple Direct Mode Positioner 1 Mode axes is 6 and number of Direct Indication Mode 2 PLC MCON MCON PLC 4 word Number of Module Description 4 word Number of Module Description 1 Gateway Control Demand Command Data 0 1 Gateway Status Response Command Data 0 2 Data 1 to 3 2 D...

Page 108: ...nformation 15 15 16 Axis No 7 Control Information 16 Axis No 7 Status Information Combination Example 4 When number of Simple Direct Mode Positioner 1 Mode axes is 0 and number of Direct Indication Mode 8 PLC MCON MCON PLC 4 word Number of Module Description 4 word Number of Module Description 1 Gateway Control Demand Command Data 0 1 Gateway Status Response Command Data 0 2 Data 1 to 3 2 Data 1 t...

Page 109: ...No 6 Control Information n 20 to n 21 Axis No 6 Status Information n 22 to n 23 Axis No 7 Control Information n 22 to n 23 Axis No 7 Status Information 2 CC Link and CC Link IE Field CC Link Extended Cyclic Setting Number of Occupied Stations 1 times 4 stations PLC MCON MCON PLC Address Description Address Description RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status RY 20 to 6F Demand Comman...

Page 110: ... Control Information n 36 to n 39 Axis No 5 Status Information n 40 to n 43 Axis No 6 Control Information n 40 to n 43 Axis No 6 Status Information n 44 to n 47 Axis No 7 Control Information n 44 to n 47 Axis No 7 Status Information 4 PROFINET IO PLC MCON MCON PLC 4 word Number of Module Description 4 word Number of Module Description 1 Gateway Control Demand Command Data 0 1 Gateway Status Respon...

Page 111: ...rmation n 15 Axis No 7 Control Information n 15 Axis No 7 Status Information 2 CC Link and CC Link IE Field CC Link Extended Cyclic Setting Number of Occupied Stations 1 times 4 stations PLC MCON MCON PLC Address Description Address Description RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status RY 20 to 6F Demand Command RX 20 to 6F Response Command RY 70 to 7F Cannot be used RX 70 to 7F Canno...

Page 112: ...rol Information n 26 n 27 Axis No 5 Status Information n 28 n 29 Axis No 6 Control Information n 28 n 29 Axis No 6 Status Information n 30 n 31 Axis No 7 Control Information n 30 n 31 Axis No 7 Status Information 4 PROFINET IO PLC MCON MCON PLC 4 word Number of Module Description 4 word Number of Module Description 1 Gateway Control Demand Command Data 0 1 Gateway Status Response Command Data 0 2 ...

Page 113: ...tion n 15 Axis No 7 Control Information n 15 Axis No 7 Status Information 2 CC Link and CC Link IE Field CC Link Extended Cyclic Setting Number of Occupied Stations 1 times 4 stations PLC MCON MCON PLC Address Description Address Description RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status RY 20 to 6F Demand Command RX 20 to 6F Response Command RY 70 to 7F Cannot be used RX 70 to 7F Cannot b...

Page 114: ...rol Information n 26 n 27 Axis No 5 Status Information n 28 n 29 Axis No 6 Control Information n 28 n 29 Axis No 6 Status Information n 30 n 31 Axis No 7 Control Information n 30 n 31 Axis No 7 Status Information 4 PROFINET IO PLC MCON MCON PLC 4 word Number of Module Description 4 word Number of Module Description 1 Gateway Control Demand Command Data 0 1 Gateway Status Response Command Data 0 2 ...

Page 115: ...N RTE Address n 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control signal 1 PLC Input Address n b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status signal 0 RUN LERC ERRT MOD ALMH ALML SEMG ALMC 128 ALMC64 ALMC32 ALMC16 ALMC8 ALMC4 ALMC2 ALMC1 Address n 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status signal 1 MNT7 MNT6 MNT5 MNT4 MNT3 MNT2 MNT1 MNT0 LNK7 LNK6 LN...

Page 116: ...Cannot be used b13 RTE Retained condition of ERR T or ERR C during an operation is cancelled if it is ON It is the cancel signal when ERR T or ERR C occurrence is set to latch in Gateway Parameter Setting Tool b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 Status signal 0 b0 Cannot be used b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 PLC Output Status signal 1 b0 Cannot be used 3 4 Fieldbus Type Add...

Page 117: ...s settings b10 ALML This signal turns ON when a light error caused by the Gateway is occurred It is considered that there shall be a loss of the calendar data Check the parameters settings b9 Cannot be used b8 SEMG This signal turns ON when EMGIN input of the system I O connector is OFF emergency stop When this bit is turned ON all the connected axes get in the emergency stop b7 b6 b5 b4 b3 b2 b1 ...

Page 118: ...ion data Speed and acceleration deceleration setting Separate settings for acceleration and deceleration Pitch feed incremental Pressing operation Speed change during movement These items must be set in the position data table Pause Zone signal output These items must be set in the parameters Position zone signal These items must be set in the position data table Vibration control This feature is ...

Page 119: ...et the operational condition in advance with using a teaching tool such as PC software in the position number to be used Selecting a position number with no setting conducted will generate the alarm code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target Position Lower word Address m 1 b15 ...

Page 120: ...Current Position Upper word Note If the target position is a negative value it is indicated by a two s complement Address m 2 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Completed Position No PM128 PM64 PM32 PM16 PM8 PM4 PM2 PM1 Address m 3 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status Signal EMGS CRDY ZONE2 ZONE1 PZONE MEND ALML PSFL SV ALM MOVE HEND PEND 1 word 16 bit 3 ...

Page 121: ...larm code 0A2 Position Data Error 3 7 2 b15 BKRL Brake release ON Brake release OFF Brake activated 3 7 1 15 b14 b13 b12 b11 b10 b9 Cannot be used b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 7 1 10 b6 JVEL Jog speed inch distance switching OFF Use the setting values of Parameter No 26 JOG Speed and No 48 Inching Distance in MCON ON U...

Page 122: ...ary for the parameter b12 ZONE1 ON for the current position within the zone 1 set range The zone range setting is necessary for the parameter 3 7 1 9 b11 PZONE Position zone This signal turns ON when the current position is inside the specified position zone 3 7 1 9 b10 b9 Cannot be used b8 MEND This signal turns ON at either of positioning complete of after movement home return complete or pressi...

Page 123: ... acceleration and deceleration Pitch feed incremental Pressing operation Speed change during movement These items must be set in the position data table Pause Zone signal output These items must be set in the parameters Position zone signal These items must be set in the position data table Vibration control This feature is limited only to the servo motor type actuators PIO pattern selection 1 PLC...

Page 124: ...onal condition in advance with using a teaching tool such as PC software in the position number to be used Selecting a position number with no setting conducted will generate the alarm code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Cannot be used Address m 1 b15 b14 b13 b12 b11 b10 b9 b8 ...

Page 125: ...t Position Upper word Note If the target position is a negative value it is indicated by a two s complement Address m 2 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Completed Position No PM128 PM64 PM32 PM16 PM8 PM4 PM2 PM1 Address m 3 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status Signal EMGS CRDY ZONE2 ZONE1 PZONE MODES WEND MEND ALML PSFL SV ALM MOVE HEND PEND 1 word 16 b...

Page 126: ...osition import command ON Position Data Import 3 7 1 14 b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 7 1 10 b6 JVEL Jog speed inch distance switching OFF Use the setting values of Parameter No 26 JOG Speed and No 48 Inching Distance in MCON ON Use the setting values of Parameter No 47 JOG Speed 2 and No 49 Inching Distance in MCON 3 7...

Page 127: ...on within the zone 1 set range The zone range setting is necessary for the parameter 3 7 1 9 b11 PZONE Position zone This signal turns ON when the current position is inside the specified position zone 3 7 1 9 b10 MODES This signal is ON while the teaching mode is selected 3 7 1 13 b9 WEND This signal turns ON when reading is complete 3 7 1 14 b8 MEND This signal turns ON at either of positioning ...

Page 128: ...nd deceleration Values for acceleration and deceleration should be the same Pitch feed Incremental Pressing operation Selection can be made from the pressing method same as CON type such as PCON and that same as SEP type such as PSEP Speed change during movement Pause Zone signal output Parameters must be set Position zone signal Vibration control PIO pattern selection 1 PLC Address Composition m ...

Page 129: ...on Have the setting with values available in the range of for speed acceleration deceleration and pressing current of the actuator Refer to the catalog or instruction manual of the actuator Otherwise it may cause an abnormal condition of the servo or a malfunction of the actuator such as the alarm codes 0A3 Position Command Information Data Error 0C0 Excess Actual Speed 0C8 Overcurrent 0CA Overhea...

Page 130: ... 1 Address m 3 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Positioning Width Upper word 524 288 262 144 131 072 65 536 Address m 4 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Command Speed 32 768 16 384 8 192 4 096 2 048 1 024 512 256 128 64 32 16 8 4 2 1 Address m 5 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Acceleration Deceleration 256 128 64 32 16 8 4 2 1 Address...

Page 131: ...96 2 048 1 024 512 256 128 64 32 16 8 4 2 1 Address m 3 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Command Current Upper word 524 288 262 144 131 072 65 536 Address m 4 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current Speed Note If the negative value it is indicated by a two s complement Address m 5 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Cannot be used Addres...

Page 132: ...Tool Available range for Setting 1 to 65535 Specify the speed at which to move the actuator Example If 254 0mm s input 09ECH 2540 in decimal system It may cause an alarm or a malfunction if executing a movement command with 0 or a value more than the maximum speed of the actuator 3 7 3 Acceleration Deceleration 16 bits 16 bit integer Unit 0 01G Available range for Setting 1 to 300 Specify the acce...

Page 133: ...o 26 JOG Speed and No 48 Inching Distance in MCON ON Use the setting values of Parameter No 47 JOG Speed 2 or Command Speed Note 1 and No 49 Inching Distance 2 in MCON 3 7 1 11 b5 JISL Jog inching switching ON Inching OFF Jog 3 7 1 12 b4 SON Servo ON command ON Servo ON OFF Servo OFF 3 7 1 5 b3 RES Reset A reset is performed when this signal turns ON 3 7 1 4 b2 STP Pause ON Pause OFF Pause release...

Page 134: ... by 3 7 1 1 b13 ZONE2 ON for the current position within the zone 2 set range The zone range setting is necessary for the parameter b12 ZONE1 ON for the current position within the zone 1 set range The zone range setting is necessary for the parameter 3 7 1 9 b11 b10 b9 Cannot be used b8 MEND This signal turns ON at either of positioning complete of after movement home return complete or pressing ...

Page 135: ...tioning operation Speed and acceleration deceleration setting Separate settings for acceleration and deceleration Pitch feed incremental Pressing operation Speed change during movement These items must be set in the position data table Pause Zone signal output These items must be set in the parameters Position zone signal These items must be set in the position data table Vibration control This fe...

Page 136: ...code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Specified Position No PC128 PC64 PC32 PC16 PC8 PC4 PC2 PC1 Address m 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control Signal BKRL MODE PWRT JOG JOG JVEL JISL SON RES STP HOME CSTR PLC Input m is PLC input top word address for e...

Page 137: ...osition import command ON Position Data Import 3 7 1 14 b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 8 1 10 b6 JVEL Jog speed inch distance switching OFF Use the setting values of Parameter No 26 JOG Speed and No 48 Inching Distance in MCON ON Use the setting values of Parameter No 47 JOG Speed 2 and No 49 Inching Distance in MCON 3 7...

Page 138: ...nal turns ON when the current position is inside the specified position zone 3 7 1 9 b10 MODES This signal is ON while the teaching mode is selected 3 7 1 13 b9 WEND This signal turns ON when reading is complete 3 7 1 14 b8 MEND This signal turns ON at either of positioning complete of after movement home return complete or pressing complete or pressing failure and turns OFF at movement start It i...

Page 139: ...peration Speed and acceleration deceleration setting These items must be set in the position data table Separate settings for acceleration and deceleration Pitch feed Incremental Pressing operation Speed change during movement These items must be set in the position data table Pause Zone signal output These items must be set in the parameters Position zone signal Vibration control This feature is ...

Page 140: ...ber with no setting conducted will generate the alarm code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control Signal Specified Position No BKRL SON RES STP HOME CSTR PC128 PC64 PC32 PC16 PC8 PC4 PC2 PC1 PLC Input m is PLC input top word address for each axis number Address m b15 b14 b13 b1...

Page 141: ... position number with no setting conducted will generate the alarm code 0A2 Position Data Error 3 7 4 b15 EMGS This signal turns ON during an emergency stop 3 7 1 2 b14 ZONE1 ON for the current position within the zone 1 set range The zone range setting is necessary for the parameter 3 7 1 9 b13 PSFL This signal turns ON when the actuator missed the load in push motion operation 3 7 1 18 b12 SV Th...

Page 142: ...control Disabled Remarks Home return operation Positioning operation Speed and acceleration deceleration setting Separate settings for acceleration and deceleration Pitch feed incremental Pressing operation Speed change during movement These items must be set in the position data table Pause Zone signal output These items must be set in the parameters Position zone signal Vibration control This fe...

Page 143: ...ng a position number with no setting conducted will generate the alarm code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Specified Position No PC8 PC4 PC2 PC1 Address m 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control Signal BKRL JOG JOG JVEL JISL SON RES STP HOME CSTR PLC Inp...

Page 144: ...Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 7 1 10 b6 JVEL Jog speed inch distance switching OFF Use the setting values of Parameter No 26 JOG Speed and No 48 Inching Distance in MCON ON Use the setting values of Parameter No 47 JOG Speed 2 and No 49 Inching Distance in MCON 3 7 1 11 b5 JISL Jog inching switching ON Inching OFF Jog 3 7 1 12...

Page 145: ... at all or during the movement 0 is output Read it by turning PEND Signal on after movement The simple alarm code refer to Chapter 9 Troubleshooting is output while an alarm is issued ALM of Status Signal is ON 3 7 4 b7 MEND This signal turns ON at either of positioning complete of after movement home return complete or pressing complete or pressing failure and turns OFF at movement start It is OF...

Page 146: ... specifying forward backward and intermediate position commands Complete signal is able to output a signal equivalent to the limit switch Note 1 Set the range of the zone in parameter It becomes constantly valid once the home return operation is complete Note 2 The range of the zone is to be set in the position table and is activated only when that position number is indicated It is invalid in oth...

Page 147: ...licable bit is 1 OFF Applicable bit is 0 The content of the signal for each bit changes depending what is selected in the PIO patterns Refer to next section I O signal assignment PLC Output m is PLC input and output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Controller Input port No 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 PLC Input m is PLC ...

Page 148: ...Teaching mode signal PM128 Completed position No 8 Note 1 PZONE ZONE2 Position zone Zone 2 PZONE ZONE1 Position zone Zone 1 PZONE ZONE1 Position zone Zone 1 9 Unavailable Unavailable Unavailable 10 HEND Home return completion HEND Home return completion HEND Home return completion 11 PEND Positioning completion signal PEND WEND Positioning completion signal Position data import complete PEND Posit...

Page 149: ...able 7 ZONE1 Zone 1 ZONE1 Zone 1 8 Note 1 PZONE ZONE2 Position zone Zone 2 PZONE ZONE2 Position zone Zone 2 9 Unavailable Unavailable 10 HEND Home return completion HEND Home return completion 11 PEND Positioning completion signal Unavailable 12 SV Operation preparation end SV Operation preparation end 13 EMGS Emergency stop EMGS Emergency stop 14 ALM Alarm ALM Alarm MCON output PLC input 15 LOAD ...

Page 150: ...nd List Class Code Description Handshaking 0000H Demand command cleared Write Position Data 1000H Writing of target position 1001H Writing of positioning width 1002H Writing of speed 1003H Writing of individual zone boundary on positive side 1004H Writing of individual zone boundary on negative side 1005H Writing of acceleration 1006H Writing of deceleration 1007H Writing current limit at pressing...

Page 151: ...rameter Setting Tool The Acceleration and Deceleration are expressed using 1 word 16 bits binary data The figures from 1 to 300 Unit 0 01G can be set in PLC The pressing current limit value is expressed using 1 word 16 bits binary data The figures from 0 0 to 255 100 can be set in PLC Binary data of 1 word 16 bits for the axis numbers and values from 0 No 0 to 7 No 7 in PLC can be used Binary data...

Page 152: ... 0 2 Writing of Target Position 1000h PLC Output Address n is the input and output top address for MCON Gateway Unit Note If the writing is finished in normal condition the same content as the demand command is returned to the response command If an error is generated an error response is returned Refer to this Section 22 Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Demand...

Page 153: ...ting of Positioning Width n 6 Data 3 Axis No 4 2 1 4 Writing of Speed 1002h PLC Output Address n is the input and output top address for MCON Gateway Unit Note If the writing is finished in normal condition the same content as the demand command is returned to the response command If an error is generated an error response is returned Refer to this Section 22 Bit Address b15 b14 b13 b12 b11 b10 b9...

Page 154: ...of individual zone boundary on positive side n 6 Data 3 Axis No 4 2 1 6 Writing of individual zone boundary on negative side 1004h PLC Output Address n is the input and output top address for MCON Gateway Unit Note If the writing is finished in normal condition the same content as the demand command is returned to the response command If an error is generated an error response is returned Refer to...

Page 155: ... 0 0 0 0 0 0 0 0 0 0 0 0 Writing of Acceleration n 6 Data 3 Axis No 4 2 1 8 Writing of Deceleration 1006h PLC Output Address n is the input and output top address for MCON Gateway Unit Note If the writing is finished in normal condition the same content as the demand command is returned to the response command If an error is generated an error response is returned Refer to this Section 22 Bit Addr...

Page 156: ... 0 0 0 0 0 0 0 Writing of Current Limit at Pressing n 6 Data 3 Axis No 4 2 1 10 Writing of load current threshold 1008h PLC Output Address n is the input and output top address for MCON Gateway Unit Note If the writing is finished in normal condition the same content as the demand command is returned to the response command If an error is generated an error response is returned Refer to this Secti...

Page 157: ...0 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Target Position n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MCON Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1040h 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 n 3 Data 0 Position No 128 64 32 16 8 4 2 1 n 4 Data 1 Target Position Lower word n 5 Data 2 Targe...

Page 158: ...0 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Positioning Width n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MCON Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1041h 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 n 3 Data 0 Position No 128 64 32 16 8 4 2 1 n 4 Data 1 Pressing Width Lower word n 5 Data 2 Pres...

