IAI MSCON Instruction Manual Download Page 176

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3.7

Control and functions of Input and output signals of Modes other than Remote I/O Mode

168

Specified Position Number

(PLC→MSCON)

Completed Position Number

(MSCON→PLC)

Positioning Start

CSTR

(PLC→MSCON)

Positioning Completion

PEND

(MSCON→PLC)

Moving

MOVE

(MSCON→PLC)

Actuator Movement

Positioning Width

twcsOFF

twcsON

tpdf

10ms or less

0ms or more

To turn ON TwcsON, have an interval of time more than 10ms.

To turn OFF TwcsOFF, have an interval of time more than 10ms.

Tpdf = Yt+10+Xt (minimum value) to Yt+10+Xt+7 (maximum value)

ME0306-2A

Summary of Contents for MSCON

Page 1: ...MSCON Controller Instruction Manual Second Edition ...

Page 2: ......

Page 3: ...f Mitsubishi Electric Corporation PROFIBUS is a registered mark of SIEMENS CompoNet is a registered trademark of OMRON Corporation EtherCAT is a registered mark of Beckoff Automation GmbH EtherNet IP is a trademark used under the license of ODVA Please Read Before Use Thank you for purchasing our product This Instruction Manual describes all necessary information items to operate this product safe...

Page 4: ...ME0306 2A ...

Page 5: ... DeviceNet Interface 28 1 4 2 Specifications of CC Link Interface 28 1 4 3 Specifications of PROFIBUS DP Interface 29 1 4 4 Specifications of CompoNet Interface 29 1 4 5 Specifications of EtherNet IP Interface 30 1 4 6 Specifications of EtherCAT Interface 30 1 5 External Dimensions 31 1 5 1 Incremental Type 31 1 5 2 Absolute Type 32 1 6 Option 33 1 6 1 Regenerative Resistor Unit 33 1 7 Installatio...

Page 6: ...functions of Input and output signals of Modes other than Remote I O Mode 147 3 8 Control and functions of Input and output signals of Remote I O Mode 169 3 8 1 Operation Supportive Signal Patterns 0 to 2 4 and 5 in common 169 3 8 2 Operation with the Position No Input Operations of PIO Patterns 0 to 2 177 3 8 3 Direct Position Specification Solenoid Valve Mode 1 Operation of PIO Pattern 4 197 3 8...

Page 7: ...ller 285 8 2 2 Positioning and speed of poor precision incorrect operation 286 8 2 3 Generation of noise and or vibration 287 8 2 4 Impossible Communication 287 8 3 Alarm 288 8 3 1 Gateway Alarm Codes 288 8 3 2 Alarm Code for Each Axis 290 8 4 Noise Prevention 301 Chapter 9 Appendix 303 9 1 List of Specifications of Connectable Actuators 303 Chapter 10 Warranty 347 10 1 Warranty Period 347 10 2 Sc...

Page 8: ...ME0306 2A ...

Page 9: ...afety 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 exceed...

Page 10: ...afety 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 produ...

Page 11: ...s 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 electrostatic ...

Page 12: ...ecure 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 clear ...

Page 13: ... 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 stat...

Page 14: ...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 untightened...

Page 15: ...oduct 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 This ind...

Page 16: ...D R or hard disk with using the PC software 2 Hard copy the information of position tables and parameters on paper 4 Set the operation patterns To be applied to variety ways of use this controller corresponds to the control by each fieldbus and in addition it possesses multiple operation PIO patterns Setting can be established in the parameters Refer to Chapter 3 Operation and Chapter 7 Parameter ...

Page 17: ...th 360 rotation special care is required because there is no limit to the rotation in one 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 No 79 Rotational axis mode selection Refer to Chapter 7 Parameter The following limit...

Page 18: ... 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 11 Regarding battery less absolute type actuator Make sure to have a home return operation absolute reset after detaching the motor unit from the actuator for motor replacement purpose and so on...

Page 19: ...11 International Standards Compliances MSCON comply with the following overseas standards RoHS Directive CE Marking UL Compliance not planned ME0306 2A ...

Page 20: ...12 ME0306 2A ...

Page 21: ...ctor 4 Motor power supply input connector 6 Fan unit 2 Power supply status LED 5 Screw terminal for protective grounding 7 Driver for Axis No 0 and No 1 10 Operation mode setting switch 13 Gateway status LED 11 SIO connector 12 System I O connector 15 Fieldbus connector 14 Field network status LED 8 Driver for Axis No 2 and No 3 9 Driver for Axis No 4 and No 5 ME0306 2A ...

Page 22: ...generative resistor unit connector Refer to 2 2 6 Regenerative Resistor Circuit This is a connector to plug in the external regenerative unit 4 Motor power supply input connector This is a connector to supply power to MSCON 5 Screw terminal for protective grounding It is the terminal for the connection of ground cable to prevent electric shock and noise It connects to the PE terminal on the motor ...

Page 23: ...witch to NOM side The brake would not work even with the servo OFF condition if the switch is on the RLS side In the vertical type the work may drop and cause an injury or the work to be damaged Encoder Connector PG It is the connector to connect the actuator encoder cable Refer to Section 2 4 3 Actuator Connection for the details of how to connect Motor Cable Connector M It is the connector to co...

Page 24: ...O Open A M and A M terminals MANU MANU Short circuit A M and A M Note 1 Refer to Sections 2 2 3 Emergency Circuit and 2 2 7 Mode Switchover Circuit for the details 13 Gateway status LED Gateway condition status is displayed Refer to 3 11 Gateway status LED for the details 14 15 Field network connector and field network status LED Connect the field network cable to connector Refer to 2 2 8 Wiring f...

Page 25: ...0 defines the home position and items in are for the home reversed type option Caution There are some actuators that are not applicable to the origin reversed type Check further on the catalog or the Instruction Manual of the actuator 1 Rod Type 2 Slider Type 3 Flat Type 4 Arm Type ME0306 2A ...

Page 26: ...6 Rotary Type 300 Rotation Specification 360 Rotation Specification 360 Rotation Specification For Multiple Rotation Type with the origin reversed type the directions of and are the other way around Finger Attachment ME0306 2A ...

Page 27: ... the PC software set the operation mode setting switch to MANU side and turn the power ON Select Teaching Mode 1 Safety Speed Activated Prohibit PIO Startup in the PC software Initial Setting and PIO Pattern Select Refer to 3 2 Conduct the initial selection for those such as PIO Patterns for each axis from the PC Register the operation mode to MSCON using Gateway Parameter Setting Tool Servo ON Tu...

Page 28: ...20 ME0306 2A ...

Page 29: ...is determined by the number of axes to be connected 8 First Step Guide ME0305 1 9 Instruction Manual DVD 1 10 Safety Guide M0194 1 1 1 2 Teaching Tool For the setup operation such as position setting and parameter setting by a teaching conduct it on PC software Prepare a teaching tool such as PC software and so on for the operations and tunings No Part Name Model 1 PC Software Includes RS232C Exch...

Page 30: ...ual ME0324 5 Touch Panel Teaching Pendant TB 02 02D Applicable for Position Controller ELECYLINDER Instruction Manual ME0355 6 Touch Panel Teaching Pendant TB 03 Position Controller ELECYLINDER Wired Link Instruction Manual ME0376 1 1 4 How to read the model plate Actuetor Type SERIAL No No 0 RCS4 SA6C WA 150 20 500 T2 No 1 RCS4 SA6C WA 150 20 500 T2 No 2 RCS4 SA4C WA 60 5 200 T2 B No 3 RCS4 SA4C ...

Page 31: ...nnected Axis Motor Type 12 12W Servo Motor 20 20W Servo Motor 30D 30W Servo Motor 30R 30W Servo Motor for RS Series 60 60W Servo Motor 100 100W Servo Motor 150 150W Servo Motor 200 200W Servo Motor Encoder Type WAI Battery Absolute Incremental A Absolute Option HA High Accel Decel Type Identification for IAI use only There is no identification in some cases Power supply Voltage 1 100V AC 2 200V AC...