Page 159: ...0 0 0 0 0 0 0 0 0 Reading of Speed n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MCON Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1042h 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 n 3 Data 0 Position No 128 64 32 16 8 4 2 1 n 4 Data 1 Speed Lower word 32768 16384 8192 4096 2048 1024 512 256 128 64 32 16 8 4 2 1 n 5 ...

Page 160: ...128 64 32 16 8 4 2 1 n 4 Data 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of individual zone boundary on positive side n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MCON Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1043h 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 n 3 Data...

Page 161: ...128 64 32 16 8 4 2 1 n 4 Data 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of individual zone boundary on negative side n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MCON Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1044h 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 n 3 Data...

Page 162: ...ta 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Acceleration n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MCON Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1045h 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 n 3 Data 0 Position No 128 64 32 16 8 4 2 1 n 4 Data 1 Acceleration 256 128 64 32 16 8 4 2 1 n 5 Data 2 0 0 0...

Page 163: ...ta 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Deceleration n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MCON Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1046h 0 0 0 1 0 0 0 0 0 1 0 0 0 1 1 0 n 3 Data 0 Position No 128 64 32 16 8 4 2 1 n 4 Data 1 Deceleration 256 128 64 32 16 8 4 2 1 n 5 Data 2 0 0 0...

Page 164: ...0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Current Limit at Pressing n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MCON Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1047h 0 0 0 1 0 0 0 0 0 1 0 0 0 1 1 1 n 3 Data 0 Position No 128 64 32 16 8 4 2 1 n 4 Data 1 Current Limit at Pressing 128 64 32 16 8 4 2 1 n 5 D...

Page 165: ... n 3 Data 0 Position No 128 64 32 16 8 4 2 1 n 4 Data 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of load current threshold n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MCON Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1048h 0 0 0 1 0 0 0 0 0 1 0 0 0 1 1 1 n 3...

Page 166: ...ding of Alarm issued Axis Pattern n 6 Data 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PLC Input Address n is the input and output top address for MCON Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 4000h 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n 3 Data 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n 4 Data 1 Alarm issued Axis Pattern 1 Alarm 2 Normal Status of 8th Axis ...

Page 167: ...0 0 0 0 0 0 0 0 0 0 0 0 0 n 4 Data 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Alarm Code n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MCON Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 4001h 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 n 3 Data 0 0 0 0 0 0 0 0 0 0 0 0 0...

Page 168: ...3 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Demand Command 1 The values are those with the bit 15 of the demand command code being 1 n 3 Data 0 Undefined n 4 Data 1 Error Detail 0101H Incorrect Axis Number 0102H Incorrect Position Number 0103H Incorrect Command 0201H Communication Error 0202H Controller Execution Impossible n 5 Data 2 Undefined Error Response Command n 6 Data 3 Undefined 1 wor...

Page 169: ...ommunication sending time Ttx MCON internal communication receiving time Trx Refer to the instruction manual of the mounted PLC for the master station slave transfer delay time Yt and the slave master station transfer delay time Xt Master Remote I O Station Transmission Delay Time Yt 1 Response Process Time 2 PLC Sequence Program Control Signal Status Signal Gateway Control Signal Status Signal Co...

Page 170: ...e demand command has become other than 0 and rewrites the appropriate axis data if it is the writing command and reads the requirement data from the appropriate axis if reading command 4 Gateway output the response result to PLC once the command is executed 5 Once PLC has confirmed the response result clear the area for the demand command to 0 6 Gateway clears the response command area to 0 and wa...

Page 171: ...Actuator operation Note 1 The servo turns on when SON Signal gets input if Parameter No 21 Servo on Input is turned Valid Note 2 Input the movement Home return command after having a delay time of 1 6sec or more for the magnetic pole phase detection of the motor at the first servo on input after the power is turned ON In the second time or later make the delay time of 60ms or more Warning Executin...

Page 172: ... Shutdown Release Delay Time refer to 3 9 3 3 GW Parameter 3 in the gateway parameter setting tool to shift the timing to turn the servo on so the occurrence of in rush current can be dispersed Utilize Driver Shutdown Release Delay Time refer to 3 9 3 3 GW Parameter 3 to shift the timing to turn the servo ON so the occurrence of in rush current can be dispersed 3 6 Power Supply ...

Page 173: ... driving power is cut off it is turned ON When the emergency stop status is cleared it is turned OFF Also ALM in the driver status LEDs flashes Refer to Name and Function of Each Part 7 Have an appropriate safety treatment such as interlock with this signal for the host controller Note It is not an emergency stop output due to an alarm generation of the controller 3 Alarm ALM PLC Input Signal Oper...

Page 174: ...LC Output Signal Servo ON status SV PLC Input Signal Positioning complete PEND PLC Input Signal Operation Mode Positioner 1 Simple Direct Direct numeric specification Positioner 2 Positioner 3 Positioner 5 Equipped Not equipped 1 Servo ON command SON is the signal making the servo motor of the actuator operable 2 Once the Servo ON is executed and the operation comes available Servo ON status signa...

Page 175: ...the moving signal MOVE turns ON during a home return operation Home Return Signal HOME PLC MCON Homing Completion Signal HEND MCON PLC Positioning Completion Signal PEND MCON PLC Moving Signal MOVE MCON PLC Caution If an actuator of Incremental Type is connected and in Position Mode and Simple Direct Mode when the positioning command is issued without performing the home return operation after the...

Page 176: ...e to refer to Section 8 2 14 when a change to Parameter No 22 Home Return Offset Level is required Operation of Rotary Actuator 1 330 Rotation Specification 1 By HOME Signal being ON the rotary part turns in CCW counterclockwise from the view of load side The velocity is either 20deg s 2 The actuator is turned at the mechanical stopper and stopped at the home position The amount of movement at thi...

Page 177: ... to a point exceeded the home sensor detection range on the opposite side of the home position and confirms the home sensor is turned OFF 8 Starts reversed rotation 9 Confirms the home sensor turns ON 10 Goes to a point exceeded the home sensor detection range on the home position side and confirms the home sensor is turned OFF 11 Based on the result gained from 6 7 9 and 10 the center of the home...

Page 178: ...at the home position The amount of movement at this time is that set in Parameter No 22 Home Return Offset Level after Z phase is detected Caution Make sure to refer to Section 8 2 14 when a change to Parameter No 22 Home Return Offset Level is required Note Finger attachment is not included in the actuator package Please prepare separately 3 7 Control and Functions of Input and Output Signals of ...

Page 179: ...he same time 4 The moving signal MOVE turns ON at the same time as the operation starts and turns OFF once the positioning complete signal PEND turns ON or the movement command output completes 5 The positioning complete signal PEND turns ON once the remaining movement gets into the range of the positioning band PEND Signal will be kept ON once it is turned ON unless the start signal CSTR is turne...

Page 180: ...nal is turned OFF temporarily Then when the servo motor is turned ON and the actuator is within the positioning width the PEND signal is turned ON again When the positioning is completed with the CSTR signal turned ON the PEND signal is not turned ON 3 7 Control and Functions of Input and Output Signals of Modes Other than Remote I O Mode ...

Page 181: ...pped Not equipped U No PZONE U Only for PZONE1 U No PZONE This is a function enables to turn a signal on while the actuator is passing a certain position in the zone range or during a stop in which there are two types 1 Zone signal ZONE1 ZONE2 Turn the output on at a position set in the parameter 2 Position zone signal PZONE Turn the output on at a position set in the position table The roles of a...

Page 182: ...set for positive side value set for negative side Output signal turn ON in the range from the value on negative side to that on positive side and turns OFF out of the range 2 Value set for positive side value set for negative side Output signal turn OFF in the range from the value on positive side to that on negative side and turns ON out of the range Example of Line Axis Example of rotary actuato...

Page 183: ...o the rate acceleration deceleration the specific value varies depending on the actuator When both the JOG and JOG signals are turned ON the actuator is decelerated and stopped 2 Inching incremental operation The inching operation is available while the JISL signal is turned ON One time of ON input gives the actuator a constant amount of movement of the inching distance set in the parameter When t...

Page 184: ... Inching operation When the JISL signal is turned ON for inching operation during the jog operation the actuator is decelerated and performs the inching operation When the JISL signal is turned OFF jog while the actuator is moving by inching the actuator will complete the movement and then switch to the jog function Jog operation Inching operation JISL OFF ON Speed Parameter No 26 Jog speed Parame...

Page 185: ...sition data import complete WEND PLC Input Signal Operation Mode Positioner 1 Simple Direct Direct numeric specification Positioner 2 Positioner 3 Positioner 5 Equipped Not equipped The PWRT signal is available when the teaching mode signal MODES is turned ON Turn ON the PWRT signal Note1 Then the current position data will be written in the position data box for the position No set using the PLC ...

Page 186: ...lso can be performed by supplying 24V to the brake power terminal on the external brake input connector 1 Direct Teaching It is an operation to move the slider or rod manually with hand to read the coordinate to the position table Warning 1 Release the brake with a special care Doing so carelessly may cause an injury or a malfunction of actuator work piece or other devices due to a drop of the sli...

Page 187: ...ressing operation Note 1 In Direct Indication Mode it is the value input in the target position register Speed Movement distance Target position Pressing width Max pressing level Position where the actuator is pushed against the work and the pressing completion is judged so the positioning completion signal is turned ON Pressing Operation SEP Method The pressing operation is performed with the sta...

Page 188: ...e Positioner 1 Simple Direct Direct numeric specification Positioner 2 Positioner 3 Positioner 5 Equipped Not equipped In the case that the pressing operation was performed and the actuator moved the travel distance set in the controller position table positioning width or set using the PLC s positioning width register but it was not pushed against the work this signal is turned ON 19 Command comp...

Page 189: ...n register based on the current position elative movement When this signal is turned OFF the actuator is moved to the position expressed as the value set in the PLC s target position register 21 Light error alarm ALML PLC Input Signal This signal turns ON when an overload warning or message level alarm is generated Refer to 8 2 64 Light Malfunction Alarm Output Select For the message level alarm r...

Page 190: ...ot change the value in the target position register until the CSTR signal is turned OFF 6 At the same time when the PEND signal is turned OFF the MOVE signal is turned ON 7 The current position data is continuously updated When the remaining travel distance becomes within the range of the positioning width set in the position data and the CSTR signal is turned OFF the PEND signal is turned ON Then...

Page 191: ...C Actuator Movement Positioning Width n2 p2 p3 n3 twcsOFF twcsON tpdf n1 n2 10ms or less 10ms or less 10ms or less 6 8 7 5 4 3 2 1 To turn ON TwcsON have an interval of time more than 10ms To turn OFF TwcsOFF have an interval of time more than 10ms Tdpf Yt 6 Xt minimum value to Yt 6 Xt 12 maximum value 3 7 Control and Functions of Input and Output Signals of Modes Other than Remote I O Mode ...

Page 192: ...he startup ON edge of the CSTR signal 9 After the CSTR signal is turned ON the PEND signal is turned OFF after tpdf 10 After confirming that the PEND signal is turned OFF or MOVE signal is turned ON turn OFF the CSTR signal Do not change any value in each register until the CSTR signal has been turned OFF 11 The current position data is continuously updated 12 When the CSTR signal is turned OFF an...

Page 193: ...rt CSTR PLC MCON Position Complete Pressing and a Miss PEND PSFL MCON PLC Current Position MCON PLC Moving MOVE MCON PLC Actuator Movement Pressing Operation Actuator Movement Normal Positioning 10ms or less 10ms or less n2 Push Target Position Positioning Width Positioning Width 0ms or more Target Position t3 10 10 To turn ON TwcsON have an interval of time more than 10ms To turn OFF TwcsOFF have...

Page 194: ...d OFF or MOVE signal is turned ON turn OFF the CSTR signal Do not change the value in the target position register until the CSTR signal is turned OFF 5 The current position data is continuously updated for Positioner 5 Modes 6 At the same time when the PEND signal is turned OFF the MOVE signal is turned ON 7 Once the remaining movement amount of the actuator gets into the range of the positioning...

Page 195: ...N PLC Moving MOVE MCON PLC Actuator Movement 0ms or more 1 2 3 4 6 5 7 Positioning Width p2 p1 10ms or less 10ms or less To turn ON TwcsON have an interval of time more than 10ms To turn OFF TwcsOFF have an interval of time more than 10ms Tdpf Yt 6 Xt minimum value to Yt 6 Xt 12 maximum value 3 7 Control and Functions of Input and Output Signals of Modes Other than Remote I O Mode ...

Page 196: ...ignal SON SV PEND Other than pattern 5 Pattern 5 Available Unavailable 1 Servo ON command SON is the signal making the servo motor of the actuator operable 2 If the servo on is performed to enable operation the servo ON status signal SV output signal is turned ON Also the status LEDs for driver SV on the front panel corresponding for the axis number turns on in green Refer to Name for Each Parts a...

Page 197: ...ught at the rising edge ON edge to start the home return At completion of the home return home return completion signal HEND is turned ON The home return complete signal HEND is kept ON unless the memory of origin point is lost for a reason The positioning complete signal PEND turns OFF and the moving signal MOVE turns ON during a home return operation Home Return Signal HOME PLC MCON Homing Compl...

Page 198: ...Make sure to refer to Section 8 2 14 when a change to Parameter No 22 Home Return Offset Level is required Operation of Rotary Actuator 1 330 Rotation Specification 1 By HOME Signal being ON the rotary part turns in CCW counterclockwise from the view of load side The velocity is either 20deg s 2 The actuator is turned at the mechanical stopper and stopped at the home position The amount of movemen...

Page 199: ...n 7 Goes to a point exceeded the home sensor detection range on the opposite side of the home position and confirms the home sensor is turned OFF 8 Starts reversed rotation 9 Confirms the home sensor turns ON 10 Goes to a point exceeded the home sensor detection range on the home position side and confirms the home sensor is turned OFF 11 Based on the result gained from 6 7 9 and 10 the center of ...

Page 200: ...stopped at the home position The amount of movement at this time is that set in Parameter No 22 Home Return Offset Level after Z phase is detected Caution Make sure to refer to Section 8 2 14 when a change to Parameter No 22 Home Return Offset Level is required Note Finger attachment is not included in the actuator package Please prepare separately 3 8 Control and functions of Input and output sig...

Page 201: ...es to turn a signal on while the actuator is passing a certain position in the zone range or during a stop in which there are two types 1 Zone signal ZONE1 The output signal is turned ON at the position set by the proper parameter 2 Position zone signal PZONE The output signal is turned ON at the position set in the position table The feature can play a role as the sensor for judging whether the c...

Page 202: ...for the negative side 1 Value set for positive side value set for negative side Output signal turn ON in the range from the value on negative side to that on positive side and turns OFF out of the range 2 Value set for positive side value set for negative side Output signal turn OFF in the range from the value on positive side to that on negative side and turns ON out of the range Example of Line ...

Page 203: ...m for details of alarms Caution Reset signal RES has two features or alarm reset under occurrence of an alarm and operation interruption cancellation of remaining moving distance under temporary stop For the operation interruption under temporary stop refer to the description of the operation in each pattern 6 Binary output of alarm Information ALM PM1 to 8 Output PIO signal ALM PM1 to 8 Common to...

Page 204: ...s well as the brake release switch ON the front panel of the controller 1 Direct teaching This operation is intended to get coordinate values to the position by moving the slider and or the rod by hand Warning 1 Take sufficient care to release the brake Doing so carelessly may cause an injury or a malfunction of actuator work piece or other devices due to a drop of the slider or rod 2 After the br...

Page 205: ...C1 to PC CSTR PM1 to PM PEND MOVE Input Output PIO signal PC1 to PC CSTR PM1 to PM PEND MOVE PIO pattern 0 PC1 to 32 PM1 to 32 PIO pattern 1 PC1 to 32 PM1 to 32 PIO pattern 2 PC1 to 128 PM1 to 128 Available Unavailable Note Operation without home return leads the operation based on the data of the specified position No after automatichome return If one or more problems are found interlock by home ...

Page 206: ...th binary data and also positioning complete signal PEND is turned ON 4 The moving signal MOVE turns ON at the same time as the operation starts and turns OFF once the positioning complete signal PEND turns ON or the movement command output completes 5 Positioning complete signal PEND is turned ON if the remaining moving distance enters into the positioning width PEND Signal will be kept ON once i...

Page 207: ...being off is short the signal of being off may not be read depending on the PLC scanning time In such a case turn CSTR off with using the timer 3 MOVE turns ON at the same time as PEND turns OFF and turns OFF once the command from a controller to the motor is finished Therefore it may turn off while the actuator is moving if the setting of positioning width is large and may turn OFF earlier that P...

Page 208: ...tion No PM128 PM64 PM32 PM16 PM8 PM4 PM2 PM1 0 z z z z z z z z 1 z z z z z z z 2 z z z z z z z 3 z z z z z z 4 z z z z z z z 5 z z z z z z 6 z z z z z z 7 z z z z z 8 z z z z z z z 9 z z z z z z 10 z z z z z z 253 z 254 z 255 3 8 Control and functions of Input and output signals of Remote I O Mode ...

Page 209: ...single direction Operation Examples Position No Position 1 0 2 90 3 180 4 270 Enter position data assuming 1 1mm Example 1 2 is assumed as 1 2 For operation in the order of positions 1 2 3 4 1 the actuator is moved differently whether the shortcut selection is valid or invalid y When shortcut selection is invalid y When shortcut selection is valid Position No 1 Position No 2 Position No 3 Position...

Page 210: ...itioning is repeated in the order of position No 3 1 2 3 4 Because the normal positioning always gives position data specified last the highest priority the actuator can be rotated continuously 3 If the speeds in position No 1 to 4 are set to be the same the actuator can be rotated at the same speed Then the actuator is stopped at the positioning set in position No 4 The number of rotations is def...

Page 211: ... speed in position No 3 3 Start position No 2 Then start position No 3 successively when PEND in position No 2 is turned ON In normal positioning position data specified later has always a priority over position data specified earlier Thus the operation in position No 3 is started on the way of the operation in position No 2 In this example the target positions No 2 and 3 are equal with each other...

Page 212: ...vement repeat the operation The relative movement amount is calculated in mm Therefore there will be no cumulative tolerable error in repeated operations Caution In the pitch feed do not perform a command with a pitch smaller than the minimum encoder resolution lead encoder pulse number or that less than positioning accuracy repeatability There would be no deviation to occur even with the command ...

Page 213: ... In such a case cancel the remaining moving distance by turning reset signal RES to ON in the pause state or take interlock so that the start signal is not turned ON during pause 5 At software limit stroke end in pitch feed the actuator is decelerated to be stopped and positioning complete output PEND is output 6 MOVE turns ON at the same time as PEND turns OFF and turns OFF once PEND turns ON or ...

Page 214: ...ssing is the value set in Positioning width The pressing is performed with the torque current limit value set in percent in Pressing of PIO patterns 1 to 2 being the upper limit 3 The control method is the same as that in 1 Positioning However the processing of positioning complete signal PEND is different from that in 1 Positioning PEND is output when the shaft is stopped by pressing pressing com...

Page 215: ... T1 6ms Note 1 PM1 to PM 0 Note 2 PM1 to PM 0 Note 2 Operation of actuator Not turned ON for miss pressing Approach operation Pressing operation Pressing Completion Positioning be setting of coordinate value Movement by positioning width Stop of pressing Command position No PC1 to PC PLC MCON Completed position No PM1 to PM MCON PLC Start signal CSTR PLC MCON Positioning Completion Signal PEND MCO...

Page 216: ...e 0DC Pressing Motion Range Over Error occurs to stop the actuator In movement of the work in the pressing direction PEND is turned OFF if the load current becomes lower than the current limit pressing Miss pressing occurs when the actuator moves by the pressing moving distance set in Positioning width 4 Do not make control of changing to pressing on the way of normal positioning before PEND turni...

Page 217: ...ON at satisfaction of the condition if the work is not stopped Accumulated time in which current reaches pressing value accumulated time in which current is less than pressing value 255ms Parameter No 6 Current Time Pressing Operation start Approach end Pressing start 200ms 20ms 75ms 295ms 200ms 75ms 20ms 255ms Pressing Completion PEND Output Contacting work Decrease in current due to movement of ...

Page 218: ...ing to the coordinate value 80mm set in Position 2 Position No 1 indicates the tension start preparation position Specify a value larger than the coordinate value at which the tension provided by position No 2 ends 80 50 30mm in Position 3 First define the positioning in position No 1 Next the operation in position No 2 moves the actuator to the position of 80mm at the setting speed and rating tor...

Page 219: ...take place 3 The work is pulled also after completion of the tension The work is drawn back or pulled further if the work is moved When the work is drawn back before the approach position alarm code 0DC pressing operation range error occurs to stop the work When the work is moved in the tension direction and the load current becomes less than the current limit value pressing in PEND is turned OFF ...

Page 220: ...sing is the same as that described in 4 Pressing operation Shown below is the explanation with the position table above as an example 1 Set the weak pressing 30 in position No 2 and perform the pressing operation 2 If pressing complete signal PEND is turned ON start the pressing operation with pressing pressure 50 greater than the first pressure set in position No 3 The position data in position N...

Page 221: ...erformed by the jog input signal JISL signal OFF Jog operation JISL signal ON Inching operation 2 There are two jog input signals or JOG for operation in the positive direction and JOG for operation in the negative direction 1 Jog operation The actuator is moved while the jog input signal is set to ON JOG While JOG is set to ON the actuator is moved in the positive direction If JOG is turned OFF t...

Page 222: ...positioning width acceleration deceleration mode stop mode and vibration control No Other data is set to 0 Velocity Parameter No 8 Default speed Acceleration Parameter No 9 Default acceleration deceleration Deceleration Parameter No 9 Default acceleration deceleration Positioning width Parameter No 10 Default positioning width in position Acceleration deceleration mode Parameter No 52 Default acce...

Page 223: ...lead the data on the screen to be updated To update and confirm writing data take the following actions 1 PC software Left click the button 2 Teaching Pendant or Touch Panel Teaching Change to user adjustment screen input 4 in adjustment No and return to the position table screen after software reset Check the relevant Instruction Manual for details of operation 8 Pause and operation interruption ...

Page 224: ...interrupt the operation Caution 1 At occurrence of an alarm in the release level Note 1 RES can reset the alarm Cancel the remaining moving distance after confirmation that alarm signal ALM being ON in normal state and OFF at occurrence of an alarm is set to ON Note 1 Check the 9 3 Gateway Alarm and 9 4 Driver Alarm for details of alarms 2 Turning STP OFF with the actuator being in the positioning...

Page 225: ...cally done before the operation based on the data of the specified position number When this specification is not desired interlock by home return complete signal HEND is required Sample use No Position mm Velocity mm s Accele ration G Decele ration G Pressing Thresh old Positioning width mm Zone mm Zone mm Acceleration Deceleration mode Incre mental Gain set Stop mode 0 0 00 100 00 0 20 0 20 0 0 ...

Page 226: ...nals are set to ON in the positioning width zone Accordingly they may be turned ON under operation of the actuator if a large positioning width is set 3 Interlock should be taken so that two or more ST signals are set to ON simultaneously 1 Entering the ST signal of another position during positioning is invalid If the ST signal of another position is turned ON during positioning the operation is ...

Page 227: ...ng distance incremental moving distance in column Position 3 If the operation command is issued the actuator moves from the current stop position by Position in the position table To perform continuous movement repeat the operation Any accumulation error does not occur because the home position coordinate value 0 is specified as the base point Stocker up down Work feed in marking process Stocker u...

Page 228: ...nother position with the ST signal of the current position remaining ON after the completion of positioning allows the positioning to the other position to be executed 5 If Parameter No 27 Move command type is set to 0 factory setting turning ST OFF during positioning caused the operation to be interrupted 6 Note that when Parameter No 27 Move command type is set to 1 starting ST ON pitch feed rep...

Page 229: ...ssing of PIO patterns 4 being the upper limit Pressing operation using force sensor of PIO pattern 7 performs pressing by the pressing force set in percent of the base thrust in pressing operation using force sensor 1 3 The control method is the same as that in 1 Positioning However the processing of positioning complete signal PEND is different from that in 1 Positioning PEND is output when the s...

Page 230: ...ssing is completed The work may moves backward or forward If the actuator is moved backward before the approach position alarm code 0DC pressing operation range error occurs to stop the actuator In movement of the work in the pressing direction PEND is turned OFF if the load current becomes lower than the current limit pressing Miss pressing occurs when the actuator moves by the pressing moving di...

Page 231: ...d ON at satisfaction of the condition if the work is not stopped Accumulated time in which current reaches pressing value accumulated time in which current is less than pressing value 255ms Parameter No 6 Current Time Pressing Operation start Approach end Pressing start 200ms 20ms 75ms 295ms 2200ms 75ms 20ms 255ms Pressing Completion PEND Output Contacting Decrease in current due to movement of wo...

Page 232: ...sition 2 Position No 1 indicates the tension start preparation position Specify a value larger than the coordinate value at which the tension provided by position No 2 ends 80 50 30mm in Position 3 First define the positioning in position No 1 Next the operation in position No 2 moves the actuator to the position of 80mm at the setting speed and rating torque and change to the tension operation Th...

Page 233: ... tension end position Note that the tension operation after positioning to the position of 80mm does not take place 3 The work is pulled also after completion of the tension The work is drawn back or pulled further if the work is moved When the work is drawn back before the approach position alarm code 0DC pressing operation range error occurs to stop the work When the work is moved in the tension...

Page 234: ...on with the position table above as an example 1 Set the weak pressing 30 in position No 2 and perform the pressing operation 2 If pressing complete signal PEND is turned ON start the pressing operation with pressing pressure 50 greater than the first pressure set in position No 3 In this particular operation turn ON ST3 after completion of ST2 and turn OFF ST2 when PEND is turned OFF In usual cas...

Page 235: ...ation Control method The pause signal is an input signal always set to ON So it is normally used to remain ON Use this function for interlock in case where an object is invaded into the moving direction of the actuator being moved 1 If pause signal STP is turned OFF during operation of the actuator the actuator is decelerated to a stop The deceleration is defined by the value set in the position t...

Page 236: ...input to Position 1 being ON Acceleration Deceleration Acceleration 2 3 1 4 5 Control method If start signal ST is turned OFF during movement the actuator can be paused Use the control method for interlock in case where an object is invaded into the moving direction of the actuator being moved 1 If the ST signal is turned OFF during movement the actuator is paused The deceleration is the value set...

Page 237: ...OG while it is set to ON By using this function move the actuator to a position at which home return can be done safely The speed of ST1 is the home return speed After the home return is fully prepared turn the ST0 signal ON to start the home return At the completion of the home return home return complete signal HEND is turned ON Turn the ST0 signal OFF if HEND is turned ON HEND remains ON unless...

Page 238: ...fer to Section 8 2 14 when a change to Parameter No 22 Home Return Offset Level is required Operation of Rotary Actuator 1 330 Rotation Specification 1 By HOME Signal being on the rotary part turns in CCW counterclockwise from the view of load side The velocity is either 20deg s 2 The actuator is turned at the mechanical stopper and stopped at the home position The amount of movement at this time ...

Page 239: ...n 7 Goes to a point exceeded the home sensor detection range on the opposite side of the home position and confirms the home sensor is turned OFF 8 Starts reversed rotation 9 Confirms the home sensor turns ON 10 Goes to a point exceeded the home sensor detection range on the home position side and confirms the home sensor is turned OFF 11 Based on the result gained from 6 7 9 and 10 the center of ...

Page 240: ...hanical end and stopped at the home position The movement amount at this time is determined for each actuator and cannot be changed Caution Make sure to refer to Section 8 2 14 when a change to Parameter No 22 Home Return Offset Level is required Note Finger attachment is not included in the actuator package Please prepare separately 3 8 Control and functions of Input and output signals of Remote ...

Page 241: ...in the operation by another position number or manual operation in the servo OFF state the relevant LS signal is always turned ON Caution Even though a cold start error is generated LS Signal would not turn OFF Home 0mm 70mm 150mm LS0 is ON 0 5mm LS1 is ON 70 10mm LS2 is ON 150 5mm No Position mm Velocity mm s Accele ration G Decele ration G Pressing Thresh old Positioning width mm Zone mm Zone mm...

Page 242: ...ning width LS is set to ON if the current position is located within the positioning width zone or OFF if the current position is located out of the positioning width zone the same situation occurs in the servo OFF status 4 Leave the ST signal to be ON until the actuator is moved to another position and turn OFF it at the next ST signal If the ST signal is turned OFF at the LS signal the actuator ...

Page 243: ...T signals are set to ON simultaneously If two or more ST signals are input simultaneously they will be executed according to the following priorities ST0 ST1 ST2 Start signal ST1 PLC MCON Turned ON after entering into positioning width zone Target Position Position sensing output LS1 MCON PLC Start signal ST2 PLC MCON Position sensing output LS2 MCON PLC Δt Δt Δt Δt Time required to certainly reac...

Page 244: ...tart position No 1 ST1 signal and use position sensing output signal LS1 of position No 1 to start position No 0 ST0 signal Since this pattern prioritizes the signal specified later over the previous signal the operation of No 1 is changed to the operation of No 0 during the operation of No 1 Note If there is a signal commanded afterwards the commanded signal will start activating once the previou...

Page 245: ...ON Position sensing output LS1 MCON PLC Position sensing output LS2 MCON PLC Target position of position No 0 and No 1 Start signal ST2 PLC MCON Set of positioning width of position No 1 to shift change start position Operation of actuator Stop at position No 2 Moving at speed of Position No 1 Moving at speed of position No 0 Completion of positioning at position No 0 ST0 signal input becomes effe...

Page 246: ...If start signal ST is turned OFF during movement the actuator can be paused Use the control method for interlock in case where an object is invaded into the moving direction of the actuator being moved 1 If the ST signal is turned OFF during movement the actuator is decelerated to a stop The deceleration is the value set in the position table 2 If the ST signal is turned ON again the remaining mov...

Page 247: ...em of your PC 3 9 1 Startup of Tool 1 Boot the Gateway Parameter Setting Tool after the power to MCON is turned ON and the window shown below appears Select MCON and click on the OK button 2 Once MCON is detected the detected unit numbers become available to select Select the unit number to be connected and click the OK button MCON being detected Select the unit number to be connected 3 9 About Ga...

Page 248: ...gure below Main windows Initial condition 3 9 2 Explanation of each Menu Note If MCOM is not detected there will be some items that cannot be displayed or selected 1 File Menu In the main window click on the file menu on the top left corner and the menu list pops up as shown in the figure above New file Create new network parameters and operation mode parameters Open Open the saved parameter files...

Page 249: ...ber in that unit Refer to 3 9 3 6 Unit Number EtherNet IP Setting I For EtherNet IP type this menu is displayed Set IP address etc Refer to 3 9 3 7 EtherNet IP Setting 3 Monitor menu Click on the Monitor menu on the top left corner in the main window and the monitor menu list pops up Note Monitor cannot be selected before reading a parameter I O data Show the details of the host PLC and MCON data ...

Page 250: ...speed from 1 0mm s and 0 1mm s Internal communication retry count Set the number of communication retries with the connected axes in AUTO mode 2 GW Param 2 Fulltime Fan run Select whether to always drive the fan even in AUTO mode Fan round monitor Select whether to not to monitor the fan rotation speed with the monitor function BATT Charge Volt monitoring Select whether to not to monitor the absol...

Page 251: ...o turn on and off the MP individually by using the drive cutoff connectors when this time is to be set as it can be a cause of alarm generation 4 GW mode Select Enable SW Select whether to activate inactivate the enable switch in TP BYTE swap Set the byte swap Refer to 4 1 in this section WORD swap in D WORD Data Set whether to swap the W word sized data with word size Refer to 4 2 in this section...

Page 252: ...s considering the connected host system if necessary MSEP ON OFF ON OFF ON OFF ON OFF 入力 レジスタ 16進 データ 16進 データ 16進 データ 16進 データ MSEP RWwnn PLC RWrnn 出力 レジスタ MCON Input register MCON Output register Hexadecim al Hexadecim al Hexadecim al Hexadecim al ON OFF 3 9 About Gateway Parameter Setting Tool ...

Page 253: ...unit Set this considering the connected host system if necessary MSEP ON OFF ON OFF ON OFF ON OFF 入力 レジスタ 16進 データ 16進 データ 16進 データ 16進 データ MSEP RWwnn PLC PLC RWrnn 出力 レジスタ MCON Input register MCON Output register Hexadecim al Hexadecim al Hexadecim al Hexadecim al ON OFF 3 9 About Gateway Parameter Setting Tool ...

Page 254: ...d when 2 units of MCON are to be connected to the PC software at the same time It is not necessary to have this setting done for 1 unit of MCON Multi Drop enable Tick in the box if the setting in this window is to be activated Unit No Set the unit number of MCON Top Axis No Set the top axis number of MCON composition axes Caution The clock calendar function in MCON can be retained for approximatel...

Page 255: ...data that Gateway Unit has received from the host master and the data sent back to the host master Data Reading Frequency Select the frequency of displayed data update from 100 to 500ms Display Switchover Select from binary and hexadecimal for the display SYNC Scroll Tick in the box to make the list of the sent and received data scrolled together Data Reading Frequency Display Switchover SYNC Scro...

Page 256: ...ed 10 Alarm List Click on the Update button and the alarm list is read again from MCON Click on the Clear button and the alarm list retained in MCON are all deleted Press Save button and the alarm list retained in MCON will be saved in CSV format Refer to Chapter 9 Troubleshooting for the details of the alarms 3 9 About Gateway Parameter Setting Tool ...

Page 257: ...eration mode Also if there is a reserved axis tick on Axis 4 Rsv or Axis 5 Rsv beside the operation mode setting box 6 Once the operation mode of Drive Unit 2 is selected selection of an operation mode for Drive Unit 3 AX6 7th axis AX7 8th axis becomes available Select a desired operation mode Also if there is a reserved axis tick on Axis 6 Rsv or Axis 7 Rsv beside the operation mode setting box N...

Page 258: ...l communication status Normal Orange Fieldbus communication error C ERR Fieldbus communication status Normal Green Online Normal Green Online Even though the network is established normally the master does not identify as MCON Orange An error occurs Orange No response returned from another slave device NS Green Orange Blink by turn In self checking process Green Communication in normal condition G...

Page 259: ...MANU Mode Orange Controller internal communication error T ERR Controller internal communication status Normal Orange Fieldbus communication error C ERR Fieldbus communication status Normal Orange An error occurs CRC error station No setting error or baud rate setting error Orange Station number or baud rate changed after the power on ERR Normal Fieldbus status RUN Green Communication in normal co...

Page 260: ... T ERR Controller internal communication status Normal Orange Fieldbus communication error C ERR Fieldbus communication status Normal Green Online Normal Green Online Even though the network is established normally the master does not identify as MCON NS Orange An error occurs Parameter error or initializing error Green Initializing is completed Green Initializing completed and in self checking pr...

Page 261: ...rror C ERR Fieldbus communication status Normal Green Online Normal Green Online Even though the network is established normally awaiting for being identified as MCON by master Orange Node address duplication error slave address wrongly established Orange No response returned from another slave device NS Power is OFF under reset operation under initializing process Green Communication in normal co...

Page 262: ...munication in normal condition Green Online Even though the network is established normally the master does not identify as MCON Orange Communication error such as IP address duplication Orange Communication error Communication timeout has been detected NS Power is OFF or IP address not established Green Communication in normal condition Green Construction information setting is incomplete or scan...

Page 263: ...l Orange Communication component module error Orange Note 1 Construction information settings error Information received from the master cannot be set Orange Note 3 Communication section circuit error Watchdog timer timeout ERR No abnormality or the power is OFF Green Normal communication OPERATION condition Green Note 1 PRE OPERATION condition Green Note 2 SAFE OPERATION condition Orange Communic...

Page 264: ...254 Note 1 blinking Note 2 single flash Note 3 double flash Timing of LED flashing 3 10 Fieldbus Status LEDs ...

Page 265: ...mmunication in normal condition RUN status Green Online Not identified by master STOP status NS The power is OFF or there is no connectable MCON Green In the normal operation Green Network under diagnosis Green Engineering tool identifying nodes Red Exception error generated Hardware malfunction Red Settings and actual network construction do not match Red IP address not established Red Station na...

Page 266: ... error C ERR Fieldbus communication status Normal Green Normal operation RUN Hardware error generated power not ON Red Error generated node error station number setting error MS ERR Normal operation power not ON Green Cyclic transmission ON Green Cyclic transmission OFF D Link Cyclic transmission not implemented fragmented or power not ON Red Receive data error lights together with L ER NS L ERR R...