Page 32: ...y Heat Generation Refer to 1 3 1 Power Capacity and Heat Generation Drive Motor Frequency 50 60Hz 5 Transient Power Cutoff Durability 1msec Control Power Supply 20msec Drive Motor Power Supply 5msec Brake Power Supply Motor Control System Sinusoidal Wave PWM Vector Current Control Applicable Encoder Incremental Serial Encoder Battery less Absolute Encoder Absolute Serial Encoder Actuator Cable Len...

Page 33: ...orage Environment Surrounding storage temperature 20 to 70 C Note 0 to 40 C for absolute battery Surrounding storage humidity 85 RH or less non condensing Usable Altitude 1000m or lower above sea level Vibration Durability Frequency 10 to 57Hz Swing width 0 075mm Frequency 57 to 150Hz Acceleration 9 8m s 2 XYZ Each direction Sweep time 10 min Number of sweep 10 times Package Drop Dropping height 8...

Page 34: ...nt flows to the controller during the acceleration deceleration Select an interrupter that does not trip with this value of current If a trip occurs select an interrupter that possesses the rated current of one grade higher Check the operation characteristics curves in the product catalog Select an interrupter that does not trip with the in rush current Check the operation characteristics curves i...

Page 35: ...lease is 0 5A per unit Calculate the capacity with 0 5A per unit when a 24V DC power supply corresponding to transient load change such as peak load appliance is used and capable for the maximum current described above For other cases calculate with 1A per unit 3 Add the Control Power In Rush Current 7A 3 Selection of Power Supply Usually the rated current is to be approximately 1 3 times higher t...

Page 36: ...et Note1 The cable side connector is a standard accessory SMSTB2 5 5 ST 5 08 AU by PHOENIX CONTACT Note2 For T branch communication refer to the Instruction Manuals for the master unit and programmable logic controller stated as PLC from now on to be mounted 1 4 2 Specifications of CC Link Interface Item Specification Communication Protocol CC Link Ver1 1 or Ver2 Station Type Remote device station...

Page 37: ...mission Path Format Bus Tree Star Note 1 Prepare the 9 pin male D sub connector as the connector on the cable side 1 4 4 Specifications of CompoNet Interface Item Specification Communication System CompoNet specialized protocol Communication Type Remote I O Communication Baud Rate Automatically follows the master Communication Cable Length Follows CompoNet Type Slave Type Word Mixed Slave Availabl...

Page 38: ... Connector 1pc Note1 Please prepare a communication cable separately 1 4 6 Specifications of EtherCAT Interface Item Specification Communication Protocol IEC61158 type12 Physical Layer 100Base TX IEEE802 3 Baud Rate Automatically follows the master Communication Cable Length Depends on EtherCAT Specification Distance between each node 100m or less Slave Type I O slave Available Node Addresses for ...

Page 39: ...pecifications Check 31 1 5 External Dimensions 1 5 1 Incremental Type 102 204 225 102 9 9 136 10 5 10 5 10 5 10 5 5 154 145 4 5 4 5 4 5 9 3 φ5 Front View 10 5 10 5 77 from DIN rail center 115 4 Side View ME0306 2A ...

Page 40: ...apter 1 Specifications Check 32 1 5 2 Absolute Type 102 204 225 102 9 9 136 10 5 10 5 10 5 10 5 5 154 145 4 5 4 5 4 5 9 22 3 3 φ5 Front View 10 5 115 10 5 77 from DIN rail center 134 4 Side View ME0306 2A ...

Page 41: ...ed Actuator vertically oriented No of Connected Regenerative Resistance Units to 450 to 200 0 to 900 to 600 1 to 800 2 to 900 3 Caution The number of connectable units is a reference for when operation is made under the following condition Condition When 1 000mm of back and forth operation is made under the actuator maximum speed acceleration deceleration 0 3G and rated load with the duty 50 In so...

Page 42: ...l Dimensions Screw Attachment Type 16 85 17 15 30 7 34 106 5 4 5 1 5 φ 5 1 5 5 4 5 R 2 5 145 154 136 RESUD Type External Dimensions DIN Rail Attachment Type φ 5 77 from DIN rail center 4 5 4 5 145 154 30 7 34 5 R 2 5 4 9 136 1 5 1 5 8 5 4 115 ME0306 2A ...

Page 43: ...posed to direct sunlight Location where the product 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...

Page 44: ...noid valves magnet switches and relays Measure Install a Surge absorber 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 Class D grounding Formerly Class III grounding Grounding resistance at 100Ω or less Copper Wire Connect to an ground cable with diameter 1 6mm 2mm...

Page 45: ...h temperatures Keep it in a room temperature environment as much as possible Approximately 20 C is the recommended temperature To install the unit use the attachment holes on the top and bottom of the main body and affix with screws or attach to DIN rails Regenerative resistance unit is separated to screw attachment type and DIN rail attachment type Have an appropriate way to affix the unit for ea...

Page 46: ...Chapter 1 Specifications Check 38 ME0306 2A ...

Page 47: ...Communication power supply if necessary 24V DC Please prepare separately Actuator Emergency Stop Circuit PC software to be purchased separately Regenerative Resistor Unit Each Fieldbus communication cable Follow the specifications of each Fieldbus for how to lay out wiring Control Power Supply 24V DC Please prepare separately Drive Power Supply 100 200V AC Please prepare separately ME0306 2A ...

Page 48: ...y connector Screw terminal for protective grounding N 2 Control Power Supply and Brake Power Supply Circuit Caution When using an actuator equipped with a brake supply a brake power 24V DC With the power not being supplied 0A5 Electromagnetic Brake Non Release Error will occur Do not attempt to supply a brake power if there is no actuator with a brake If having the control power supplied cut on th...

Page 49: ...the emergency stop signal EMG to turn ON OFF at contact CR1 is 24V DC and 30mA Note 4 For CR1 select the one with coil current 0 1A or less 24V 0V CR1 Emergency stop reset switch Emergency stop switch Emergency stop switch for the teaching pendant Note 1 S1 S2 CR1 Note 4 MC1 Note 1 MSCON L N 24V Motor Power Cutoff Relay Motor power supply AC100V AC200V CR1 Note 3 MC1 Note 2 EMG EMG MSCON Second un...

Page 50: ...t Connection CB X1 PA Robot cable from 0 5 to 20m For Connection of Single Axis Robot Equipped with LS Option CB X1 PLA Robot cable from 0 5 to 20m CB X3 PA Robot cable from 0 5 to 20m For RCS2 models equipped with LS and rotary models RT are excluded CB RCS2 PA Standard cable from 0 5 to 20m CB X2 PLA Robot cable from 0 5 to 20m RCS2 for models equipped with LS and rotary models RT CB RCS2 PLA St...

Page 51: ...on A M terminal and A M terminal A M A M System I O Connector External Operation Mode Setting AUTO MANU Switch ON AUTO OFF MANU Operation Mode Setting AUTO MANU Switch MANU AUTO 24V 5 6KΩ Inner Circuit MSCON RB IN RB OUT RB IN RB OUT Regenerative Resistor Unit RESU 2 RESUD 2 Regenerative Resistor Unit RESU 1 RESUD 1 CB SC REU010 CB ST REU010 Caution Do not attempt to connect 5 units or more of the...

Page 52: ...III grounding Grounding resistance at 100Ω or less Master Unit Slave Device 2 CC Link Type MSCON CC Link Type SLD and FG are internally connected Connect the terminal resistor if the unit is placed at the end of the network 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 ...

Page 53: ...4V Power Supply Supply power separately to the slave devices that requires the communication power supply It is not necessary to supply communication power to MSCON however there is no problem even if communication power is supplied 5 EtherNet IP Type Master Unit Switching Hub Slave Device EtherNet Straight Cable Category 5e or more Double shielded cable braided with aluminum foil recommended MSCO...

Page 54: ... 46 6 EtherCAT Type Note Terminal resistor is not required Master Unit Slave Device EtherNet Straight Cable Category 5e or more Double shielded cable braided with aluminum foil recommended MSCON EtherCAT Type ME0306 2A ...

Page 55: ... MC1 5 5 STF 3 81 Enclosed in standard package Manufactured by PHOENIX CONTACT Controller Side MC1 5 5 GF 3 81 Pin No Signal Name Contents Applicable Cable 1 BK PWR 2 BK PWR Brake Power Input 24V DC 10 KIV0 75mm2 AWG19 3 24V 4 0V Control Power Input 24V DC 10 KIV3 5 to 0 75mm2 AWG 12 to 19 Select the cable thickness allowable for the current figured out in the power capacity If supplying power wit...