Page 267: ...tion Manual ME0352 3 10 10 MECHATROLINK Ⅲ Refer to status LED of MECHATROLINK Ⅲ MECHATROLINK Ⅲ Applicable Controller Instruction Manual ME0317 3 10 11 EtherCAT Motion Refer to status LED of EtherCAT Motion EtherCAT Motion Applicable Controller Instruction Manual ME0367 3 10 Fieldbus Status LEDs ...

Page 268: ...258 3 10 Fieldbus Status LEDs ...

Page 269: ...only to the servo motor type actuators Cannot be used in direct indication mode Before this function can be used you must read the cautions described on the next page Functional Operation Image The figure below shows an example in which two actuators are subject to 2 axis combination Actuator A is moved to cause actuator B corresponding to a joint to be vibrated Measure the vibrations of B in the ...

Page 270: ...ration speed 100mm s Frequency of mechanical angle motor revolution 5Hz Frequency of electric angle four times of frequency of mechanical angle 20Hz 2 When a higher speed response is required for the vibration control than the set speed control response the speed response is not able to catch up with the vibration control 3 In case of a system shown in the figure on the right the vibration cannot ...

Page 271: ...s vibration meter or acceleration pickup Calculation from video image data Yes Setting of parameter for vibration suppress control See next page Set the measured natural frequency in the parameter Note With the frequency analysis tool for anti vibration control installed in the PC software it is able to write parameters from the tool Set related parameters Setting of vibration suppress control par...

Page 272: ...2 105 and 106 In this section do not change 2 Natural frequency 1 1000Hz Parameter No 99 103 and 107 Set the natural frequency of the load measured It can be input directly to the parameter from the frequency analysis tool for anti vibration control included in the PC software if the tool is already used Refer to the Instruction Manual of the RC PC software Set the specific frequency of the loaded...

Page 273: ... Position mm Velocity mm s Accele ration G Decele ration G Pressing Thresh old Positioning width mm Zone mm Zone mm Acceleration Deceleration mode Incre mental Gain set Stop mode Vibration suppress No 0 1 0 00 50 00 0 01 0 01 0 0 0 10 0 00 0 00 0 0 0 0 0 2 50 00 50 00 0 01 0 01 0 0 0 10 0 00 0 00 0 0 0 0 1 3 50 00 50 00 0 01 0 01 50 0 0 10 0 00 0 00 0 0 0 0 3 4 Stop Method at Servo OFF Setting Val...

Page 274: ...264 Chapter 4 Vibration Suppress Control Function ...

Page 275: ... to compensate in any unexpected damage The setup of this feature is necessary to be adjusted to an expected collision and the optimum value differs depending on the system Well confirm the status before use 5 1 Collision Detection Judgement Judgment is made as a collision when the current position is in the range of the position zone for longer than the time set in the parameter 1 and the current...

Page 276: ...Note1 Detection is conducted in position zone setting range but is not conducted in the following conditions The first movement after releasing from a pause Movement from a stop in the positon zone range Message level Note 1 In this setting it can avoid a mistake to detect the current during acceleration 2 Setting of Detection Current Value Setting is made by inputting 0 0 to 100 100 in Threshold ...

Page 277: ...et the range with possibility that collision can occur 2 Detection Current Value Considering the movement velocity and weight of a work piece set a low value in the range that detection mistake would not occur Set it slightly higher than the current necessary for constant velocity movement and tune little by little Chapter 5 Collision Detection Feature ...

Page 278: ...268 Chapter 5 Collision Detection Feature ...

Page 279: ...for misalignment of 1 count when the full servo feature is activated Setting Status PIO Pattern 0 to 2 4 PIO Pattern 5 Standby after home return is complete Positioning to the target point is not done Power saving function executed with the values set in Parameter No 53 Stop Mode of the position number is invalid Standby with the servo turned ON after the power is supplied Positioning to the targe...

Page 280: ...ion after completion of positioning Selectable type 0 Servo ON not changed All type 1 Automatic servo off in a certain time set in Parameter No 36 All type 2 Automatic servo off in a certain time set in Parameter No 37 All type 3 Automatic servo off in a certain time set in Parameter No 38 All type 4 Full Servo Control Pulse motor type 5 Full servo control for a certain time value set in Parameter...

Page 281: ...PEND PM1 to PM PE 0 Positioning Completion Signal OFF OFF OFF 1 In position Signal ON ON ON Note SYS in the driver status LED lamps on the front panel blinks in green during the automatic servo OFF For Parameter No 39 0 Operation of actuator Positioning operation Automatic servo OFF standby Servo OFF Positioning operation Servo Condition ON ON OFF ON Completed Position No Output Current position n...

Page 282: ... automatic current reduction feature can be set in Parameter No 182 Parameter No Name Unit Input range Initial value 182 Auto Current Adj Select 0 Disabled 1 Enabled 0 Shown below is a graph example of the current flow volume and velocity command in the positioning operation in comparison of when the automatic current reduction feature is inactive and when it is active The automatic current reduct...

Page 283: ...he current flow volume will be reduced to a certain amount when there is no position deviation The maximum current volume should be the current limit value at positioning stop parameter and the current flow volume will be increased to a certain amount 6 2 2 Caution 1 Deference in Target Position Deviation due to Encoder Resolution for Actuator with Lead Length 24 mm rev 1 When the encoder resoluti...

Page 284: ...274 Chapter 6 Power saving Function ...

Page 285: ... displayed for each axis to be connected There is no absolute status display for the incremental type and battery less absolute type LED Display for Upper Connector Axis Numbers 0th 2nd 4th and 6th axes Name Description SYS I Driver for upper connector connection axes numbers 0 th 2 nd 4 th and 6 th axes System status Green Light is turned ON Servo ON Red Light is turned ON Alarm generated Emergen...

Page 286: ...Red Light is turned ON Battery disconnected The absolute reset is to be done with using a teaching tool such as the PC software Shown below are the steps 2 Absolute reset procedure from teaching tool 1 Connect the controller with the actuator Refer to Chapters 1 and 2 2 For Simple Absolute Type connect the absolute battery box and the controller with the dedicated cable Refer to 2 2 3 Connection o...

Page 287: ...02 TB 03 Press Alarm reset Press Trial Operation on the Menu 1 screen Press Jog inching on Test run screen Touch Servo to turn the servo ON and touch Homing in Jog inching screen 1 2 3 4 Chapter 7 Absolute Reset and Absolute Battery ...

Page 288: ...sted in Parameter No 22 Home Return Offset Mark the home position on the mechanical side at the first startup From the position where it has changed from the original home position after the absolute reset move the actuator to the marked position with such an operation as JOG operation Read the coordinates and add if the number is positive and subtract if negative them to the values in Parameter N...

Page 289: ...ile the power to the controller is OFF AX3 AX7 AX1 AX4 AX5 AX6 AX7 AX3AX2AX1AX0 AX4 AX6 AX0 AX2 AX5 5th Axis Battery Axis No 4 7th Axis Battery Axis No 6 1st Axis Battery Axis No 0 3rd Axis Battery Axis No 2 6th Axis Battery Axis No 5 8th Axis Battery Axis No 7 2nd Axis Battery Axis No 1 4th Axis Battery Axis No 3 Connector to connect with MCON 8th Axis Battery Axis No 7 Connector inserting positi...

Page 290: ...a holding will decrease Replace the battery with a new one if the retaining time is remarkably dropped even with enough charging time Example From Monday to Friday charge for 8 hours per day discharge for 16 hours Saturday and Sunday When using with discharge Connected axis Any model except for RCA2 NA 1 If parameter No 155 3 setting Total charge amount Operation hours per day 8 H Retaining time p...

Page 291: ... signals of active low After the power is supplied to the controller they are usually ON and turned OFF when an error is detected If the alarm is generated it will be necessary to absolute reset after the battery replacement The controller checks the battery voltage at the time the power is supplied The controller would not detect it even if the battery voltage is decreased to the alarm level whil...

Page 292: ...282 Chapter 7 Absolute Reset and Absolute Battery ...

Page 293: ...written to the non volatile controller built in memory FeRAM then either software reset or reboot of the power It will not become active only with setting on the teaching tool Warning 1 Parameter setting has great influences on operations of the controller Incorrect parameter setting may not only cause malfunction or failure of the controller to occur but also people and assets to be exposed to ri...

Page 294: ...n Direction ORG 0 Reverse 1 Normal In accordance with actuator Note 2 8 2 3 6 C Push Hold Stop Judgment Period PSWT msec 0 to 9999 255 8 2 4 7 C Servo Gain Number PLGO 0 to 31 In accordance with actuator Note 2 8 2 5 8 3 8 B Default Velocity VCMD mm s deg s 1 to Actuator s max speed Rated actuator speed Note 2 8 2 6 9 B Default Acceleration Deceleration ACMD G 0 01 to Actuator s max acceleration d...

Page 295: ...h actuator Note 2 8 2 26 35 C Safety Velocity SAFV mm s deg s 1 to 250 maximum speed for the actuators with 250 or less 100 8 2 27 36 C Auto Servo motor OFF Delay Time 1 ASO1 sec 0 to 9999 0 37 C Auto Servo motor OFF Delay Time 2 ASO2 sec 0 to 9999 0 38 B Auto Servo motor OFF Delay Time 3 ASO3 sec 0 to 9999 0 8 2 28 6 1 1 39 B Position Complete Signal Output Method Note 3 PEND 0 PEND 1 INP 0 8 2 2...

Page 296: ...m 0 to 9999 99 0 8 2 48 91 C Current Limit Value at Stopping Due to Miss pressing FSTP 0 Current limiting value at stop 1 Current limit value during pressing 0 8 2 49 97 C Damping Characteristic Coefficient 1 DC11 0 to 1000 10 98 C Damping Characteristic Coefficient 2 DC21 0 to 1000 1000 99 B Natural Frequency NP01 1 1000Hz 500 to 30000 10000 100 C Vibration suppress parameter set 1 Notch Filter G...

Page 297: ... 2 VLG2 1 to 27661 In accordance with actuator Note 2 8 2 55 8 2 23 129 C Speed Loop Integral Gain 2 VLT2 1 to 217270 In accordance with actuator Note 2 8 2 55 8 2 24 130 C Torque Filter Time Constant 2 TRF2 0 to 2500 In accordance with actuator Note 2 8 2 55 8 2 25 131 C Current Control Width Number 2 CLP2 0 to 15 In accordance with actuator Note 2 8 2 55 8 2 39 132 C Servo Gain Number 3 PLG3 0 t...

Page 298: ...al Gain BUPC 1 to 10000 In accordance with actuator Note 2 8 2 66 8 2 23 154 B BU Velocity Loop Integral Gain BUIC 1 to 100000 In accordance with actuator Note 2 8 2 67 8 2 24 155 A Absolute Battery Retention Time AIP 0 20 days 1 15 days 2 10 days 3 5 days 0 8 2 68 7 2 2 156 B Torque Check Light Malfunction Output Select SLAL 0 Torque check effective 1 Light malfunction effective 0 8 2 69 158 B Va...

Page 299: ...Side ZNL2 mm deg 9999 99 to 9999 99 Actual stroke on negative side These parameters are used to set the zone in which zone signal ZONE1 or ZONE2 turns ON The minimum setting unit is 0 01 mm deg If a specific value is set to both zone boundary setting positive side and zone boundary setting negative side the zone signal is not output A setting sample is shown below Example of when line axis Current...

Page 300: ...Parameter No 4 negative side 0 3 Soft limits set in the parameter Effective stroke Allowable jogging inching range after home return Approx 0 3mm Approx 0 3mm 0 2mm 0 2mm 8 0 0 The operational range for jog and inching after the home return is 0 2mm deg less than the set value Alarm Code 0D9 Soft Limit Over Error will be generated when the set value exceeded the value 0 when shipped out set in Par...

Page 301: ...vo gain is also called position loop gain or position control system proportion gain The parameter defines the response when a position control loop is used Increasing the set value improves the tracking performance with respect to the position command However increasing the parameter value excessively increases the changes of overshooting When the set value is too low the follow up ability to the...

Page 302: ...convenient to set the acceleration deceleration often used 8 Default positioning width in position Parameter No 10 No Name Symbol Unit Input Range Default factory setting 10 Default Positioning Width INP mm deg Actuator s min resolution to 999 99 In accordance with actuator When a target position is set in an unregistered position table the setting in this parameter is automatically written in the...

Page 303: ...whether the pause input signal is disabled or enabled If a pause operation is not needed set the parameter to 1 and an operation becomes available without controlling the pause signal Set Value Description 0 Enabled Use 1 Disabled Does not use 12 Home position check sensor input polarity Parameter No 18 No Name Symbol Unit Input Range Default factory setting 18 Home Position Check Sensor Input Pol...

Page 304: ...ter setting change 4 If setting a number close to a multiple of the lead length including home return offset value 0 to the home offset value there is a possibility to servo lock on Z phase at absolute reset thus the coordinates may get shifted for the lead length For Absolute Type do not attempt to set a value near a number that the lead length is multiplied by an integral number Have enough marg...

Page 305: ...oint Jog operation enabled Writing current position data to position table enabled PIO pattern 2 2 256 point mode Number of positioning points256 point type Number of positioning points 256 points Position command Binary code Position zone signal output 1 point PIO pattern 4 4 Solenoid valve mode 1 7 point type Number of positioning points 7 points Position command Individual No signal ON Zone sig...

Page 306: ...ignal ST0 to ST6 or ST0 to ST2 if PIO Pattern 5 when PIO Pattern 4 Solenoid Valve Mode 1 7 point type and PIO Pattern 5 Solenoid Valve Mode 2 3 point type Set Value Input Method Description 0 Level The actuator starts moving when the input signal turns ON When the signal turns OFF during movement the actuator will decelerate to a stop and complete its operation 1 Edge The actuator starts moving wh...

Page 307: ... set the other values from Parameter No 5 If No 5 is 0 set 1 If No 5 is 1 set 0 Note 1 For Simple Absolute Type the excitation detection is performed at the end of home return operation 20 Excitation phase signal detection time Parameter No 29 No Name Symbol Unit Input Range Default factory setting Specifications 1 to 999 10 Pulse motor type 29 Excitation phase Signal Detection Time PHSP msec 50 t...

Page 308: ...unted vertically the slider or the rod may drop at the excitation operation Follow the instructed orientation to install If the slide or rod drops with the mentioned way of installation set with the current setting Note 1 For Simple Absolute Type the excitation detection is performed at the end of home return operation 22 Pole sensing type Parameter No 30 No Name Symbol Unit Input Range Default Fa...

Page 309: ...er the servo motor rigidity is enhanced The higher the load inertia becomes the larger the value should be set However excessively increasing the setting will cause overshooting or oscillation which facilitates producing the vibrations of the mechanical system When the set value is low When the set value is high over shoot Velocity Time Also for the conditions to use this item in the pulse motor t...

Page 310: ...t value is high over shoot Velocity Time Also for the conditions to use this item in the pulse motor type refer to Selecting to Use Velocity Loop Proportional Gain and Velocity Loop Integrated Gain in the bottom of the next page Selecting the Use of velocity loop proportional gain and velocity loop integrated gain Even though Velocity Loop Proportional Gain of pulse motor specification can be set ...

Page 311: ...uator type when the product is delivered Refer Appendix to 10 4 List of Specifications of Connectable Actuators If a change to the setting is required make sure to have the setting below the maximum pressing velocity of the actuator Setting it fast may disable to obtain the specified pressing force Also when setting at a low velocity take 5mm s as the minimum Specified pressing force may not be ob...

Page 312: ...Solenoid Valve Type 2 3 point type is selected There are 2 types of positioning complete signals and the output condition would differ depending on whether the servo is ON after the positioning is complete or the servo is OFF Set Value Signal Type During Servo ON positioning complete During Servo OFF 0 PEND It will not turn OFF even if the current position is out of the range of the positioning wi...

Page 313: ...t Value Description 0 Home position check sensor not used 1 Sensor polarity Contact a 2 Sensor polarity Contact b 32 Velocity override Parameter No 46 No Name Symbol Unit Input Range Default factory setting 46 Velocity Override OVRD 1 to 100 100 When move commands are issued from the PLC the moving speed set in the Velocity field of the position table can be overridden by the value set by this par...

Page 314: ...nce to be applied when inching input commands are received from the PLC Parameter No 49 defines the inching distance when 1 is set in the JOG speed inching distance switchover signal JVEL for field network type The maximum allowable value is 1mm 35 Load output judgment time period Parameter No 50 No Name Symbol Unit Input Range Default factory setting 50 Load Output Judgment Ttime Period LDWT msec...

Page 315: ...No 54 No Name Symbol Unit Input Range Default factory setting 54 Current Control Width Number CLPF 0 to 15 In accordance with actuator This parameter is for the manufacturer s use only to determine the response capability of thecurrent loop control Therefore do not change the settings in this parameter If the parameter ischanged carelessly control safety may be adversely affected and a very danger...

Page 316: ...own in the image below Velocity Time 0 Setting 10 Setting 50 Setting 100 Within 2 seconds Caution 3 Caution 1 If the S motion is specified in acceleration deceleration mode executing position command or direct value command while the actuator is moving causes an actuator to move along the trapezoid pattern To change a speed during operation be sure to specify such a position command while the actu...

Page 317: ...ustment may cause the control system to be unstable and further vibrations and or noises to occur On the other hand since this parameter only changes the speed command value and does not relate with the servo loop it neither makes the control system unstable nor generate continuous vibrations and or noises However excessive setting may generate vibrations and or noises until the machine can follow...

Page 318: ...1 Rotary axis In accordance with actuator This parameter defines the type of the actuator used Connected Actuator Set Value Reference Linear Axis 0 Actuator other than rotary type Rotary Axis 1 Actuator of rotary type Note Refer to 10 4 List of Specifications of Connectable Actuators for the rotary type actuators Caution If the setting is changed not only the normal operation with indicated speed ...

Page 319: ...Value Description 0 Normal Mode 1 Index Mode The index mode cannot be specified for actuators of absolute specification Caution x When it is set to Index Mode the push hold operation is not available Even when data is entered in the Push Hold data box in the Position Data it becomes invalid and normal operation is performed The positioning width becomes the parameter s default value for the positi...

Page 320: ...e Default factory setting 83 Absolute Unit ETYP 0 Not used 1 Used In accordance with specification at order accepted For pulse motor type Set to 1 if simple absolute type or battery less absolute type and 0 if others Set to 0 when using the battery less absolute in incremental For servo motor type Set to 1 for Simple Absolute and set to 0 for other types The battery less absolute cannot be used in...

Page 321: ...ut range Default factory setting 97 Damping characteristic coefficient 1 DC11 0 to 1000 10 98 Damping characteristic coefficient 2 DC21 0 to 1000 1000 99 Natural frequency NP01 1 1000Hz 500 to 30000 10000 Parameter set 1 100 Notch filter gain NFG1 1 to 20000 9990 101 Damping characteristic coefficient 1 DC12 0 to 1000 10 102 Damping characteristic coefficient 2 DC22 0 to 1000 1000 103 Natural freq...

Page 322: ...Control Process In Normal Positioning Control Process Pause Vibration Control Deceleration and Stop Normal Deceleration and Stop Servo OFF Emergency Stop Error Operation Cancellation Level Sudden stop due to emergency stop torque Vibration Control Deceleration and Stop Normal Deceleration and Stop Error Cold Start Sudden stop due to emergency stop torque 53 Monitoring mode selection Parameter No 1...

Page 323: ...is parameter bigger the frequency of data obtaining can be made longer It is set to 1msec in the initial setting Up to 60000msec can be set 1msec frequency setting 60000msec frequency setting Up to 2 048 seconds in 4CH record mode Up to 34 hours 8 minutes in 4CH record mode Up to 1 024 seconds in 8CH record mode Up to 17 hours 4 minutes in 8CH record mode Up to 4 096 seconds in 2CH record mode Up ...

Page 324: ... to 217270 136 Torque filter time constant 3 TRF3 0 to 2500 Gain set 3 137 Current control width number 3 CLP3 0 to 15 In accordance with actuator x Servo gain number 1 2 3 Parameter No 120 126 132 This parameter determines the response of the position control loop Refer to 8 2 5 Servo gain number x Position Feed forward gain 1 2 3 Parameter No 121 127 133 This parameter defines the feed forward g...

Page 325: ... Multiplying Ratio GSUL 0 to 1023 0 Disabled Gain scheduling is the function to change the gain in accordance with the operation speed This parameter shows the multiplying rate of the upper limit of the changeable gain With the set multiplying rate the values for GS Velocity Loop Proportional Gain Parameter No 145 and GS Velocity Loop Integrated Gain Parameter No 146 are changed Set Value Descript...

Page 326: ...set to 0 62 Total operated distance target value Parameter No 148 No Name Symbol Unit Input Range Default factory setting 148 Total operated distance target value ODOT m 0 to 999999999 0 Disabled Alarm Code 04F Exceeded Operated Distance Threshold is generated when the total operation distance exceeds the value set to this parameter The judgment would not be made if the value is set to 0 63 Zone o...

Page 327: ...n accordance with actuator The setting in this parameter gets effective for Velocity Loop Proportional Gain when Parameter No 152 High Output Setting is valid and No 144 Gain Scheduling Upper Magnification is set to 100 or lower Refer to the 8 2 23 Velocity loop proportional gain for the details Also for the conditions to use this item refer to Selecting to Use Velocity Loop Proportional Gain and ...

Page 328: ...on retaining time reference 0 100 75 20 days 1 200 150 15 days 2 400 300 10 days 3 800 600 5 days 69 Torque check Light malfunction output select Parameter No 156 No Name Symbol Unit Input Range Default factory setting 156 Torque Check Light Malfunction Output Select SLAL 0 Outputs load output judgment status signal or torque level status signal 1 Message of light malfunction alarm output 0 Output...

Page 329: ... OFF when the actuator is crashed Detection is conducted in the range set that the position zone is set Refer to the Chapter 5 Collision Detection Feature Setting value Operation status Alarm level 0 Detection not to be conducted same when set to 2 4 or 6 1 Detection is conducted in position zone setting range 3 Note 1 Detection is conducted in position zone setting range but is not conducted in t...

Page 330: ...ressing level Position where the actuator is pushed against the work and the pressing completion is judged so the positioning completion signal is turned ON Pressing Operation SEP Method The pressing operation is performed with the start position set at the point in front of the target position Note 1 for the width of the positioning width for Direct Indication Mode The positioning complete signal...

Page 331: ...S 0 Disabled 1 Enabled 0 It is a feature to make a stop by having the current flow considering the external force influence when performing the complete stop in positioning It will be able to save the power consumption when the transported load is small Refer to 6 2 Selecting Automatic Current Reduction Feature For pulse motor type only Chapter 8 Parameter ...

Page 332: ...rease the value of Parameter No 31 Speed loop proportional gain by about 20 of the default Prior to the setting adjust Parameter No 7 Servo gain number 2 Vibration is generated at acceleration deceleration The cause of the problem is excessive acceleration deceleration setting or vulnerable structure of the unit on which the actuator is installed If possible reinforce the unit itself first Decreas...

Page 333: ...r itself the motor is highly affected by the load This may cause the actuator to be controlled unstably Therefore to improve the precisions of the trace position speed and response of the actuator the load inertia ratio must be made small For high trace precision equi speed performance and response of the actuator in such a use as application it is better to use ball screws with small leads in the...

Page 334: ... No 31 Velocity Loop Proportional Gain and Parameter No 32 Velocity Loop Integrated Gain Set the six types of values below in order and check the operation Load of 0 2kg or less Setting Order Velocity Loop Proportional Gain Setting Velocity Loop Integrated Gain Setting 1 42 382 2 42 520 3 42 749 4 42 1171 5 42 2081 6 42 4683 Load over 0 2kg Setting Order Velocity Loop Proportional Gain Setting Vel...

Page 335: ... Orange Light is turned ON Red and green by turn Red and green by turn In initializing at startup OFF Refer to 7 1 1 Driver Status LED for the driver status LED display Refer to 3 10 Fieldbus Status LED for the status LED display 2 Check whether an alarm occurs on the host controller PLC etc 3 Check the voltage of the main power supply 24V DC 4 Voltage check of Fieldbus power supply 5 Check the vo...

Page 336: ...ing tool such as PC software Note 2 The time of alarm generated can be recorded if the clock is set to the current time on Gateway Parameter Setting Tool Refer to 3 9 3 5 Clock Setting for how to set up the date and time If the current time is set the data is remained for approximately 10 days under the condition that the power to the controller is OFF If the setting is not conducted or the time d...

Page 337: ...n 4 There is no positioning data set to the commanded position number 5 Writing the information in a wrong area for Direct Indication Mode 1 Are SYS I SYS II LEDs on the driver board that the operated axes are connected turned ON in green Refer to Name for Each Parts and Their Functions Turn ON the servo on signal SON 2 Operation is available when pause signal STP is ON and pause when it is OFF Tu...

Page 338: ...ator again following the instructions stated in Instruction Manual 4 Please contact IAI Shocks at start and or stop Acceleration deceleration is set too high Decrease the settings of acceleration deceleration Overshoot during deceleration to stop The load inertia is large Decrease the setting of deceleration Positioning of poor precision Uneven speed during movement Acceleration deceleration not s...

Page 339: ...ication Situation Possible cause Check Treatment Not connectable with host machine 1 Communication rates do not match 2 The machine number station number is set to be duplicate with that of another unit or out of the range 3 Poor wiring or disconnection of communication cable 1 Set the communication rate to match that of the host machine Refer to the Instruction Manual of the host unit 2 Correct t...

Page 340: ...ot If the same error occurs again please contact IAI 50 850 Fieldbus Communication Error ERR C Cause It is a Fieldbus link error If the flip flop is set in Gateway Parameter Setting Tool during this error the actuator is stopped in the condition of the error and any command is ignored until it receives a release signal Treatment Check the settings for Fieldbus node addresses communication speed et...

Page 341: ...same error occurs again please contact IAI 9C 89C Fieldbus Module Not Detected Cause Communication board for Fieldbus was not detected 1 Communication board is not inserted 2 Malfunction of communication board Treatment Turn the power OFF and reboot If the same error occurs again please contact IAI 9D 89D Fieldbus Module Initialization Timeout Cause Initialization of the fieldbus module did not fi...

Page 342: ... the power OFF and reboot If the same error occurs again please contact IAI AB 8AB Assumed Regenerative Discharge Excessive Power Cause The regenerative electric power exceeded what can be dealt with the regenerative resistor Treatment Decrease the acceleration deceleration speed revise the operation interval or connect an external optional regenerative resistor RER 1 AC 8AC Continuous Regenerativ...

Page 343: ...se of the alarm has not been removed 9 4 2 Simple Alarm Code Simple alarm codes are read into the complete position register PM8 to PC1 in Simplified Direct Value Positioner 1 Positioner 2 Positioner 5 and each mode of remote I O when an alarm is generated ON z OFF ALM ALM8 PM8 ALM4 PM4 ALM2 PM2 ALM1 PM1 Binary Code Description Alarm code is shown in z z z z Normal z z z z 1 Collision Detection 0D...

Page 344: ...tric angling mismatching 0B4 Servo error 0C1 Illegal control system transition command 0C5 Motor power source voltage excessive 0D2 Overload 0E0 Driver logic error 0F0 z z 13 Encoder send error 0E4 Encoder receipt error 0E5 Encoder Counter Error 0E6 A B and Z phase wire breaking 0E7 A and B phase wire breaking 0E8 BLA encoder error detection 0EB PS phase wire breaking 0EC Absolute encoder error de...

Page 345: ...tion Feature 04E Exceeded movement count threshold Cause The total number of the operation times exceeded the value set in Parameter No 147 Total Movement Count Threshold 04F Exceeded operated distance threshold Cause The total number of the operation distance exceeded the value set in Parameter No 148 Total Operated Distance Threshold 06B Message Maintenance information data error Cause The maint...

Page 346: ...ion in incomplete home return Cause The current position write signal PWRT was input in the teaching mode of PIO pattern 1 when home return was not yet completed Treatment Input the HOME signal first to perform home return and then input the PWRT signal after confirming that the home return has completed HEND output signal is ON 0A0 PIO function assignment error Cause Data input in Parameter No 25...

Page 347: ...ecification while the vibration suppress function remained effective Treatment 1 Exceeded command item code is displayed in the detailed address Input an appropriate value by referring to these values Detailed Address Command Item Code Command Item 0 Target Position 2 Command Speed 4 Acceleration 6 Deceleration 8 Positioning Width C Pressing Current Limit Value D Control Signal 2 The vibration sup...

Page 348: ... Z phase position error Cause The point where Z phase was detected in home return operation was out of the specified area Encoder error Treatment Please contact IAI 0B6 Only for A drivers Operation release Z phase detection time out Cause This indicates the Z phase could not be detected at the first servo on or home return operation after the power is turned ON in Simple Absolute type 1 Connector ...

Page 349: ...de resistance manually by moving with hand If the actuator itself is suspected to be the cause please contact IAI 0B8 Only for P drivers Cold start Excitement detection error Cause The magnetic pole phase detection is not completed after a certain time being passed even though the detection process was executed at the first servo on after the power is turned ON 1 Connection error or wire breakage ...

Page 350: ...he slide resistance of the actuator is locally high 2 The load is increased too much due to a external force With the reasons above it can be considered a sudden speed increase has occurred before detecting the servo error Treatment Even though this would not occur in normal operation check if there is any abnormality in the parts assembly condition Also check if there is a possibility that an ext...

Page 351: ...ller 3 Load to the motor is high due to external force 4 A faulty part inside the controller Treatment 1 Revise the operation condition such as decreasing the acceleration deceleration speed 2 Lower the ambient temperature of the controller 3 Confirm that there is no error in the mechanical part assembly condition Note This error would not normally occur If it occurs confirm there is not 1 to 3 ab...

Page 352: ...on following the power on is unstable Treatment 1 This error occurs when the actuator cannot be operated as it is commanded Check the load conditions such as if the work is touching to the surrounding object or brake is properly released and remove the cause 2 Overload is concerned Revise the transportable weight 0D8 Deviation overflow Cause This alarm indicates that the position deviation counter...

Page 353: ...l force is applied and the load increased 2 If the actuator is equipped with a brake the brake is not released 3 The slide resistance of the actuator is locally high Treatment 1 Check the work and its surrounding area to remove the cause 2 If an improvement can be confirmed when 24V DC 150mA is supplied to BKRLS terminal in the external brake input connector a malfunction of the controller can be ...

Page 354: ...ea 1 Connector connection error If the detail code in the error list of the teaching tool is 0002H 2 Effect of noise If the detail code in the error list of the teaching tool is 0001H 3 Malfunction of component communication part inside the controller 4 Initialization of battery less absolute encoder is incomplete Treatment 1 Check if any wire breakage on a connector and the condition of wire conn...

Page 355: ...unction of the encoder can be considered Please contact IAI 3 Set Parameter No 158 Valid Axis Invalid Axis Select to 1 Disabled If there is no actuator connected this alarm will occur even with a check mark on the reserved axis in the setting described in 2 5 3 Number of Mounted Axes or with the drive unit set to No Setting 0EB Only for P and A drivers Battery less absolute encoder error detection...

Page 356: ... Operation release Absolute encoder error detection 3 Cause The encoder for the Simple absolute type cannot detect the position information properly Encoder over speed error The current position changed with a speed more than the rotation speed setting by an external cause during the power shutoff Treatment Set the rotation speed to a higher speed than what currently is If the same failure occurs ...

Page 357: ...rating properly 1 Malfunction due to the effect of noise etc 2 Malfunction of peripheral circuit components Treatment Turn the power OFF and reboot If the error occurs again check for presence of noise Also if you have another controller replace it and try A recurring error with the spare controller suggests presence of noise If the cause cannot be identified please contact IAI 100 to 1FF Message ...

Page 358: ...348 Chapter 9 Troubleshooting ...

Page 359: ... is necessary to construct a system that complies with Safety Category ISO12100 1 ISO13849 1 use a MCON CG contactor and teaching pendant Model codes TB 01D DR or TB 02D Also TP adapter Model RCB LB TGS is required The system can conform to up to safety category B to 4 ISO12100 1 ISO13849 1 by changing connections of system I O connectors Controller MCON CG Controller TP Adapter Connecting Cable M...

Page 360: ...MC1 5 6 ST 3 5 Note 1 Lower side ENB side TP adapter side MCDN1 5 6 G1 3 5P26T HR Phoenix Contact AWG24 to 16 0 2 to 1 25m2 Pin No Signal name Description 1 EMG1 2 EMG1 Emergency stop contact 1 30V DC or less 100mA or less 3 EMG2 4 EMG2 Emergency stop contact 2 30V DC or less 100mA or less 5 EMGIN Emergency stop detection input Upper side EMG side 6 EMGOUT 24V power supply output for emergency sto...

Page 361: ... EMG connector Lower side ENB connector 7 8 9 10 11 12 7 12 3 Connection of dummy plug of TP adapter When operating the controller with AUTO Mode make sure to connect the enclosed dummy plug DP 4S Chapter 10 Appendix ...

Page 362: ...ble CB CON LB Controller MCON CG Enable SW SW Reset SW Emergency Stop 24V 24V 0V 0V RCB LB TGS Solenoid Contactor Motor Power Supply ENBOUT ENBIN ENB2 ENB2 ENB1 ENB1 EMGOUT EMGIN EMG2 EMG2 EMG1 EMG1 12 11 10 9 8 7 6 5 4 3 2 1 MP 24V 0V EMG S2 S1 24V System I O Connector Power Supply Connector 24V Chapter 10 Appendix ...

Page 363: ...8 9 S1 S2 EMG 24V Enable SW SW Reset SW Emergency Stop 24V 24V Solenoid Contactor EMGSTR ENB VP24 MCON CG TP Emergency Stop SW Enable SW Shell 1 2 3 13 14 9 12 6 5 23 24 25 22 7 26 12 11 10 9 8 7 6 5 4 3 2 1 External Emergency Stop Circuit Category 1 Motor Power Cutoff Relay RCB LB TGS SGA SGB EMGA 24V EMGB 1 2 3 4 5 6 7 8 9 5V Controller Motor Power Supply MP 24V 0V 24V Chapter 10 Appendix ...

Page 364: ...1 24V Reset SW Emergency stop SW G9SA 301 OMRON 24V G9SA 301 OMRON 41 33 23 13 T32 T31 T12 T11 A2 A1 1 2 3 4 5 6 42 34 24 14 T22 T23 T21 PE B A 41 33 23 13 T32 T31 T12 T11 A2 A1 1 2 3 4 5 6 42 34 24 14 T22 T23 T21 PE B A 24V 24V Solenoid Contactor Solenoid Contactor Enable SW Enable SW EMG S2 S1 24V MP 24V 0V 24V System I O Connector Power Supply Connector TB 01D TB 01DR or TB 02D or Dummy plug DP...

Page 365: ... TP Emergency Stop SW Enable SW Shell 1 2 3 13 14 9 12 6 5 23 24 25 22 7 26 12 11 10 9 8 7 6 5 4 3 2 1 Motor Power Cutoff Relay RCB LB TGS SGA SGB EMGA 24V EMGB 1 2 3 4 5 6 7 8 9 5V Enable SW Enable SW Emergency Stop SW Reset SW Control Circuit Control Circuit Solenoid Contactor Solenoid Contactor External Emergency Stop Circuit category 1 Motor Power Supply S1 S2 EMG 24V Controller MP 24V 0V 24V ...

Page 366: ...SW Reset SW Emergency Stop SW Emergency Stop SW For Category 4 insert Reset Switch as shown in the diagram For Category 3 layout the wiring without inserting Reset Switch For Category 4 make the connection of A and B open For category 3 make a short circuit between A and B EMG S2 S1 24V System I O Connector Motor Power Supply MP 24V 0V 24V Power Supply Connector TB 01D TB 01DR or TB 02D or Dummy p...

Page 367: ...LB TGS SGA SGB EMGA 24V EMGB 1 2 3 4 5 6 7 8 9 5V Reset SW Reset SW Emergency Stop SW Emergency Stop SW Reset SW Control Circuit Control Circuit Solenoid Contactor Solenoid Contactor External Emergency Stop Circuit category 4 For Category 4 insert Reset Switch as shown in the diagram For Category 3 layout the wiring without inserting Reset Switch For Category 4 make the connection of A and B open ...

Page 368: ...358 4 TP adapter and accessories 1 TP adapter external dimensions RCB LB TGS Chapter 10 Appendix ...