Page 56: ...2 Pin No Signal Name Contents Applicable Cable 1 N 2 L Motor Power Input 100V AC or 200V AC to be determined when ordered KIV3 5 to 1 25mm2 AWG12 to16 Select the cable thickness allowable for the current figured out in the power capacity 3 PE Functional Ground Cable It is connected to PE of the motor cable and screw terminal for protective grounding inside the unit Front view of connector on contr...

Page 57: ... Connector Model Remarks Cable Side FMCD1 5 4 ST 3 5 Enclosed in standard package Manufactured by PHOENIX CONTACT Controller Side MCDN1 5 4 G1 3 5P26THR Pin No Signal Name Contents Applicable Cable 1 EMG 24V power output for emergency stop 2 S2 For external emergency stop signal input 3 S1 For external emergency stop signal output 4 EMG Emergency stop input 5 A M 24V output for operation mode AUTO...

Page 58: ...4 NC 5 NC 6 NC Unconnected 7 SRD Serial Encoder Communication 8 SRD Serial Encoder Communication 9 LC_SD 10 LC_SD For future extension Reserved 11 NC Unconnected 12 24VOUT 13 0V 24V power supply for sensors 14 BATT 15 BATTGND Battery power supply for ABS 16 VCC 17 GND Encoder Power Supply 18 LC_VCC 19 LC_GND For future extension Reserved 20 BK 21 BK Brake Power Supply 22 NC Unconnected 23 RSV Sens...

Page 59: ...cturing number of the connected actuator printed on the front panel that you can refer to There is a risk of wrong operation or operation out of control of actuators if the connectors are plugged in to the wrong positions Check in the instruction manual of each actuator for the details connection layout diagram of each cable If an actuator is purchased individually there is no axis number written ...

Page 60: ...Absolute Battery Connector Model Remarks Cable Side IL 2S S3L N Already connected to battery Controller Side IL 2P S3FP2 1 Pin No Signal Name Contents Applicable Cable 1 BAT Battery Negative Side 2 BAT Battery Positive Side Already connected to battery AB 5 Top for Axis No 0 Bottom for Axis No 1 Top for Axis No 2 Bottom for Axis No 3 Top for Axis No 4 Bottom for Axis No 5 Front view of connector o...

Page 61: ...e Resistance Units to 450 to 200 0 to 900 to 600 1 to 800 2 to 900 3 Caution The number of connectable units is a reference for when operation is made under the following condition Condition When 1 000mm of back and forth operation is made under the actuator maximum speed acceleration deceleration 0 3G and rated load with the duty 50 In some operational conditions gateway alarm 0A2 Motor Power Vol...

Page 62: ...iring Color Signal No KIV 1 0mm2 AWG17 Light Blue Brown Green Yellow RB RB PE 1 2 3 No Signal Coler Wiring 2 Regenerative resistance connection cable for XSEL CB ST REU010 Cable length 1m Regenerative Resistor Unit Side Regenerative Resistor Unit Side 3 1 KIV 1 0mm2 AWG17 1 3 Display of Cable Mode Code Light Blue Brown Green Yellow RB RB PE 1 2 3 Wiring Color Signal No KIV 1 0mm2 AWG17 Light Blue ...

Page 63: ... 8 Pin Controller Side TCS7587 0121077 Pin No Signal Name Contents Applicable Cable 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 ME0306 2A ...

Page 64: ...PHOENIX CONTACT Controller Side MSTBA2 5 5 G 5 08 ABGY AU Pin No Signal Name Contents Applicable Cable 1 V BK Power Supply Cable Negative 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 DeviceNet Dedicated Cable Note Connect a terminal resistor 121Ω between CAN L and CAN H to the end of the network Ref...

Page 65: ...Communications Line A 2 DB WT Communications 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 5 FG Frame Ground Connect the SLD of the 4 pins and controller FG internally CC Link Dedicated Cable Note Connect a terminal resistor 121Ω between DA and DB to the end of the network Refer to 2 2 8 Field network Circuit For...

Page 66: ...Pin No Signal Name Contents Applicable Cable 1 NC Unconnected 2 NC Unconnected 3 B Line Communications Line B RS485 4 RTS Request for Sending 5 GND Signal GND Insulated 6 5V 5V Output Insulated 7 NC Unconnected 8 A Line Communications Line A RS485 9 NC Unconnected PROFIBUS DP Dedicated Cable Note Connect a terminal resistor 220Ω between A Line and B Line to the end of the network Refer to 2 2 8 Fi...

Page 67: ...ices 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 to the end of the network Refer to 2 2 8 Field network Circuit For Field network Type 5 EtherNet IP Type EtherNet IP Connector Model Remarks Cable Side 8P8C Modular Plug Controller Side 8P8C Modular Jack Pin No Signal Name Color Content...

Page 68: ... Jack Pin No Signal Name Color Contents Applicable Cable 1 TD Sent data For EtherNet cable use a straight STP cable that possesses the performance of Category 5e or more 2 TD Sent data 3 RD Received data 4 Not used 5 Not used 6 RD Received data 7 Not used 8 Not used Front view of connector on controller side 1 8 1 8 ME0306 2A ...

Page 69: ...everal types for 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 ME0306 2A ...

Page 70: ...peed unit change in Direct Indication Mode 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 Field Network Settings Refer to Sections 3 4 1 and 3 4 2 Assign MSCON to PLC master unit Refer to the instruction manuals for the master unit and PLC 5 Link to N...

Page 71: ... but also the current speed and indicated current are available In Direct Indication 2 Mode anti vibration control is available instead of JOG operation 24V 100V 200V AC 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 Communication with Field Network Dedicated...

Page 72: ...le Note It is to be switched with PIO patterns driver board parameters 24V 100V 200V AC Target Position No Control Signal PLC Completed Position No Status Signal Communication with Fieldbus Dedicated Cable Electric Cylinder Note 1 Available PIO pattern numbers 0 1 2 4 and 5 See 3 4 10 Control Signal for Remote I O Mode ME0306 2A ...

Page 73: ...phone and settings of 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 o...

Page 74: ...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 Step 1 Join the PC and SIO connector of MSCON with using the cable enclosed in RC PC Software and start up RC PC Software Establish the setting in Parameter No 25 PIO Pattern Refer to 3 1 1 Selectable Operation Patterns Operation Pattern P...

Page 75: ...n MSCON could not be detected Main windows Initial condition Step 5 Reading is started from MSCON 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 ME0306 2A ...

Page 76: ...ress Caution In the following slave set the value the number of occupied station is added to the current station number Step 7 Select whether to use Remote I O Mode or any other mode such as Positioner Mode When Remote I O Mode is selected any other mode except for Remote I O Mode cannot be selected for all the axes on MSCON ME0306 2A ...

Page 77: ... Drive Unit 2 becomes available to be selected Step 11 In case there is an actuator that is connected but not to be activated reserved axis tick on Axis n Reserved beside the operation mode setting box for each drive unit n indicate the axis number Note An error will be issued if an actuator is not connected Caution If set as the reserved axis but an actuator not to be connected set as the invalid...

Page 78: ...boot Step 15 After rebooting a confirmation window for parameter reading appears for confirmation of the written contents Click Yes to accept 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 2 Reference The settings are conducted in the special parameters for the process of communication error ch...

Page 79: ...g 1 2 1 2deg mm s deg s 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...

Page 80: ...ay 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 decelera...

Page 81: ...IO pattern This is the operation pattern of Remote I O Mode Refer to 3 8 Control and functions of Input and output signals of Remote I O Mode 9 Zone mm Note Set the coordinate value on the positive side at which position zone output signal PZONE is turned ON PZONE is set to ON in the zone between this value and the coordinate value on the negative side set in 10 The feature follows the specified p...

Page 82: ...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 index mode of the rotary actuator It will be the trapezoid control even if S shaped acceleration deceleration control is indicated 3 Do not use S shaped acceleration deceleration control if the setting of the acceleration time or the deceleration time exceeds 2 se...