Page 369: ...l CB CON LB005 standard cable length 0 5m Maximum cable length 2 0m Color Signal No Color Signal No BR YW RD OR BL GN PL GY Shield BR YW RD OR BL GN PL GY Shield 8PIN MIN DIN Connector overmolded 8PIN MIN DIN Connector overmolded SGA SGB 5V ENBL EMGA 24V GND EMGB FG SGA SGB 5V ENBL EMGA 24V GND EMGB FG Chapter 10 Appendix ...

Page 370: ...nnected to the PC This is because many PCs have the communication ground GND and the frame ground FG connected inside and short circuit occurs through the frame ground Also if controllers with different 24V DC power supplies are connected with serial communication the communication line may become the route of controller power supply in some cases depending on the timing to turn on the power resul...

Page 371: ...es and distance Note 2 exceed the threshold By this signal notice can be available for the timing of grease supply or regular inspection Note 1 The contents recorded in the teaching tool and Modbus communication can be checked To check in the teaching tool Refer in each instruction manual for details x TB 01 TB 02 TB 03 Monitor Maintenance x TB 02 TB 03 Information Maintenance Information x RC PC ...

Page 372: ...ase in Fan Revolution B0 to b7 in Gateway Status Signal 0 ALMC1 to ALMC128 9E Fun error Step 1 Prepare a new fan Step 2 Turn the power off and detach the fan unit fixing screw screw on the right in the two aligned ones Step 3 Rotate the fan unit holder till it goes out of the fan unit interference Step 4 Grab the lattice on the fan unit with a tool such as needle nose plier and pull out the fan un...

Page 373: ... Maximum push force N Rated push speed mm s Horizontal 1260 at 50 to 400st 1060 at 450st 875 at 500st 1 16 Vertical 20 SA4C 1260 at 50 to 400st 1060 at 450st 875 at 500st SA4R 1120 at 50 to 400st 1060 at 450st 875 at 500st 0 5 21 48 Horizontal 1 10 Vertical 13 785 at 50 to 400st 675 at 450st 555 at 500st 0 5 22 77 Horizontal 1 5 Vertical 7 390 at 50 to 400st 330 at 450st 275 at 500st 0 5 44 155 Ho...

Page 374: ...0st 735 at 500st 620 at 550st 535 at 600st 460 at 650st 405 at 700st 355 at 750st 315 at 800st 0 5 27 93 Horizontal 1 6 Vertical 8 450 at 50 to 400st 435 at 450st 365 at 500st 305 at 550st 265 at 600st 230 at 650st 200 at 700st 175 at 750st 155 at 800st 0 5 53 185 Horizontal 1 RCP6 RCP6CR Slider type Standard type Cleanroom type Standard SA6C SA6R Cleanroom SA6C Ball screw 8192 3 Vertical 4 225 at...

Page 375: ... 650st 635 at 700st 560 at 750st 500 at 800st SA7R 700 at 50 to 650st 635 at 700st 560 at 750st 500 at 800st 0 5 48 168 Horizontal 1 RCP6 RCP6CR Slider type Standard type Cleanroom type Standard SA7C SA7R Cleanroom SA7C Ball screw 8192 8 Vertical 10 SA7C 490 at 50 to 500st 475 at 550st 410 at 600st 355 at 650st 315 at 700st 275 at 750st 245 at 800st SA7R 420 at 50 to 550st 410 at 600st 355 at 650s...

Page 376: ... at 450st 415 at 500st 1 22 77 Horizontal 390 at 50 to 300st 355 at 350st 290 at 400st 245 at 450st 205 at 500st 1 5 Vertical 7 WSA10C 350 at 50 to 350st 290 at 400st 245 at 450st 205 at 500st WSA10R 305 at 50 to 350st 290 at 400st 245 at 450st 205 at 500st 0 5 44 155 Horizontal 195 at 50 to 300st 175 at 350st 145 at 400st 120 at 450st 100 at 500st 1 RCP6 RCP6CR Wide slider type Standard type Clea...

Page 377: ...oom WSA12C Ball screw 8192 3 Vertical 4 225 at 50 to 350st 215 at 400st 180 at 450st 150 at 500st 130 at 550st 115 at 600st 100 at 650st 85 at 700st 75 at 750st 70 at 800st 0 5 106 370 20 24 Horizontal 30 700 at 50 to 750st 665 at 800st 1 32 112 16 Horizontal 20 560 at 50 to 650st 550 at 700st 490 at 750st 440 at 800st 1 48 168 RCP6 RCP6CR Wide slider type Standard type Cleanroom type Standard WSA...

Page 378: ... RA4C 700 RA4R 610 0 5 22 77 Horizontal 1 5 Vertical 7 350 0 5 44 155 Horizontal 1 RA4C RA4R Ball screw 8192 2 5 Vertical 4 175 0 5 88 310 20 Horizontal 1 20 Vertical 25 800 0 5 16 56 Horizontal 1 12 Vertical 15 700 0 5 26 93 Horizontal 1 6 Vertical 8 450 0 5 53 185 Horizontal 1 RA6C RA6R Ball screw 8192 3 Vertical 4 225 0 5 106 370 20 Horizontal RA7C 860 RA7R 800 1 24 Vertical 30 640 0 5 52 182 H...

Page 379: ...Vertical 20 560 0 5 78 273 Horizontal 420 1 8 Vertical 10 RRA7C 420 RRA7R 350 0 5 156 547 Horizontal 1 RCP6 Radial cylinder RRA7C RRA7R Ball screw 8192 4 Vertical 5 RRA7C 210 RRA7R 175 0 5 312 1094 20 16 Horizontal 20 700 WRA10C 1 WRA10R 0 7 21 48 10 Horizontal 13 525 at 50 to 450st 490 at 500st 1 22 77 Horizontal 350 at 50 to 400st 290 at 450st 240 at 500st 1 5 Vertical 7 260 at 50 to 450st 240 a...

Page 380: ...al 13 435 In ambient temp 5degC or lower 0 5 33 77 Horizontal 1 Vertical 350 0 5 Horizontal 1 5 Vertical 7 260 In ambient temp 5degC or lower 0 5 66 155 Horizontal 175 1 Vertical 150 0 5 Horizontal 1 RA4C RA4R Ball screw 8192 2 5 Vertical 4 130 In ambient temp 5degC or lower 0 5 133 310 20 Horizontal 630 1 Vertical 525 0 5 Horizontal 1 12 Vertical 15 525 In ambient temp 5degC or lower 0 5 40 93 Ho...

Page 381: ... 5degC or lower 0 5 133 310 20 Horizontal 630 1 Vertical 525 0 5 Horizontal 1 12 Vertical 15 525 In ambient temp 5degC or lower 0 5 40 93 Horizontal 420 1 Vertical 370 0 5 Horizontal 1 6 Vertical 8 315 In ambient temp 5degC or lower 0 5 79 185 Horizontal 1 Vertical 210 0 5 Horizontal 1 RRA6C RRA6R Ball screw 8192 3 Vertical 4 105 In ambient temp 5degC or lower 0 5 159 370 20 Horizontal 1 Vertical ...

Page 382: ...0st 1 Vertical 140 0 5 Horizontal 1 WRA12C WRA12R Ball screw 8192 3 Vertical 4 80 In ambient temp 5degC or lower 0 5 159 370 20 420 16 Horizontal 20 280 In ambient temp 5degC or lower 1 117 273 Horizontal 280 1 Vertical 210 0 5 Horizontal 1 8 Vertical 10 140 In ambient temp 5degC or lower 0 5 234 547 Horizontal 1 Vertical 130 0 5 Horizontal 1 RCP6W Dust and drip proof wide radial cylinder WRA14C W...

Page 383: ...5 to 220st 365 at 270st 285 at 320st 0 5 53 185 Horizontal 1 TA6C TA6R Double Block Type Ball screw 8192 3 Vertical 4 200 at 45 to 220st 185 at 270st 140 at 320st 0 5 106 370 20 Horizontal 1080 1 24 Vertical 30 860 0 5 32 112 Horizontal 700 1 16 Vertical 20 560 0 5 48 168 Horizontal 420 1 8 Vertical 10 350 0 5 96 336 Horizontal 1 TA7C TA7R Single Block Type Ball screw 8192 4 Vertical 5 210 0 5 192...

Page 384: ...2 5 45 110 Both Ends 310 Both Ends 180 8 10 140 In ambient temp 5degC or lower 100 Both Ends 340 Both Ends RCP6 Gripper type GRST7C GRST7R Trapezoid thread on right and left 8192 2 5 45 0 3 330 Both Ends 880 Both Ends Lead 8 10 Lead 2 5 Note The values of the maximum velocity and maximum acceleration deceleration for RCP6 RCP6CR RCP6W are the ones when the high output feature is activated There ar...

Page 385: ... 1440 at 50 to 450st 1335 at 500st 1130 at 550st 970 at 600st 840 at 650st 735 at 700st 650 at 750st 575 at 800st SA6R 1280 at 50 to 500st 1130 at 550st 970 at 600st 840 at 650st 735 at 700st 650 at 750st 575 at 800st 1 0 20 Vertical 25 1280 at 50 to 500st 1130 at 550st 970 at 600st 840 at 650st 735 at 700st 650 at 750st 575 at 800st 0 5 16 56 RCP5 RCP5CR Slider type Standard type Cleanroom type S...

Page 386: ...st 230 at 650st 200 at 700st 175 at 750st 155 at 800st 0 5 53 185 Horizontal 1 0 Standard SA6C SA6R Cleanroom SA6C Ball screw 800 3 Vertical 4 225 at 50 to 400st 215 at 450st 180 at 500st 150 at 550st 130 at 600st 115 at 650st 100 at 700st 85 at 750st 75 at 800st 0 5 106 370 20 Horizontal 1 0 RCP5 RCP5CR Slider type Standard type Cleanroom type Standard SA7C SA7R Cleanroom SA7C Ball screw 800 24 V...

Page 387: ...50st 255 at 800st 0 5 96 336 Horizontal SA7C 245 at 50 to 550st 215 at 600st 185 at 650st 160 at 700st 140 at 750st 125 at 800st SA7R 210 at 50 to 600st 185 at 650st 160 at 700st 140 at 750st 125 at 800st 1 0 RCP5 RCP5CR Slider type Standard type Cleanroom type Standard SA7C SA7R Cleanroom SA7C Ball screw 800 4 Vertical 5 210 at 50 to 600st 185 at 650st 160 at 700st 140 at 750st 125 at 800st 0 5 1...

Page 388: ...d type RA7C RA7R Ball screw 800 4 Vertical 5 RA7C 210 RA7R 175 0 5 312 1094 20 Horizontal 500 at 50st 560 at 100 to 400st 1 Vertical 500 0 5 Horizontal 450 In ambient temp 5degC or lower 1 12 Vertical 15 400 In ambient temp 5degC or lower 0 5 40 93 Horizontal 1 Vertical 360 0 5 Horizontal 1 6 Vertical 7 5 300 In ambient temp 5degC or lower 0 5 79 185 Horizontal 1 Vertical 180 0 5 Horizontal 1 3 Ve...

Page 389: ...C or lower 0 5 375 875 20 BA4 BA4U Belt 800 Equivalent to 48 Horizontal 150 890 at 300st 1040 at 400st 1120 at 500st 1160 at 600st 1200 at 700 to 1200st 0 5 BA6 BA6U Belt 800 Equivalent to 48 Horizontal 60 890 at 300st 1070 at 400st 1220 at 500st 1340 at 600st 1400 at 700st 1440 at 800st 1500 at 900 to 2200st 0 5 RCP5 Belt type BA7 BA7U Belt 800 Equivalent to 48 Horizontal 100 890 at 300st 1070 at...

Page 390: ...t 800st SA5R 1120 at 50 to 550st 1045 at 600st 900 at 650st 785 at 700st 690 at 750st 610 at 800st 0 5 16 56 Horizontal 900 at 50 to 450st 795 at 500st 665 at 550st 570 at 600st 490 at 650st 425 at 700st 375 at 750st 330 at 800st 1 0 RCP4 RCP4CR Slider type Standard type Cleanroom type Standard SA5C SA5R Cleanroom SA5C Ball screw 800 12 Vertical 15 SA5C 900 at 50 to 450st 795 at 500st 665 at 550st...

Page 391: ... 700st 690 at 750st 615 at 800st SA6R 1280 at 50 to 500st 1230 at 550st 1045 at 600st 905 at 650st 785 at 700st 690 at 750st 615 at 800st 1 0 20 Vertical 25 SA6C 1280 at 50 to 500st 1230 at 550st 1045 at 600st 905 at 650st 785 at 700st 690 at 750st 615 at 800st SA6R 1120 at 50 to 550st 1045 at 600st 905 at 650st 785 at 700st 690 at 750st 615 at 800st 0 5 16 56 Horizontal 1 0 RCP4 RCP4CR Slider typ...

Page 392: ...0st SA7R 1000 at 50 to 700st 890 at 750st 790 at 800st 0 5 32 112 Horizontal SA7C 980 at 50 to 550st 865 at 600st 750 at 650st 655 at 700st 580 at 750st 515 at 800st SA7R 840 at 50 to 600st 750 at 650st 655 at 700st 580 at 750st 515 at 800st 1 0 16 Vertical 20 SA7C 840 at 50 to 600st 750 at 650st 655 at 700st 580 at 750st 515 at 800st SA7R 700 at 50 to 650st 655 at 700st 580 at 750st 515 at 800st ...

Page 393: ...f slider type SA7C Ball screw 800 8 Horizontal 10 265 0 6 96 5 337 9 20 Horizontal 1 0 16 Vertical 20 1120 0 5 15 36 Horizontal 1 0 10 Vertical 13 700 0 5 16 57 Horizontal 1 0 5 Vertical 7 350 0 5 33 114 Horizontal 1 0 RA3C RA3R Ball screw 800 2 5 Vertical 4 175 0 5 65 229 20 Horizontal 1 0 20 Vertical 25 800 0 5 16 56 Horizontal 1 0 12 Vertical 15 700 0 5 26 93 Horizontal 1 0 6 Vertical 8 450 0 5...

Page 394: ... temp 5degC or lower 1 0 16 Vertical 20 300 In ambient temp 5degC or lower 0 5 94 219 Horizontal 340 1 0 Vertical 280 0 5 Horizontal 300 In ambient temp 5degC or lower 1 0 8 Vertical 10 250 In ambient temp 5degC or lower 0 5 187 437 Horizontal 170 1 0 Vertical 140 0 5 Horizontal 150 In ambient temp 5degC or lower 1 0 RCP4W Dust and drip proof rod type RA7C Ball screw 800 4 Vertical 5 125 In ambien...

Page 395: ...800 2 Horizontal Vertical 3 100 0 2 50 90 20 Horizontal 0 7 10 Vertical 13 500 0 3 25 40 Horizontal 0 7 5 Vertical 7 250 0 3 50 80 Horizontal 0 7 SA4C SA4R Ball screw 800 2 5 Vertical 4 125 0 3 100 160 20 Horizontal 0 7 20 Only for SA5C Vertical 25 1000 at 50 to 600st 910 at 650st 790 at 700st 690 at 750st 610 at 800st 0 2 20 34 Horizontal 0 7 12 Vertical 15 600 at 50 to 550st 570 at 600st 490 at ...

Page 396: ... 5 180 at 25st 200 at 50 to 100st 0 9 6 6 2 3 100 1 9 13 2 Lead screw 1 Horizontal vertical 2 50 0 2 3 8 26 4 Horizontal 0 3 4 Vertical 5 180 at 25st 200 at 50 to 100st 0 2 3 6 12 6 Horizontal 0 3 2 Vertical 3 100 0 2 7 2 25 2 Horizontal 0 3 Ball screw Standard type 1 Vertical 2 50 0 2 14 4 50 4 Horizontal 0 3 4 Vertical 5 180 at 25st 200 at 50 to 100st 0 2 6 6 23 1 Horizontal 0 3 2 Vertical 3 100...

Page 397: ...10 15 Horizontal 200 0 3 4 Vertical 5 133 0 2 15 22 Horizontal 100 TA3C TA3R Ball screw 800 2 Vertical 3 67 0 2 30 45 20 Horizontal 0 3 6 Vertical 8 300 0 2 15 25 Horizontal 0 3 4 Vertical 5 200 0 2 22 37 TA4C TA4R Ball screw 800 2 Horizontal vertical 3 100 0 2 45 75 20 Horizontal 465 0 3 10 Vertical 13 400 0 2 21 34 Horizontal 0 3 5 Vertical 7 250 0 2 41 68 TA5C TA5R Ball screw 800 2 5 Horizontal...

Page 398: ...ical 15 600 at 50 to 550st 540 at 600st 460 at 650st 400 at 700st 360 at 750st 300 at 800st 0 3 40 115 Horizontal 0 7 6 Vertical 8 300 at 50 to 550st 270 at 600st 230 at 650st 200 at 700st 180 at 750st 150 at 800st 0 3 70 210 Horizontal 0 7 SA5C Ball screw 800 3 Vertical 4 150 at 50 to 550st 135 at 600st 115 at 650st 100 at 700st 90 at 750st 75 at 800st 0 3 140 330 20 Horizontal 0 3 12 Vertical 15...

Page 399: ...ical 15 600 at 50 to 550st 540 at 600st 460 at 650st 400 at 700st 360 at 750st 300 at 800st 0 3 40 115 Horizontal 0 7 6 Vertical 8 300 at 50 to 550st 270 at 600st 230 at 650st 200 at 700st 180 at 750st 150 at 800st 0 3 70 210 Horizontal 0 7 SA6C Ball screw 800 3 Vertical 4 150 at 50 to 550st 135 at 600st 115 at 650st 100 at 700st 90 at 750st 75 at 800st 0 3 140 330 20 Horizontal 0 3 12 Vertical 15...

Page 400: ... Horizontal 333 at 50 to 800st 310 at 900st 255 at 1000st 0 3 10 Vertical 13 300 at 50 to 900st 255 at 1000st 0 2 95 320 Horizontal 165 at 50 to 800st 155 at 900st 125 at 1000st SS8C Ball screw 800 5 Vertical 7 150 at 50 to 900st 125 at 1000st 0 2 180 630 20 Horizontal 600 at 50 to 900st 515 at 1000st 0 3 20 Vertical 25 333 0 2 Horizontal 300 at 50 to 900st 255 at 1000st 0 3 10 Vertical 13 250 0 2...