Page 83: ...Refer to Chapter 9 Appendix 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 weight more than the ratings For how to set up and the caution items refer to the instruction manual for RC PC Software Parameters constru...

Page 84: ... necessary for the vibration control in the position table Refer to Chapter 5 Vibration Suppress Control Function Setting Vibration Control Frequency Specific Frequency Parameter No 0 Vibration suppress frequency Natural frequency 1 Vibration Control Parameter Set 1 97 to 100 2 Vibration Control Parameter Set 2 101 to 104 3 Vibration Control Parameter Set 3 105 to 108 Caution 1 The vibration frequ...

Page 85: ... for Axis No 1 Assignment Area for Axis No 1 n 10 Specified Position No Axis No 0 Specified Position No Axis No 0 Positioning Width Axis No 0 Positioning Width Axis No 0 Assignment Area for Axis No 1 Assignment Area for Axis No 2 Assignment Area for Axis No 2 n 11 Control Signal Axis No 0 Control Signal Axis No 0 Assignment Area for Axis No 3 Assignment Area for Axis No 3 n 12 Assignment Area for ...

Page 86: ...te device station Extended Cyclic Setting Occupied Station Number Setting Register the information of the occupations displayed on Gateway Parameter Setting Tool to the master unit Connection cannot be established if information other than occupation is set Refer to 3 2 Initial Setting Caution Remote I O Mode cannot be used together with other modes Only Positioner 3 Mode and Remote I O Mode are a...

Page 87: ...Current Speed Axis No 0 Assignment Area for Axis No 2 and later to n 19 Assignment Area for Axis No 4 Assignment Area for Axis No 4 n 13 Occupied Area axis No 0 Occupied Area Axis No 0 Assignment Area for Axis No 5 Assignment Area for Axis No 5 n 14 Alarm Code Axis No 0 Alarm Code Axis No 0 n 15 Status Signal Axis No 0 Status Signal Axis No 0 n 16 to n 23 Assignment Area for Axis No 2 to n 31 Assi...

Page 88: ...ess Map with Combination of Positioner 1 Simple Direct Modes and Direct Indication Mode 3 types of examples are shown below for the contraction of the address maps when operation is made with the combination of Simple Direct Mode and Direct Indication Mode for six axes for each field network Example of Combinations Number of Simple Direct Mode Axes Number of Direct Indication Mode Axes 1 6 0 2 4 2...

Page 89: ... 39 Axis No 5 Control Information n 36 to n 39 Axis No 5 Status Information Combination Example 3 When number of Simple Direct Mode axes is 0 and number of Direct Indication Mode 6 n is the top channel number for each PLC input and output between MSCON and PLC PLC MSCON MSCON PLC CH No Contents CH No Contents n to n 1 Gateway Control n to n 1 Gateway Status 0 n 2 to n 7 Demand Command n 2 to n 7 R...

Page 90: ...No 5 Control Information RWr 14 to 17 Axis No 5 Status Information Combination Example 2 When number of Simple Direct Mode axes is 2 axis No 0 to No 3 and number of Direct Indication Mode 2 axis No 4 No 5 Extended Cyclic Setting Number of Occupied Stations 4 times 2 stations PLC MSCON MSCON PLC Address Contents Address Contents RY 000 to 01F Gateway Control RX 000 to 01F Gateway Status RY 020 to 0...

Page 91: ...tion RWr 18 to 1B Axis No 3 Status Information RWw 1C to 1F RWr 1C to 1F RWw 20 to 23 Axis No 4 Control Information RWr 20 to 23 Axis No 4 Status Information RWw 24 to 27 RWr 24 to 27 RWw 28 to 2B Axis No 5 Control Information RWr 28 to 2B Axis No 5 Status Information RWw 2C to 2F RWr 2C to 2F 3 PROFIBUS DP EtherNet IP EtherCAT Combination Example 1 When number of Simple Direct Mode axes is 4 and ...

Page 92: ...ation n 64 to n 71 Axis No 5 Status Information n 72 to n 79 n 72 to n 79 Combination Example 3 When number of Simple Direct Mode axes is 0 and number of Direct Indication Mode 6 n is the top channel number for each PLC input and output between MSCON and PLC PLC MSCON MSCON PLC Node address Byte Address Contents Node address Byte Address Contents n to n 3 Gateway Control n to n 3 Gateway Status n ...

Page 93: ...formation n 16 to n 17 Axis No 4 Control Information n 16 to n 17 Axis No 4 Status Information n 18 to n 19 Axis No 5 Control Information n 18 to n 19 Axis No 5 Status Information 2 CC Link Extended Cyclic Setting Number of Occupied Stations 1 times 4 stations PLC MSCON MSCON PLC Address Contents Address Contents RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status RY 20 to 6F Demand Command RX ...

Page 94: ...5 Axis No 4 Status Information n 36 to n 39 Axis No 5 Control Information n 36 to n 39 Axis No 5 Status Information 3 Address Map for Positioner 3 Mode Shown below is the address map for each Field network when six axes of MSCON are operated in Positioner 3 Mode 1 DeviceNet CompoNet n is the top channel number for each PLC input and output between MSCON and PLC PLC MSCON MSCON PLC CH No Contents C...

Page 95: ...us Information RWw 05 Axis No 5 Control Information RWr 05 Axis No 5 Status Information 3 PROFIBUS DP EtherNet IP EtherCAT n is the top node address for each PLC input and output between MSCON and PLC PLC MSCON MSCON PLC Node address Byte Address Contents Node address Byte Address Contents n to n 3 Gateway Control n to n 3 Gateway Status n 4 to n 15 Demand Command n 4 to n 15 Response Command n 16...

Page 96: ...ion n 12 Axis No 4 Control Information n 12 Axis No 4 Status Information n 13 Axis No 5 Control Information n 13 Axis No 5 Status Information 2 CC Link Extended Cyclic Setting Number of Occupied Stations 1 times 4 stations PLC MSCON MSCON PLC Address Contents Address Contents 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 ...

Page 97: ... n 4 to n 15 Response Command n 16 n 17 Axis No 0 Control Information n 16 n 17 Axis No 0 Status Information n 18 n 19 Axis No 1 Control Information n 18 n 19 Axis No 1 Status Information n 20 n 21 Axis No 2 Control Information n 20 n 21 Axis No 2 Status Information n 22 n 23 Axis No 3 Control Information n 22 n 23 Axis No 3 Status Information n 24 n 25 Axis No 4 Control Information n 24 n 25 Axis...

Page 98: ...gnal 0 MON RTE Address n 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control Signal 1 to be fixed to 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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 EMG ALMC128 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 Signa...

Page 99: ...while it is ON b14 Unavailable 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 Control Signal 0 b0 Unavailable b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 PLC Output Control Signal 1 b0 Unavailable Make it t...

Page 100: ...ered Check the parameters settings b10 ALML This signal turns ON when a light error Note 1 caused by the Gateway is occurred It is considered that there shall be a loss of the calendar data Check the parameters settings b9 Unavailable b8 EMG This signal turns ON when EMG input of the system I O connector is OFF emergency stop In case this bit turns ON all the connected axes perform an emergency st...

Page 101: ...ning operation For those other than the target position it is necessary to set the position data Speed and acceleration deceleration setting These items must be set in the position data table Pitch feeding Incremental Pressing operation Speed change during movement Operation at different acceleration and deceleration Pause Zone signal output PIO pattern selection 1 PLC Address Composition m is PLC...

Page 102: ...b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target Position Lower word Address m 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target 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 Specified Position No PC128 PC64 PC32 PC16 PC8 PC4 PC2 PC1 Address m 3 b15 b14 b13 b12 b11...

Page 103: ...b7 b6 b5 b4 b3 b2 b1 b0 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 BALM PSFL SV ALM MOVE HE...

Page 104: ... operating with a position number with no setting conducted will generate the alarm code 0A2 Position Data Error 3 7 27 b15 BKRL Brake release ON Brake release OFF Brake activated 3 7 17 b14 b13 b12 b11 b10 b9 Unavailable b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 7 12 b6 JVEL Jog speed inch distance switching OFF Use the setting va...