Page 401: ...at 300st 10 Vertical 13 250 30 150 5 Horizontal vertical 7 190 at 50 to 250st 175 at 300st 75 284 Horizontal 125 at 50 to 200st 115 at 250st 85 at 300st RA4C Ball screw 800 2 5 Vertical 4 115 at 50 to 250st 85 at 300st 0 2 150 358 20 Horizontal 320 16 Vertical 20 265 75 240 8 Horizontal vertical 10 200 150 470 RCP2W Dust and drip proof rod type RA6C Ball screw 800 4 Horizontal vertical 5 100 0 2 3...

Page 402: ...9 Both Ends 21 Both Ends 5 GRM 1 1 2 36 23 Both Ends 80 Both Ends 5 GR3SS 2 5 4 40 7 Both Ends 22 Both Ends 5 RCP2CR RCP2W Cleanroom type Dust and drip proof gripper type GR3SM 800 3 4 50 30 Both Ends 102 Both Ends 5 12deg Gear ratio 1 30 15 deg s 400 deg s RTBS RTBSL RTCS RTCSL 800 8deg Gea ratio 1 45 10 deg s 266 deg s 18deg Gear ratio 1 20 23 deg s 600 deg s RCP2 RCP2CR RCP2W Rotary type Standa...

Page 403: ...20 800 2 5 Horizontal vertical 4 125 0 2 Horizontal 1000 at 50 to 600st 910 at 650st 790 at 700st 690 at 750st 610 at 800st 0 3 20 Only for SA5C Vertical 25 800 at 50 to 650st 790 at 700st 690 at 750st 610 at 800st 0 2 Horizontal 0 3 12 Vertical 15 600 at 50 to 550st 570 at 600st 490 at 650st 425 at 700st 370 at 750st 330 at 800st 0 2 Horizontal 0 3 6 Vertical 8 300 at 50 to 550st 285 at 600st 245...

Page 404: ...RA2AC RA2AR Ball screw 5 800 1 Horizontal vertical 2 50 0 3 Horizontal 0 3 4 Vertical 4 200 0 2 Horizontal 0 3 2 Vertical 2 100 0 2 Horizontal Ball screw 1 Vertical 1 50 0 2 4 4 200 2 2 100 Standard RN3NA RP3NA GS3NA GD3NA SD3NA Cleanroom Dust and drip proof RN3NB RP3NB GS3NB GD3NB SD3NB Lead screw Available to Select Only in Standard Type 10 1048 1 Horizontal vertical 1 50 0 2 Horizontal 270 at 3...

Page 405: ...in Standard Type 20 1048 2 Horizontal vertical 2 100 0 2 Horizontal 0 3 4 Vertical 4 200 0 2 Horizontal 0 3 2 Vertical 2 100 0 2 Ball screw 1 Horizontal vertical 1 50 0 2 4 4 200 2 2 100 TCA3NA TWA3NA TFA3NA Lead screw 10 1048 1 Horizontal vertical 1 50 0 2 Horizontal 270 at 30st 300 at 50st 0 3 6 Vertical 6 220 at 30st 300 at 50st 0 2 Horizontal 0 3 4 Vertical 4 200 0 2 Ball screw 2 Horizontal ve...

Page 406: ...ion G Minimum push force N Maximum push force N Rated push speed mm s Horizontal 560 0 3 12 Vertical 15 500 0 2 Horizontal 0 3 6 Vertical 8 300 0 2 TA6C TA6R Ball screw 20 800 3 Horizontal vertical 4 150 0 2 Horizontal 600 0 3 12 Vertical 15 580 0 2 Horizontal 0 3 6 Vertical 8 300 0 2 RCA2 Table type TA7C TA7R Ball screw 30 800 3 Horizontal vertical 4 150 0 2 Chapter 10 Appendix ...

Page 407: ...0 at 50 to 450st 190 at 500st 0 2 12 15 Note 1 800 at 50 to 450st 760 at 500st 0 3 6 8 Note 1 400 at 50 to 450st 380 at 500st 0 3 Standard Cleanroom SA5D Ball screw 20 Incremental 800 Absolute 16384 3 Horizontal vertical 4 Note 1 200 at 50 to 450st 190 at 500st 0 2 12 15 Note 1 800 at 50 to 450st 760 at 500st 0 3 6 8 Note 1 400 at 50 to 450st 380 at 500st 0 3 Standard SA5R Ball screw 20 Incrementa...

Page 408: ...anroom type Standard SA6R Ball screw 30 Incremental 800 Battery less Absolute 16384 3 Horizontal vertical 4 Note 1 200 at 50 to 450st 190 at 500st 160 at 550st 135 at 600st 0 2 10 13 665 0 3 5 7 330 0 3 SS4D Ball screw 20 800 2 5 Horizontal vertical 4 165 0 2 12 15 800 at 50 to 450st 760 at 500st 0 3 6 8 400 at 50 to 450st 380 at 500st 0 3 SS5D Ball screw 20 800 3 Horizontal vertical 4 200 at 50 t...

Page 409: ...00 Absolute 16384 3 Horizontal vertical 4 Note 1 150 0 2 12 15 Note 1 600 0 3 6 8 Note 1 300 0 3 RCA RCAW Rod type Standard type Dust and drip proof type Standard Dust and drip proof RA4D RA4R Standard RGS4D RGD4D RGD4R Ball screw 20 30 Incremental 800 Absolute 16384 3 Horizontal vertical 4 Note 1 150 0 2 Horizontal 0 3 5 Vertical 7 250 0 2 RCA Rod type SRA4R SRGS4R SRGD4R Ball screw 20 800 2 5 Ho...

Page 410: ...5 420 SA2L 855 460 SA3L 1145 600 SA4L SM4L 715 1200 SA5L SM5L 855 1400 RCL SA6L SM6L Linear 1145 Horizontal 42 1600 2 10 4 3 Specifications for Brushless DC Electric Motor Actuator RCD Series Actuator series Type Feed screw Motor output W No of encoder pulses Lead mm Mounting direction Minimum speed mm s Maximum speed mm s Maximum acceleration deceleration G Minimum push force N Maximum push force...

Page 411: ... Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Values of Lead 16 are in condition of operation with 0 5G and others in 0 3G Values of Lead 16 are in condition of operation with 0 5G and others in 0 3G Values of Lead 20 are in condition of operation with 0 5G and others in 0 3G ...

Page 412: ... Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Values of Lead 16 are in condition of operation with 0 5G and others in 0 3G Values of Lead 16 are in condition of operation with 0 5G and others in 0 3G Values of Lead 20 are in condition of operation with 0 5G and others in 0 3G Values of Lead 20 are in con...

Page 413: ... 10 15 20 25 30 1 1 5 5 12 12 1 5 1 5 3 3 8 8 16 16 3 3 6 6 15 15 1 1 Horizontal installation Vertical installation Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Shown in graph is in condition of operation with 0 3G Shown in graph is in condition of operation with 0 3G Shown in...

Page 414: ... 5 0 5 8 8 7 7 6 6 16 16 5 5 7 7 8 8 4 4 1 1 Horizontal installation Vertical installation Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Shown in graph is in condition of operation with 0 3G Shown in graph is in condition of operation with 0 3G Shown in graph is in condition of...

Page 415: ...tallation Vertical installation Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Lead 2 5 Lead 5 Lead 10 Lead 16 Lead 5 Lead 3 Lead 6 Lead 3 Lead 6 Lead 12 Lead 20 Lead 4 Lead 8 Lead 4 Lead 8 Lead 16 Lead 24 Lead 2 5 Lead 10 Lead 16 Lead 12 Lead 20 Lead 16 Lead 24 Shown in graph i...

Page 416: ...ntal installation Vertical installation Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Lead 2 5 Lead 5 Lead 10 Lead 16 Lead 5 Lead 3 Lead 6 Lead 3 Lead 6 Lead 12 Lead 20 Lead 4 Lead 8 Lead 4 Lead 8 Lead 16 Lead 24 Lead 2 5 Lead 10 Lead 16 Lead 12 Lead 20 Lead 16 Lead 24 Shown in...

Page 417: ...tallation Vertical installation Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Lead 2 5 Lead 5 Lead 10 Lead 16 Lead 5 Lead 3 Lead 6 Lead 3 Lead 6 Lead 12 Lead 20 Lead 4 Lead 8 Lead 4 Lead 8 Lead 16 Lead 24 Lead 2 5 Lead 10 Lead 16 Lead 12 Lead 20 Lead 16 Lead 24 Shown in graph i...

Page 418: ...3 1 1 1 1 Horizontal installation Vertical installation Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Lead 2 5 Lead 5 Lead 10 Lead 16 Lead 5 Lead 3 Lead 6 Lead 3 Lead 6 Lead 12 Lead 20 Lead 4 Lead 8 Lead 4 Lead 8 Lead 16 Lead 24 Lead 2 5 Lead 10 Lead 16 Lead 12 Lead 20 Lead 16 ...

Page 419: ... 1 0 5 0 5 7 7 6 6 8 8 15 15 9 9 Horizontal installation Vertical installation Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Lead 2 5 Lead 5 Lead 10 Lead 16 Lead 5 Lead 3 Lead 6 Lead 3 Lead 6 Lead 12 Lead 20 Lead 4 Lead 8 Lead 4 Lead 8 Lead 16 Lead 24 Lead 2 5 Shown in graph is...

Page 420: ... 5 13 5 0 5 0 5 16 16 1 1 3 5 3 5 35 35 2 2 8 8 45 45 4 4 Horizontal installation Vertical installation Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Shown in graph is in condition of operation with 0 3G Shown in graph is in condition of operation with 0 3G Values of Lead 16 ar...

Page 421: ...y kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Values of Lead 5 are in condition of operation with 0 5G and others in 0 1G Values of Lead 10 are in condition of operation with 0 3G and others in 0 1G Shown in graph is in with 0 1G condition operation Values of Le...

Page 422: ...xceeds 5degC When ambient temp exceeds 5degC Horizontal installation Vertical installation Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Shown in graph is in with 0 1G condition operation Shown in graph is in with 0 1G condition operation Values of Lead 16 are in condition of operation with 0 1G and others in 0 3G Values of Lead 16 ...

Page 423: ...ad capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s In ambient temp 5degC or lower In ambient temp 5degC or lower In ambient temp 5degC or lower When ambient temp exceeds 5degC When ambient temp exceeds 5degC Lead 2 5 Lead 5 Lead 10 Values of Lead 10 are in condition of operation with 0 3G and others in 0 1G Shown in graph is in with 0 1G c...

Page 424: ...8 8 8 When ambient temp exceeds 5degC When ambient temp exceeds 5degC Horizontal installation Vertical installation Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Shown in graph is in with 0 1G condition operation Shown in graph is in with 0 1G condition operation Values of Lead 16 are in condition of operation with 0 1G and others i...

Page 425: ...Lead 10 are in condition of operation with 0 3G and others in 0 1G Speed mm s 1 5 1 5 Shown in graph is in condition operation with 0 1G Speed mm s 11 Values of Lead 2 5 are in condition of operation with 0 3G and others in 0 1G Values of Lead 5 are in condition of operation with 0 5G and others in 0 1G Speed mm s 1 5 1 5 Speed mm s 8 8 28 28 Values of Lead 12 are in condition of operation with 0 ...

Page 426: ... installation Vertical installation Shown in graph is in condition operation with 0 1G Values of Lead 16 are in condition of operation with 0 3G and others in 0 5G Speed mm s Speed mm s Speed mm s Speed mm s Load capacity kg Load capacity kg Load capacity kg Load capacity kg When ambient temp exceeds 5degC When ambient temp exceeds 5degC In ambient temp 5degC or lower In ambient temp 5degC or lowe...

Page 427: ...8 28 28 Values of Lead 12 are in condition of operation with 0 3G and others in 0 1G Values of Lead 6 are in condition of operation with 0 3G and others in 0 1G 2 2 2 2 6 6 15 15 Values of Lead 12 are in condition of operation with 0 3G and others in 0 1G Values of Lead 3 are in condition of operation with 0 5G Lead 6 in 0 3G and Lead 12 in 0 1G 2 2 4 4 Horizontal installation Vertical installatio...

Page 428: ...Shown in graph is in condition operation with 0 1G Values of Lead 16 are in condition of operation with 0 3G and others in 0 5G Horizontal installation Vertical installation Speed mm s Speed mm s Speed mm s Speed mm s Load capacity kg Load capacity kg Load capacity kg Load capacity kg When ambient temp exceeds 5degC When ambient temp exceeds 5degC In ambient temp 5degC or lower In ambient temp 5de...

Page 429: ...pacity kg Load capacity kg Load capacity kg Load capacity kg Load capacity kg When ambient temp exceeds 5degC When ambient temp exceeds 5degC In ambient temp 5degC or lower In ambient temp 5degC or lower When ambient temp exceeds 5degC When ambient temp exceeds 5degC In ambient temp 5degC or lower In ambient temp 5degC or lower Values of Lead 12 are in condition of operation with 0 3G and others i...

Page 430: ...al installation Vertical installation Speed mm s Speed mm s Speed mm s Speed mm s Load capacity kg Load capacity kg Load capacity kg When ambient temp exceeds 5degC When ambient temp exceeds 5degC In ambient temp 5degC or lower In ambient temp 5degC or lower Shown in graph is in condition operation with 0 1G Values of Lead 8 are in condition of operation with 0 3G and Lead 4 in 0 1G Lead 4 Lead 8 ...

Page 431: ... kg Load capacity kg Load capacity kg Load capacity kg Load capacity kg Load capacity kg When ambient temp exceeds 5degC When ambient temp exceeds 5degC In ambient temp 5degC or lower In ambient temp 5degC or lower When ambient temp exceeds 5degC When ambient temp exceeds 5degC In ambient temp 5degC or lower In ambient temp 5degC or lower Values of Lead 12 are in condition of operation with 0 3G a...

Page 432: ...14 R Horizontal installation Vertical installation Speed mm s Speed mm s Speed mm s Speed mm s Load capacity kg Load capacity kg Load capacity kg Load capacity kg When ambient temp exceeds 5degC When ambient temp exceeds 5degC In ambient temp 5degC or lower In ambient temp 5degC or lower Shown in graph is in condition operation with 0 1G Values of Lead 8 are in condition of operation with 0 3G and...

Page 433: ...d capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Values of Lead 16 are in condition of operation with 1 0G Lead 10 in 0 7G and others in 0 3G Lead 2 5 Lead 5 Lead 10 Lead 16 Lead 2 5 Lead 5 Lead 10 Lead 16 Values of Lead 16 10 are in condition of operation with 0 5G and others in 0 3G Values of Lead 20 are in condition of operation with 1 0G Lead 12 in 0 5G and othe...

Page 434: ...eed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Single block type Single block type Single block type Values of Lead 16 are in condition of operation with 1 0G Lead 10 in 0 7G and others in 0 3G Values of Lead 16 10 are in condition of operation with 0 5G and others in 0 3G Values of Lead 20 are in condition of operation with 1 0G Lead 12 in 0 5G and ot...

Page 435: ...l installation Vertical installation Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Shown in graph is in condition of operation with 0 3G Values of Lead 16 are in condition of operation with 0 3G and others in 0 1G Values of Lead 16 are in condition of operation with 0 3G and ot...

Page 436: ... Horizontal installation Vertical installation Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Load capacity kg Speed mm s Shown in graph is in condition of operation with 0 3G Values of Lead 16 are in condition of operation with 0 3G and others in 0 1G Values of Lead 16 are in condition of operation with 0...

Page 437: ...f operation with 0 5G and others in 0 3G Speed mm s Load capacity kg Lead 4 Lead 8 Lead 24 Lead 16 Values of Lead 4 8 are in condition of operation with 0 1G and Lead 16 24 in 0 3G Speed mm s Load capacity kg Lead 4 Lead 8 Lead 24 Lead 16 Values of Lead 4 8 are in condition of operation with 0 1G and Lead 16 24 in 0 3G Speed mm s Load capacity kg Lead 3 Lead 6 Lead 12 Lead 20 Values of Lead 20 are...

Page 438: ...n in graph is in condition of operation with 0 3G Speed mm s Load capacity kg Lead 6 Lead 3 Lead 12 Lead 20 Shown in graph is in condition of operation with 0 3G Speed mm s Load capacity kg Lead 3 Lead 6 Lead 12 Lead 20 Speed mm s Shown in graph is in condition of operation with 0 3G Load capacity kg Lead 4 Lead 8 Lead 24 Lead 16 Values of Lead 4 8 are in condition of operation with 0 1G and Lead ...

Page 439: ...Ａ ４ Ｕ Ｂ Ａ ６ Ｕ Ｂ Ａ ７ Ｕ Load capacity kg Speed mm s Horizontal Load capacity kg Speed mm s Horizontal Load capacity kg Speed mm s Horizontal Horizontal installation Vertical installation Ｒ Ａ ４ Ｃ Load capacity kg Lead 2 5 Lead 5 Lead 10 Lead 16 Values of Lead 2 5 5 10 are in condition of operation with 0 3G and Lead 16 in 0 5G Speed mm s Load capacity kg Lead 2 5 Lead 5 Lead 10 Lead 16 Values of Lead...

Page 440: ...graph is in condition of operation with 0 3G Speed mm s Load capacity kg Lead 3 Lead 6 Lead 20 Lead 12 Shown in graph is in condition of operation with 0 3G Speed mm s Load capacity kg Lead 4 Lead 8 Lead 24 Lead 16 Values of Lead 4 are in condition of operation with 0 1G and others in 0 3G Speed mm s Load capacity kg Lead 4 Lead 8 Lead 24 Lead 16 Values of Lead 4 8 are in condition of operation wi...

Page 441: ...d 12 Shown in graph is in condition of operation with 0 3G Speed mm s Load capacity kg Lead 4 Lead 8 Lead 24 Lead 16 Values of Lead 4 are in condition of operation with 0 1G and others in 0 3G Speed mm s Load capacity kg Lead 4 Lead 8 Lead 24 Lead 16 Values of Lead 8 are in condition of operation with 0 1G and others in 0 3G Speed mm s Load capacity kg Lead 2 5 Lead 5 Lead 10 Lead 16 Shown in grap...

Page 442: ...ion with 0 3G Speed mm s When ambient temp exceeds 5degC Load capacity kg Lead 6 Lead 12 Shown in graph is in condition of operation with 0 5G Speed mm s Lead 3 Standard Type Lead 3 High Thrust Type In ambient temp 5degC or lower Load capacity kg Lead 3 Standard Type Lead 6 Lead 12 Shown in graph is in condition of operation with 0 3G Speed mm s In ambient temp 5degC or lower Load capacity kg Lead...