Page 105: ...ge setting is necessary for the parameter b12 ZONE1 ON for the current position within the zone set range The zone range setting is necessary for the parameter 3 7 11 b11 PZONE Position zone This signal turns ON when the current position is inside the specified position zone 3 7 11 b10 b9 Unavailable b8 MEND This signal turns ON when movement command is complete stopping with servo on and pressing...

Page 106: ...ion Positioning operation Speed and acceleration deceleration setting These items must be set in the position data table Pitch feeding Incremental Pressing operation Speed change during Movement Operation at different acceleration and deceleration Pause Zone signal output PIO pattern selection 1 PLC Address Composition m is PLC input and output top word address for each axis number PLC MSCON PLC O...

Page 107: ...used 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 Unavailable Address m 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Unavailable Address m 2 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 3 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 ...

Page 108: ... b5 b4 b3 b2 b1 b0 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 MODES WEND MEND BALM PSFL SV ALM M...

Page 109: ...alid in Simple Direct Mode OFF Standard mode ON Teaching mode 3 7 15 b9 PWRT Position import command Invalid in Simple Direct Mode ON Position Data Import 3 7 16 b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 7 12 b6 JVEL Jog speed inch distance switching OFF Use the setting values of Parameter No 26 JOG Speed and No 48 Inching Distance...

Page 110: ...one range setting is necessary for the parameter 3 7 11 b11 PZONE Position zone This signal turns ON when the current position is inside the specified position zone 3 7 11 b10 MODES Teaching mode signal Invalid in Simple Direct Mode This signal is ON while the teaching mode is selected 3 7 15 b9 WEND Position data import complete Invalid in Simple Direct Mode This signal turns ON when reading is c...

Page 111: ...acceleration deceleration setting Pitch feeding Incremental Pressing operation Speed change during movement Operation at different acceleration and deceleration Pause Zone signal output Parameters must be set PIO pattern selection 1 PLC Address Composition m is PLC input and output top word address for each axis number PLC MSCON PLC Output MSCON PLC PLC Input Target Position m to m 1 Current Posit...

Page 112: ...gures from 0 to 100 0 to FFH can be set in PLC Set Value Push motion current limiting value 7FH 127 in decimal system 0 100 50 0 FFH 255 in decimal system The command current is expressed using 2 word 32 bits binary data Unit 1mA The current speed is expressed using 1 word 16 bits binary data Unit 1 0mm sec or 0 1mm sec The unit is the one set in the command speed A positive number is output when ...

Page 113: ...68 16 384 8 192 4 096 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 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 Velocity 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 Acc...

Page 114: ...word 32 768 16 384 8 192 4 096 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 It will be expressed with two s implement for a negative value Address m 5 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3...

Page 115: ...change of the unit is to be conducted on Gateway Parameter Setting Tool Available range for Setting 1 to 65535 Specify the speed at which to move the actuator Example If 254 0mm sec 1 0mm s unit 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 28 Acceleration Deceleration 16 B...

Page 116: ... Select 0 3 7 25 b9 Unavailable b8 JOG Jog ON Movement against home position OFF Stop 3 7 12 b7 JOG Jog ON Movement toward home position OFF Stop 3 7 12 b6 JVEL Jog speed inch distance switching OFF Use the setting values of Parameter No 26 JOG Speed and No 48 Inching Distance in MSCON ON Use the setting values of Parameter No 47 JOG Speed 2 and No 49 Inching Distance in MSCON 3 7 13 b5 JISL Jog i...

Page 117: ...p 3 7 2 b14 CRDY This signal turns ON when the controller is standing by 3 7 1 b13 ZONE2 ON for the current position within the zone set range The zone range setting is necessary for the parameter b12 ZONE1 ON for the current position within the zone set range The zone range setting is necessary for the parameter 3 7 11 b11 b10 b9 Unavailable b8 MEND This signal turns ON when movement command is c...

Page 118: ...and acceleration deceleration setting Pitch feeding Incremental Pressing operation Speed change during movement Operation at different acceleration and deceleration Pause Zone signal output Parameters must be set PIO pattern selection 1 PLC Address Composition m is PLC input and output top word address for each axis number PLC MSCON PLC Output MSCON PLC PLC Input Target Position m to m 1 Current P...

Page 119: ...gures from 0 to 100 0 to FFH can be set in PLC Set Value Push motion current limiting value 7FH 127 in decimal system 0 100 50 0 FFH 255 in decimal system The command current is expressed using 2 word 32 bits binary data Unit 1mA The current speed is expressed using 1 word 16 bits binary data Unit 1 0mm sec or 0 1mm sec The unit is the one set in the command speed A positive number is output when ...

Page 120: ...56 128 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 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 Velocity 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...

Page 121: ...word 32 768 16 384 8 192 4 096 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 It will be expressed with two s implement for a negative value Address m 5 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3...

Page 122: ...change of the unit is to be conducted on Gateway Parameter Setting Tool Available range for Setting 1 to 65535 Specify the speed at which to move the actuator Example If 254 0mm sec 1 0mm s unit 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 28 Acceleration Deceleration 16 B...

Page 123: ... Vibration Control Mode Select 1 OFF OFF Anti vibration control not to be used OFF ON Parameter Set 1 Select ON OFF Parameter Set 2 Select ON ON Parameter Set 3 Select b8 NTC0 Anti Vibration Control Mode Select 1 3 7 23 Select the acceleration deceleration mode number to be used MOD1 MOD0 Acceleration deceleration mode b7 MOD1 Acceleration Deceleration Mode Select 1 OFF OFF Trapezoid pattern contr...

Page 124: ...mergency stop 3 7 2 b14 CRDY This signal turns ON when the controller is standing by 3 7 1 b13 ZONE2 ON for the current position within the zone set range The zone range setting is necessary for the parameter b12 ZONE1 ON for the current position within the zone set range The zone range setting is necessary for the parameter 3 7 11 b11 b10 b9 Unavailable b8 MEND This signal turns ON when movement ...

Page 125: ...trol Indirect control Disabled Remarks Home return operation Positioning operation Speed and acceleration deceleration setting Pitch feeding Incremental Pressing operation Speed change during movement Operation at different acceleration and deceleration These items must be set in the position data Pause Zone signal output PIO pattern selection 1 PLC Address Composition m is PLC input and output to...

Page 126: ...2 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 each axis number Address m 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 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status...

Page 127: ...N Teaching mode 3 7 15 b9 PWRT Position import command Invalid in Simple Direct Mode ON Position Data Import 3 7 16 b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 7 12 b6 JVEL Jog speed inch distance switching OFF Use the setting values of Parameter No 6 JOG Speed and No 48 Inching Distance in MSCON ON Use the setting values of Paramete...

Page 128: ...signal turns ON when the current position is inside the specified position zone 3 7 11 b10 MODES Teaching mode signal Invalid in Simple Direct Mode This signal is ON while the teaching mode is selected 3 7 15 b9 WEND Position data import complete Invalid in Simple Direct Mode This signal turns ON when reading is complete 3 7 16 b8 MEND This signal turns ON when movement command is complete stoppin...

Page 129: ...ing table ROBO cylinder function Direct control Indirect control Disabled Remarks Home return operation Positioning operation Speed and acceleration deceleration setting Pitch feeding Incremental Pressing operation Speed change during movement Operation at different acceleration and deceleration These items must be set in the position data Pause Zone signal output Zones are set using parameters 1 ...

Page 130: ...1 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 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status Signal Completed Position No EMGS ZONE1 PSFL SV ALM MOVE HEND PEND PM128 PM64 PM32 PM16 PM8 PM4 PM2 PM1 Caution Set the operational condition in advance with us...

Page 131: ...nge or operating with a position number with no setting conducted will generate the alarm code 0A2 Position Data Error 3 7 29 b15 EMGS This signal turns ON during an emergency stop 3 7 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 11 b13 PSFL This signal turns ON when the actuator missed the load in push motion operati...

Page 132: ...nts Zone signal output 1 point Note 1 Position zone signal output Note 2 1 point The actuator is operated by 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 MSCON parameter It becomes constantly valid once the home return operation is complete Note 2 The range of the zone is...

Page 133: ... ON OFF signal in units of bit ON Applicable 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 ...

Page 134: ...M2 2 PM4 PM4 PM4 3 PM8 PM8 PM8 4 PM16 PM16 PM16 5 PM32 Completed position No PM32 Completed position No PM32 6 MOVE Moving signal MOVE Moving signal PM64 7 ZONE1 ZONE1 MODES Teaching mode signal PM128 Completed position No 8 PZONE Z0NE2 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 Ho...

Page 135: ...nd 0 PE0 Position 0 complete LS0 Retrieval to the Edge Commands 0 1 PE1 Position 1 complete LS1 Retrieval to the Edge Commands 1 2 PE2 Position 2 complete LS2 Retrieval to the Edge Commands 2 3 PE3 Position 3 complete 4 PE4 Position 4 complete 5 PE5 Position 5 complete 6 PE6 Position 6 complete Unavailable 7 ZONE1 Zone 1 ZONE1 Zone 1 8 PZONE ZONE2 Position zone Zone 2 PZONE ZONE2 Position zone Zon...

Page 136: ...a 0 n 3 Data 1 n 4 Data 1 n 4 Data 2 n 5 Data 2 n 5 Data 3 n 6 Data 3 n 6 Refer to Section 3 4 2 for the address maps for each Fieldbus 2 Demand Command List Class Code Description Handshaking 0000H Demand command cleared Write Position Data 1000H Writing of target position 1001H Writing of pressing width 1002H Writing of speed 1003H Unavaillable 1004H 1005H Writing of acceleration 1006H Writing o...

Page 137: ...Tool The Acceleration and Deceleration are expressed using 1 word 16 bit 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 bit binary data The figures from 0 0 to 255 100 can be set in PLC Binary data of 1 word 16 bit for the axis numbers and values from 0 1st Axis to 3 4th Axis in PLC can be used Binary data of 1 word ...

Page 138: ...0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 Writing of Target Position PLC Output Address n is the input and output top address for MSCON 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 15 Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3...

Page 139: ...essing Width Upper word Writing of Pressing Width n 6 Data 3 Axis No 4 2 1 4 Writing of Speed PLC Output Address n is the input and output top address for MSCON 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 15 Bit Address b15 b14...

Page 140: ... 2 1 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Writing of Acceleration n 6 Data 3 Axis No 4 2 1 6 Writing of Deceleration PLC Output Address n is the input and output top address for MSCON 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...

Page 141: ... to the response command If an error is generated an error response is returned Refer to this Section 16 Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Demand Command 1007h 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 n 3 Data 0 Position No 128 64 32 16 8 4 2 1 n 4 Data 1 Pressing Current Limit 128 64 32 16 8 4 2 1 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Writing of Pressing Current ...

Page 142: ... 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 Target Position n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MSCON 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...

Page 143: ... 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 Pressing Width n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MSCON 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...

Page 144: ...ata 2 0 0 0 0 0 0 0 0 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 MSCON 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 12...

Page 145: ...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 Acceleration n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MSCON 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...

Page 146: ...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 Deceleration n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MSCON 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...

Page 147: ...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 Pressing Current Limit n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MSCON 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 Pressing Current Limit 128 64...

Page 148: ...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 issued Axis Number 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 MSCON 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 n 4 Data 1 Alarm issued Axis Number 1 Alarm 2 N...

Page 149: ... 0 0 0 1 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 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 MSCON 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 D...

Page 150: ...ned Bit Address b15 b14 b13 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 ...

Page 151: ...t Slave Master Station Transmission Delay Time Mt MSCON internal communication sending time Ttx MSCON 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 C...

Page 152: ...end them 3 Gateway detects that the area of the 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 Gatewa...

Page 153: ...be issued In case the motor power cannot be turned on within 2 5sec turn ON the motor power under the condition of emergency stop and then cancel the emergency stop 2 Timing for Power Cutoff Cut off the control power and motor power supplies at the same time Cut the brake power OFF at the same time as the controller power supply or after shutting the controller power down Initializing Self Checkin...

Page 154: ...c charge is remained CHARGE Motor driving source OFF Green Control power source operating in normal condition Orange Control power source error Turns ON when overvoltage is applied or internal overcurrent is detected Condition remained until power shut down PWR Control power supply OFF Warning Electric Shock Caution Do not touch the terminals for motor power input connector and motor connector whi...

Page 155: ...tion Mode Positioner 1 Simple Direct Direct numeric specification Direct numeric specification 2 Positioner 2 Positioner 3 Equipped Not equipped This is a signal that is OFF in normal condition and turns ON when an alarm of operation cancelled level Note 1 or higher is generated This signal turns OFF once the reset RES signal is turned oON while an alarm of operation cancelled level is being gener...

Page 156: ... at the same time Also the axis status LED SV on the front panel corresponding for the axis number turns ON in green 2 With the power being supplied then controller cannot be operated while the SV signal remains OFF If SON Signal is turned OFF during the actuator operation the actuator decelerates and stops with the emergency stop torque servo turns OFF and the motor goes into the free run conditi...

Page 157: ...operation can be conducted again by turning HOME Signal ON HEND should be OFF during the home return operation and should be turned ON again once the home return operation is complete Also the positioning complete signal PEND turns OFF and the moving signal MOVE turns ON during a home return operation Home Return Signal HOME PLC MSCON Homing Completion Signal HEND MSCON PLC Positioning Completion ...

Page 158: ...actuator moves in the reverse direction Make sure to refer to Section 7 2 12 when a change to Parameter No 22 Home Return Offset Level is required Note1 It moves for the offset amount after the encoder Z phase is detected Operation of Rotary Actuator 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 or 5deg s It depend...

Page 159: ...rd the mechanical end at the home return speed 20mm s 2 The actuator is turned at the mechanical end and stopped at the home position The amount of movement at this time is that set in Parameter No 22 Home Return Offset after Z phase is detected Caution Make sure to refer to Section 7 2 12 when a change to Parameter No 22 Home Return Offset Level is required ME0306 2A ...

Page 160: ...sition No PM1 to PM and the positioning complete signal PEND is turned ON at the 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 Sig...

Page 161: ...acceleration deceleration register in the Derect indication mode 9 Zone 1 ZONE1 PLC Input Signal Zone 2 ZONE2 PLC Input Signal Position Zone PZONE PLC Input Signal Operation Mode Positioner 1 Simple Direct Direct numeric specification Direct numeric specification 2 Positioner 2 Positioner 3 Equipped Not equipped U No PZONE U No PZONE U Only for PZONE1 This is a function enables to turn a signal on...

Page 162: ... the difference of the values set in the zone positive side and 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 nega...

Page 163: ...ies 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 the JOG is turned ON the movement is to the opposite of the ...

Page 164: ...he actuator is moving by inching the actuator will complete the movement and then switch to the jog function Refer to Relation between Settings and Operations for JVEL JISL below for the relation between settings and operations Relation between Settings and Operations for JVEL JISL The relation of ON and OFF of Jog speed inch distance switching JVEL and Jog inching switching JISL is as shown in th...

Page 165: ... the normal operation mode 14 Position data import command PWRT PLC Output Signal Position data import complete WEND PLC Input Signal Operation Mode Positioner 1 Simple Direct Direct numeric specification Direct numeric specification 2 Positioner 2 Positioner 3 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...

Page 166: ...other devices due to a drop of the slider or rod 2 Make sure to put the setting back to activate the brake after releasing it It is extremely dangerous to perform operation with the brake open Drop of the slider or rod may cause injury or malfunction of actuator body work piece or system 16 Push motion specification PUSH PLC Output Signal Operation Mode Positioner 1 Simple Direct Direct numeric sp...

Page 167: ...th DIR OFF DIR ON 18 Pressing and a miss PSFL PLC Input Signal Operation Mode Positioner 1 Simple Direct Direct numeric specification Direct numeric specification 2 Positioner 2 Positioner 3 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 ...

Page 168: ...n injury or malfunction of the actuator body work piece or the whole system Replace the battery immediately if BALM is turned ON Refer to Section 6 Absolute Reset and Absolute battery Use the dedicated battery AB 5 for replacement 21 Anti Vibration Mode Select 0 and 1 NTC0 NTC1 PLC Output Signal Operation Mode Positioner 1 Simple Direct Direct numeric specification Direct numeric specification 2 P...