Page 443: ...n graph is in condition of operation with 0 3G Speed mm s In ambient temp 5degC or lower Load capacity kg Lead 8 Lead 16 Shown in graph is in condition of operation with 0 5G Speed mm s Lead 4 Standard Type Lead 4 High Thrust Type When ambient temp exceeds 5degC Load capacity kg Lead 8 Lead 16 Shown in graph is in condition of operation with 0 5G Lead 4 Standard Type Lead 4 High Thrust Type Speed ...

Page 444: ... Lead20 Operationwith0 3G Lead20 Operationwith0 5G Horizontal Load capacity kg Lead 3 Lead 6 Lead 12 Values of Lead 3 6 12 are in condition of operation with 0 3G Speed mm s Vertical Lead 20 Operationwith0 5G Load capacity kg Lead 3 Lead 6 Lead 12 Values of Lead 3 6 12 are in condition of operation with 0 3G Speed mm s Vertical Lead 20 Operationwith0 5G Load capacity kg Lead 3 Lead 6 Lead 12 Value...

Page 445: ...on of operation with 0 3G Load capacity kg Lead 3 Lead 6 Lead 12 Speed mm s Vertical Shown in graph is in condition of operation with 0 3G Lead 20 Operationwith0 5G Lead20 Operationwith0 5G Load capacity kg Lead 3 Lead 6 Lead 12 Speed mm s Lead20 Operationwith0 3G Horizontal Shown in graph is in condition of operation with 0 3G Load capacity kg Lead 3 Lead 6 Lead 12 Speed mm s Vertical Shown in gr...

Page 446: ...s when acceleration gets increased Supported on Both Ends Supported on One End Ｓ Ａ ５ Ｃ Ｓ Ａ ６ Ｃ Ｓ Ａ ７ Ｃ Load capacity kg Lead 5 Lead 10 Acceleration Deceleration G Load capacity kg Lead 5 Lead 10 Acceleration Deceleration G Load capacity kg Lead 6 Lead 12 Acceleration Deceleration G Load capacity kg Lead 6 Lead 12 Acceleration Deceleration G Load capacity kg Lead 8 Lead 16 Acceleration Deceleration...

Page 447: ...of Lead 2 5 5 10 are in condition of operation with 0 3G and Lead 16 in 0 5G Speed mm s Lead16 Operationwith0 5G Vertical Load capacity kg Lead 6 Lead 12 Values below are in condition of operation with 0 3G Speed mm s Lead 3 Standard Type Lead 3 High Thrust Type Lead 20 Load capacity kg Lead 3 Lead 6 Lead 12 Speed mm s Horizontal Lead 20 Values below are in condition of operation with 0 3G Vertica...

Page 448: ... Vertical Load capacity kg Lead 4 Lead 8 Lead 16 Speed mm s Horizontal Lead 24 Values of Lead 8 are in condition of operation with 0 1G and Lead 4 16 24 in 0 3G Load capacity kg Lead 4 Lead 8 Lead 16 Speed mm s Vertical Lead 24 Values of Lead 4 are in condition of operation with 0 1G and Lead 8 16 24 in 0 3G Load capacity kg Speed mm s Lead 2 5 Lead 5 Lead 10 Lead 16 Values of Lead 2 5 5 are in co...

Page 449: ... 3G Speed mm s Horizontal When ambient temp exceeds 5degC Load capacity kg Lead 8 Lead 16 Values below are in condition of operation with 0 5G Speed mm s Lead 4 Standard Type Lead 4 High Thrust Type Vertical When ambient temp exceeds 5degC In ambient temp 5degC or lower Load capacity kg Lead 4 Standard Type Lead 8 Lead 16 Values below are in condition of operation with 0 3G Speed mm s Horizontal I...

Page 450: ...e same for reversed type SA2AR SA2BR Vertical Installation Unavailable Vertical Installation Unavailable Horizontal installation NotAvailable for Vertical Installation Vertical installation Ｓ Ａ ２ Ａ Ｃ Ｓ Ａ ２ Ｂ Ｃ Load capacity kg Speed mm s Lead 1 Lead 2 Lead 4 Horizontal Load capacity kg Speed mm s Lead 2 Lead 4 Lead 6 Horizontal ...

Page 451: ... capacity kg Speed mm s Lead 2 5 Lead 5 Lead 10 Vertical Speed mm s Lead 2 Lead 4 Lead 6 Horizontal Load capacity kg Speed mm s Lead 2 Lead 4 Lead 6 Vertical Load capacity kg Speed mm s Lead 3 Lead 6 Lead 12 Horizontal Load capacity kg Lead 20 Speed mm s Lead 3 Lead 6 Lead 12 Vertical Load capacity kg Lead 20 Load capacity kg Speed mm s Lead 3 Lead 6 Lead 12 Horizontal Lead 20 Load capacity kg Spe...

Page 452: ... 5 Lead 10 Horizontal Load capacity kg Speed mm s Lead 2 5 Lead 5 Lead 10 Vertical Speed mm s Lead 2 Lead 4 Lead 6 Horizontal Load capacity kg Speed mm s Lead 2 Lead 4 Lead 6 Vertical Load capacity kg Speed mm s Lead 3 Lead 6 Lead 12 Horizontal Load capacity kg Speed mm s Lead 3 Lead 6 Lead 12 Vertical Load capacity kg Load capacity kg Speed mm s Lead 3 Lead 6 Lead 12 Horizontal Load capacity kg S...

Page 453: ...Lead 1 Load capacity kg Lead 2 Lead 4 Lead 1 Lead 2 Lead 4 Lead 1 Ball Screw High Thrust type Ball Screw Standard type Read Screw type Ｒ Ａ ２ Ｂ Ｃ Vertical installation Horizontal installation Speed mm s Lead 2 Lead 4 Lead 1 Load capacity kg Lead 2 Lead 4 Lead 1 Lead 2 Lead 4 Lead 6 Ball Screw High Thrust type Ball Screw Standard type Read Screw type Lead 6 Lead 6 Speed mm s Lead 2 Lead 4 Lead 1 Loa...

Page 454: ...Speed mm s Lead 2 Lead 4 Lead 1 Load capacity kg Lead 2 Lead 4 Lead 1 Lead 4 Lead 6 Lead 2 Ball Screw High Thrust type Ball Screw Standard type Read Screw type Lead 6 Lead 6 Vertical installation Horizontal installation Ｒ Ａ ２ Ａ Ｒ Speed mm s Lead 2 Lead 4 Lead 1 Load capacity kg Lead 2 Lead 4 Lead 1 Lead 2 Lead 4 Lead 1 Ball Screw High Thrust type Ball Screw Standard type Read Screw type Speed mm s...

Page 455: ...ed mm s Lead 2 Lead 4 Lead 6 Vertical Speed mm s Lead 2 Lead 4 Lead 6 Horizontal Load capacity kg Speed mm s Lead 2 Lead 4 Lead 6 Vertical Load capacity kg Speed mm s Lead 2 5 Lead 5 Lead 10 Horizontal Load capacity kg Speed mm s Lead 2 5 Lead 5 Lead 10 Vertical Load capacity kg Load capacity kg Speed mm s Lead 3 Lead 6 Lead 12 Horizontal Load capacity kg Speed mm s Lead 3 Lead 6 Lead 12 Vertical ...

Page 456: ...apacity kg Speed mm s Lead 3 Lead 6 Lead 12 Vertical Speed mm s Lead 3 Lead 6 Lead 12 Horizontal Load capacity kg Speed mm s Lead 3 Lead 6 Lead 12 Vertical Load capacity kg Ｓ Ｓ ７ Ｃ Ｓ Ｓ ８ Ｃ Speed mm s Lead 3 Lead 6 Lead 12 Horizontal Load capacity kg Speed mm s Lead 3 Lead 6 Lead 12 Vertical Load capacity kg Load capacity kg Speed mm s Lead 5 Lead 10 Horizontal Lead 20 Load capacity kg Speed mm s L...

Page 457: ... kg Speed mm s Lead 3 Lead 6 Lead 12 Vertical Load capacity kg Load capacity kg Speed mm s Lead 3 Lead 6 Horizontal Lead 12 Load capacity kg Speed mm s Lead 3 Lead 12 Vertical Lead 6 Ｓ Ｓ ７ Ｒ Ｓ Ｓ ８ Ｒ Speed mm s Lead 3 Lead 6 Lead 12 Horizontal Load capacity kg Speed mm s Lead 3 Lead 6 Lead 12 Vertical Load capacity kg Load capacity kg Speed mm s Lead 5 Lead 10 Horizontal Lead 20 Load capacity kg Sp...

Page 458: ...Lead 5 Lead 2 5 Horizontal Load capacity kg Speed mm s Lead 5 Lead 2 5 Vertical Speed mm s Lead 2 5 Lead 5 Lead 10 Horizontal Load capacity kg Speed mm s Lead 2 5 Lead 5 Lead 10 Vertical Load capacity kg Load capacity kg Speed mm s Lead 4 Lead 8 Horizontal Lead 16 Load capacity kg Speed mm s Lead 4 Lead 16 Vertical Lead 8 Speed mm s Lead 1 Horizontal Load capacity kg Speed mm s Lead 1 Vertical Loa...

Page 459: ...ed mm s Lead 2 5 Lead 10 Vertical Lead 5 Load capacity kg Speed mm s Lead 4 Lead 8 Horizontal Lead 16 Load capacity kg Speed mm s Lead 4 Lead 8 Vertical Lead 16 Speed mm s Lead 2 5 Lead 5 Vertical Load capacity kg Lead 2 5 Lead 5 Horizontal Load capacity kg Speed mm s Load capacity kg Speed mm s Lead 4 Lead 8 Vertical Lead 16 Load capacity kg Lead 4 Lead 8 Horizontal Lead 16 Speed mm s Speed mm s ...

Page 460: ...stallation Ｓ Ｒ Ａ ４ Ｒ Ｓ Ｒ Ｇ Ｓ ４ Ｒ Ｓ Ｒ Ｇ Ｄ ４ Ｒ Speed mm s Lead 2 5 Lead 5 Horizontal Load capacity kg Speed mm s Lead 2 5 Lead 5 Vertical Load capacity kg Load capacity kg Speed mm s Lead 2 5 Lead 5 Horizontal Load capacity kg Speed mm s Lead 2 5 Lead 5 Vertical Load capacity kg Speed mm s Lead 2 5 Lead 5 Horizontal Load capacity kg Speed mm s Lead 2 5 Lead 5 Vertical ...

Page 461: ...type Horizontal installation Vertical installation Ｒ Ａ ４ Ｃ Ｒ Ａ ６ Ｃ Load capacity kg Speed mm s Lead 8 Lead 4 Horizontal Lead 16 Load capacity kg Speed mm s Lead 8 Lead 4 Vertical Lead 16 Speed mm s Lead 2 5 Lead 5 Horizontal Load capacity kg Lead 10 Speed mm s Lead 5 Vertical Load capacity kg Lead 10 Lead 2 5 ...

Page 462: ...pe RCP6W should start pressing at the current limit of 30 or more 700 600 500 400 300 200 100 0 Push force N 0 10 20 30 40 50 60 70 80 Current limiting value Lead 4 Lead 8 Lead 16 Lead 24 SA7 TA7 WSA14 type 350 300 250 200 150 100 50 0 Push force N 0 10 20 30 40 50 60 70 80 Current limiting value Lead 2 5 Lead 5 Lead 10 Lead 16 WSA10 WRA10 type RCP6W should start pressing at the current limit of 3...

Page 463: ...T7B GRST6C GRST6R Current limiting value Gripping force N Lead 8 Current limiting value Gripping force N Lead 2 Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Gear ratio 2 Gear ratio 1 GRST7C GRST7R Current limiting value Gripping force N Lead 8 Current limiting value Gripping force N Lead 2 ...

Page 464: ...0 300 200 100 0 Push force N 0 10 20 30 40 50 60 70 80 Current limiting value RA6C Lead 3 High Thrust type 500 400 300 200 100 0 Push force N 0 10 20 30 40 50 60 70 80 Current limiting value RA6C Lead 3 Standard type 250 200 150 100 50 0 Push force N 0 10 20 30 40 50 60 70 80 Current limiting value RA6C Lead 6 Standard type 150 125 100 75 50 25 0 Push force N 0 10 20 30 40 50 60 70 80 Current limi...

Page 465: ... 16 Lead 4 Lead 16 Lead 24 Lead 16 Lead 4 Lead 8 Lead 6 800 700 600 500 400 300 200 100 0 Push force N 0 10 20 30 40 50 60 70 80 Current limiting value RA6C Lead 3 High Thrust type 500 400 300 200 100 0 Push force N 0 10 20 30 40 50 60 70 80 Current limiting value RA6C Lead 3 Standard type 250 200 150 100 50 0 Push force N 0 10 20 30 40 50 60 70 80 Current limiting value RA6C Lead 6 Standard type ...

Page 466: ...lide type RCP4 GRLL Lever type RCP4 GRLW Lever type Current limiting value ratio Current limiting value ratio Current limiting value ratio Current limiting value ratio Current limiting value ratio Current limiting value ratio Gripping force N Gripping force N Gripping force N Gripping force N Gripping force N Gripping force N ...

Page 467: ...iting value Push force N Current limiting value Push force N Current limiting value Push force N Current limiting value Push force N Current limiting value Push force N Current limiting value Lead 6 Lead 10 Lead 5 Lead 2 5 Lead 3 Lead 12 Lead 20 TA3 type TA4 type TA5 type TA6 TA7 type Lead 2 Lead 4 Lead 6 Lead 2 Lead 4 Lead 6 Lead 2 5 Lead 3 Lead 6 Lead 12 Lead 5 Lead 10 ...

Page 468: ... limiting value ratio Push force N Current limiting value ratio Current limiting value ratio Current limiting value ratio Push force N Push force N Push force N Ball Screw Standard type Lead1 Ball Screw Standard type Lead2 Ball Screw Standard type Lead4 Ball Screw Standard type Lead6 Lead Screw type Lead1 Lead Screw type Lead2 Lead Screw type Lead4 Lead Screw type Lead6 RCP2 Series Slider type Rod...

Page 469: ...d 16 Lead 5 400 350 300 250 200 150 100 50 0 Push force N 0 10 20 30 40 50 60 70 Current limiting value Lead 10 400 350 300 250 200 150 100 50 0 Push force N 0 10 20 30 40 50 60 70 Current limiting value Lead 2 5 Lead 5 Lead 10 800 700 600 500 400 300 200 100 0 Push force N 0 10 20 30 40 50 60 70 Current limiting value Lead 4 Lead 8 Lead 16 Lead 2 5 SRA4R SRGS4R SRGD4R type RA4C RGS4C RGD4C RA6C R...

Page 470: ...ratio 7 6 5 4 3 2 1 0 Gripping force N 0 10 20 30 40 50 60 70 Current limiting value ratio 140 120 100 80 60 40 20 0 Gripping force N 0 10 20 30 40 50 60 70 Current limiting value ratio 140 120 100 80 60 40 20 0 Gripping force N 0 10 20 30 40 50 60 70 Current limiting value ratio 35 30 45 40 25 20 15 10 5 0 Gripping force N 0 10 20 30 40 50 60 70 80 Current limiting value ratio 250 200 150 100 50 ...

Page 471: ...l of each actuator for detail 35 30 25 20 15 10 5 0 Gripping force N 0 10 20 30 40 50 60 70 Current limiting value ratio RCP2 GR3LS 70 60 50 40 30 20 10 0 Gripping force N 0 10 20 30 40 50 60 70 Current limiting value ratio RCP2 GR3LM 130 120 100 80 60 40 20 0 Gripping force N 0 10 20 30 40 50 60 70 Current limiting value ratio RCP2 GR3SM 35 30 25 20 15 10 5 0 Gripping force N 0 10 20 30 40 50 60 ...

Page 472: ...Gear ratio 1 45 2 3 0 24 1 7 Gear ratio 1 20 Gear ratio 1 30 1 1 0 85 0 55 Gear ratio 1 20 Gear ratio 1 30 7 5 5 RCP2 RTBS RTBSL RCP2 RTB RTBL Output torque Allowable inertial moment Correlation diagram of rotational speed and output torque Correlation diagram of rotational speed and allowable inertial moment 0 50 0 45 0 40 0 35 0 30 0 25 0 20 0 15 0 10 0 05 0 00 Output torque N m 5 4 5 4 3 5 3 2 ...

Page 473: ...2 5 2 0 1 5 1 0 0 5 0 Output torque N m 40 35 30 25 20 15 10 5 0 Allowable inertial moment 10 3 kg m 2 40 35 30 25 20 15 10 5 0 Allowable inertial moment 10 3 kg m 2 0 100 200 300 400 500 600 700 Rotational speed deg s 0 100 200 300 400 500 600 700 Rotational speed deg s 0 100 200 300 400 500 600 700 Rotational speed deg s 5 0 4 5 4 0 3 5 3 0 2 5 2 0 1 5 1 0 0 5 0 Output torque N m 0 100 200 300 4...

Page 474: ...Chapter 10 Appendix 464 ...

Page 475: ...warranty 1 Anything other than our product 2 Modification or repair performed by a party other than us unless we have approved such modification or repair 3 Anything that could not be easily predicted with the level of science and technology available at the time of shipment from our company 4 A natural disaster man made disaster incident or accident for which we are not liable 5 Natural fading of...

Page 476: ... pertaining to maintenance or management of human life or health 2 A mechanism or mechanical equipment intended to move or transport people such as a vehicle railway facility or aviation facility 3 Important safety parts of mechanical equipment such as safety devices 4 Equipment used to handle cultural assets art or other irreplaceable items 3 Contact us at the earliest opportunity if our product ...

Page 477: ...eter No 143 Overload Level Ratio in 8 2 57 Correction made to writing error Second Edition Applicable for SSCNET 2B Edition Applicable for CE mark UL standards Applicable for MECHATROLINK Ⅲ 12 Motor Features in AUTO Mode added in caution notes 1 1 1 Volume column added in 1 1 1 Components 10 4 Correction made to note regarding connection to RCP2 SA7C SA7R connection not available Correction made t...

Page 478: ......

Page 479: ......

Page 480: ...89524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 TEL 678 354 9470 FAX 678 35...

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