Page 169: ... are set in the Acceleration and Deceleration data boxes on the position data S shaped Motion The S shaped curve is described where at first in the acceleration the line is gentle but along the way it suddenly becomes steep Use it in such application that setting the acceleration deceleration rate high is desiredbecause high takt time is required but in the movement start or immediately before sto...

Page 170: ... Simple Direct Direct numeric specification Direct numeric specification 2 Positioner 2 Positioner 3 Equipped Not equipped By registering four sets out of the following servo gain parameters 6 sets in advance an operation is available with the selected set for each position movement See the parameters for the details GSL1 GSL0 Function Remarks OFF OFF Parameter Set 0 Select Set in delivery OFF ON ...

Page 171: ...D signal is turned 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 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 p...

Page 172: ...C MSCON Position Complete PEND MSCON PLC Current Position MSCON PLC Moving MOVE MSCON PLC 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 10 Xt minimum value to Yt 10 Xt 7 maximum value ME0306 ...

Page 173: ...ta items set in Steps 1 through 5 are read in the controller at the 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...

Page 174: ...Specification PUSH PLC MSCON Push Direction Specification DIR PLC MSCON Positioning Start CSTR PLC MSCON Position Complete Pressing and a Miss PEND PSFL MSCON PLC Current Position MSCON PLC Moving MOVE MSEP 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 t...

Page 175: ...ignal 3 After the CSTR signal is turned ON the PEND signal is turned OFF after tpdf 4 After confirming that the PEND signal is turned 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 At the same time when the PEND signal is turned OFF the MOVE signal is turned ON 6 Once the remaining movement amou...

Page 176: ... Start CSTR PLC MSCON Positioning Completion PEND MSCON PLC Moving MOVE MSCON PLC Actuator Movement Positioning Width p2 p3 p1 p2 twcsOFF twcsON tpdf 10ms or less 10ms or less 6 5 4 3 1 2 0ms or more To turn ON TwcsON have an interval of time more than 10ms To turn OFF TwcsOFF have an interval of time more than 10ms Tpdf Yt 10 Xt minimum value to Yt 10 Xt 7 maximum value ME0306 2A ...

Page 177: ...ND Input Output PIO Signal SON SV PEND Other than pattern 5 Pattern 5 Available Unavailable 1 Servo ON signal SON is the input signal making the servo motor of the actuator operable 2 If the servo on is performed to enable operation the SV output signal is turned ON The positioning complete signal PEND turns ON at the same time 3 With the power being supplied then controller cannot be operated whi...

Page 178: ... return home return completion signal HEND is turned ON Home Return Complete Signal HEND will be kept ON once it is turned ON even if getting off the home position HEND turns OFF when home position is lost and undetermined Even when HEND is ON home return operation can be conducted again by turning HOME Signal ON HEND should be OFF during the home return operation and should be turned ON again onc...

Page 179: ... moves in the reverse direction Make sure to refer to Section 7 2 12 when a change to Parameter No 22 Home Return Offset Level is required Note1 It moves for the offset amount after the encoder Z phase is detected Operation of Rotary Actuator 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 or 5deg s It depends on the...

Page 180: ...chanical end at the home return speed 20mm s 2 The actuator is turned at the mechanical end and stopped at the home position The amount of movement at this time is that set in Parameter No 22 Home Return Offset after Z phase is detected Caution Make sure to refer to Section 7 2 12 when a change to Parameter No 22 Home Return Offset Level is required ME0306 2A ...

Page 181: ...is 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 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...

Page 182: ...e between the value set for the positive side of the zone and that 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 t...

Page 183: ...h as motor burnout may occur Note1 Check the 8 4 Alarm List 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 Informa...

Page 184: ...ake applied again Any operation with the brake remaining released is extremely dangerous The slider or rod may drop to cause people to be injured and or the actuator the work and or the machine to be damaged 8 Battery alarm BALM PIO signal Output BALM In common for all PIO patterns 1 Battery alarm BALM is set to ON in the normal absolute battery voltage or for an actuator of incremental encoder sp...

Page 185: ...t signal ON after a position No is entered 1 Positioning Basic PC1 to PC CSTR PM1 to PM PEND MOVE Input Output PIO signal PC1 to PC CSTR PM1 to PM PEND MOVE LOAD TRQS 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...

Page 186: ...lete position numbers are output from complete position No PM1 to PM with 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 distan...

Page 187: ...herefore use PEND to turn CSTR OFF However since the duration of 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 sett...

Page 188: ...mand position No PC128 PC64 PC32 PC16 PC8 PC4 PC2 PC1 Completed position 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 ME0306 2A ...

Page 189: ...shortcut selection is made valid the actuator can be moved only in a 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 ...

Page 190: ... is turned ON positioning of position No 2 is executed Similarly positioning 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...

Page 191: ...n by 100mm 2 Set the positioning to the target position at the second 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 t...

Page 192: ... position by Position in the position table To perform continuous movement 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 repea...

Page 193: ...ator moves continuously by the distance based on the number of starts 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...

Page 194: ...ng Then the operation changes to pressing The moving distance in pressing 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 Positioni...

Page 195: ...on position No output is set to 0 during movement of the actuator 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 MSCON Completed position No PM1 to PM MSCON PL...

Page 196: ...he actuator is moved backward before the approach position alarm code 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 cha...

Page 197: ...t satisfies the condition shown below during pressing PEND is turned 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 Completio...

Page 198: ...e speed acceleration and deceleration are the conditions of positioning 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 ...

Page 199: ...ension 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 direction and the load current becom...

Page 200: ...nged in the pressing state The method of controlling multi step pressing 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...

Page 201: ...ISL indicates whether the jog operation 1 or inching operation 2 is performed 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 t...

Page 202: ...rameters below are written as the speed acceleration deceleration 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 po...

Page 203: ...ion table screen remaining open on a teaching tool such as PC cannot 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 Instructio...

Page 204: ... ON during pause STP being OFF allows the remaining movement to be canceled to 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 8 4 Alarm List for details of alarms 2 Tur...

Page 205: ... ST is issued without home return the home return operation is automatically 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 Deceler...

Page 206: ...emain ON except the pitch feed operation 2 Both the PE and PEND signals 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...

Page 207: ...in the position table indicates the pitch Set the pitch relative moving 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 ...

Page 208: ...tion of the positioning being operated 2 Entering the ST signal of another 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 Paramet...

Page 209: ...s performed with the torque current limit value set in percent in Pressing 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 P...

Page 210: ...positioning at 100mm point 3 The work is pressed after the pressing 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 pre...

Page 211: ...ssing value accumulated time in which current is less than pressing value 255ms Parameter No 6 4 Tension Operation Image diagram 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 1 100 00 250 00 0 20 0 20 0 0 0 10 0 00 0 00 0 0 0 0 2 80 00 250 00 0 20 0 20 50 0 50 00...

Page 212: ...alue 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 The actuator moves by 50mm in the negative direction in the tension operation The upp...

Page 213: ...s changes to the pressing operation from the current position to the 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...

Page 214: ... that described in 3 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 In this particular operation turn ON ST3 after com...

Page 215: ...urned ON Stop status Acceleration Deceleration Acceleration Deceleration 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 ...

Page 216: ... Position 1 being OFF Movement resumed by start signal 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 t...

Page 217: ...to ON and ST1 works as JOG 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 O...

Page 218: ...e to refer to Section 7 2 12 when a change to Parameter No 22 Home Return Offset Level is required Note 1 It moves for the offset amount after the encoder Z phase is detected Operation of Rotary Actuator 1 300 Rotation Specification 1 2 Home 0 Home sensor 1 If ST0 Signal gets turned ON when the home return operation is incomplete the rotary part turns in CCW counterclockwise from the view of load ...

Page 219: ...nding LS signal is turned ON when the actuator is entered into the setup value range as if the actuator were detected by a sensor installed Example The figure below shows the position table and the position at which each of the LS signals is turned ON If the actuator passes any of the positioning widths in the operation by another position number or manual operation in the servo OFF state the rele...

Page 220: ... is turned ON if the remaining moving distance enters into the positioning 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 S...

Page 221: ...ing width is set 3 Interlock should be taken so that two or more ST 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 MSCON Turned ON after entering into positioning width zone Target Position Position sensing output LS1 MSCON PLC Start signal ST2 PLC MSCON Position se...

Page 222: ...to the target position at the second speed in position No 0 3 Then start 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 af...

Page 223: ... MSCON Position sensing output LS0 MSCON PLC Start signal ST1 PLC MSCON Position sensing output LS1 MSCON PLC Position sensing output LS2 MSCON PLC Target position of position No 0 and No 1 Start signal ST2 PLC MSCON 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 ...

Page 224: ...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 decelerated to a stop The deceleration is the value set in the pos...

Page 225: ...se the tool 3 9 1 Startup of Tool 1 Boot the Gateway Parameter Setting Tool after the power to MSCON is turned ON and the window shown below appears Select MSCON GW and click on the OK button 2 Once MSCON is detected the detected unit numbers become available to select Select the unit number to be connected and click the OK button MSCON being detected Select the unit number to be connected ME0306 ...

Page 226: ...ess and Communication Speed in the figure below Main windows Initial condition 3 9 2 Explanation of each Menu Note If MSCOM 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 paramete...

Page 227: ...mber of MSCON and top axis number in that unit Refer to 3 2 3 5 Unit Number EtherNet IP Setting For EtherNet IP type this menu is displayed Set IP address etc Refer to 3 9 3 6 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...

Page 228: ...rvo OFF on the connected axes when ERRC is occurred unit velocity Only Direct Indication Mode Select the unit for speed from 1 0mm s and 0 1mm s Internal communication retry count Set the number of communication retries with the connected axes in AUTO mode 2 GW Param 2 Fan round monitor Select whether to not to monitor the fan rotation speed with the monitor function RTC function Select whether to...

Page 229: ...3 2 in this section Enable SW in AUTO mode Select whether to activate inactivate the enable switch in AUTO mode 3 1 BYTE swap Swap the upper and lower in the sent and received data in byte unit Set this considering the connected host system if necessary ON OFF MSEP 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 MSCON Input register MSCON Output reg...

Page 230: ... and received data in word unit Set this considering the connected host system if necessary ON OFF 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 MSCON Input register MSCON Output register Hexadecimal data Hexadecimal data Hexadecimal data Hexadecimal data ME0306 2A ...

Page 231: ...etting This setting is to be conducted when 2 units of MSCON 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 MSCON Multi Drop enable Tick in the box if the setting in this window is to be activated Unit No Set the unit number of MSCON Top Axis No Set the top axis number of MSCON composition axes Caution The clock calendar function...

Page 232: ...ster monitor window shows the 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 Frequenc...

Page 233: ... ERRT occurrence and number of the emergency stop EMG detection can be counted 9 Alarm list Click on the Update button and the alarm list is read again from MSCON Click on the Clear button and the alarm list retained in MSCON are all deleted Refer to Chapter 8 Troubleshooting for the details of the alarms ME0306 2A ...

Page 234: ...e the operation mode for Drive Unit 1 is selected selection of an operation mode for Drive Unit 2 AX4 5th axis AX5 6th axis becomes available Select a desired operation mode Also if there is a reserved axis tick on Axis 4 Rsv or Axis 5 Rsv beside the operation mode setting box Note 1 Remote I O Mode and other modes cannot be set at the same time When Remote I O Mode is selected the operation mode ...

Page 235: ...turned from another slave NS Illuminated by turns Green Orange In self checking process Communication in normal condition Green Parameter setting error Hardware breakdown Orange Light malfunction MS Illuminated by turns Green Orange In self checking process Field Network Connector Field Network Status LED Illuminating OFF Flashing Name Lamp status Color Description An error occurs CRC error statio...

Page 236: ...etwork Connector Field Network Status LED Illuminating OFF Flashing Name Lamp status Color Description Online normally Green Online Even though the network is established normally it is not identified as MSCON by the master Node address duplication error Wrong slave address setting Orange No response returned from another slave device NS Power is OFF reset or in initializing process Green Communic...

Page 237: ...cation etc Communication error Communication timeout has been detected Power is OFF or IP address not established MS Green Communication in normal condition Construction information setting is not completed or the scanner master is in idling condition Orange Hardware breakdown The replacement of the board is required Light error such as initializing error and setting violation can be recovered by ...

Page 238: ...ation in normal condition OPERATION Note1 PRE OPERATION Note2 SAFE OPEREATION Orange Communication component module error Condition of power being OFF or initializing INIT ERR Orange Communication component module error Note1 200ms cycle Orange Construction information settings error Information received from the master cannot be set Note3 Orange Communication section circuit error Watchdog Timer ...

Page 239: ...issued ALM RDY Control power supply OFF Green AUTO mode being selected MODE MANU mode being selected Red Emergency stop input EMG Not an emergency stop Orange Communication error between Gateway Ù driver board T ERR Not a communication error between Gateway Ù driver board Orange Field network communication error C ERR Not a field network communication error ME0306 2A ...

Page 240: ...3 11 Gateway status LED 232 ME0306 2A ...

Page 241: ...ation For a single moving command position data only a single parameter can be set Note 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...

Page 242: ... 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 be controlled directly by the ...

Page 243: ...ural frequency Measure the Natural frequency by any of the following methods Use the frequency analysis tool for anti vibration control installed in the PC software Refer to the Instruction Manual of the RC PC software Use of measuring instrument such as vibration meter or acceleration pickup Calculation from video image data Yes Setting of parameter for vibration suppress control See next page Se...

Page 244: ...eristic coefficient 1 2 Parameter No 97 98 101 102 105 and 106 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...

Page 245: ...on suppress control function cannot be used in pressing operation 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 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 ...

Page 246: ...Chapter 4 Vibration Suppress Control Function 238 ME0306 2A ...

Page 247: ...ch feed is operated based on the position at start used as the base point Caution This function is ineffective for pressing Do not use It becomes effective at completion of positioning In pressing the function becomes effective only when miss pressing occurs the status at the completion of operation without pressing is the same as that at the completion of positioning No retaining torque is provid...

Page 248: ...Value set in Parameter No 39 Content of PEND signal PEND PM1 to PM PE 0 Positioning Completion Signal OFF OFF OFF 1 In position Signal ON ON ON Note While in the automatic servo off SV in Driver Status LEDs on the front panel flashes in green For Parameter No 39 0 Operation of actuator Positioning operation Automatic servo OFF standby Servo OFF Positioning operation Servo Condition ON ON OFF ON Co...

Page 249: ...o Chapters 1 and 2 2 Connect the absolute battery Enclosed battery if starting up for the first time new battery if replacing to the absolute battery connecting connector on the front panel of the controller Refer to 6 2 Absolute Battery 3 Put the operation mode setting switch on the front panel of controller to MANU side and turn ON the power to the controller 4 The absolute encoder error appears...

Page 250: ...lute Battery 242 2 For Teaching Pendant TB 02 TB 03 Press Reset Alm Press Trial Operation on the Menu 1 screen Press Jog_Inching on Trial screen Touch Servo to turn the servo ON and touch Homing in Jog Inching screen 1 2 3 4 ME0306 2A ...

Page 251: ...t after the absolute data has lost it can be adjusted 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 subtr...

Page 252: ...ce for battery replacing timing Note 1 Ambient temperature 40 C 4 years after use if 50 of time with power supply to controller Output of voltage drop alert signal output of BALM 3 1V 3 or less Output of Alarm output output of ALM 2 5V 8 or less 7 days if the controller is operated continuously at 20 C Error detection 1 Warning Reference for time suspended after alert till alarm 2 5 days if the co...

Page 253: ...sitioner 3 Mode Replace the battery before alarm is generated due to the lamp display by BALM signal of PLC If the alarm is generated it will be necessary to absolute reset after the battery replacement Note 3 BALM and ALM are the signals of active low in Remote I O Mode and active high in other modes There is no BALM Signal in Positioner 3 Mode Normal 3 6V 3 1V 2 5V Alarm Signal Output Alarm occu...

Page 254: ...ents Refer to the diagram below Battery Cover Battery AB 5 Battery Clip y Assembled Condition 2 Detachment 1 Unplug the connector for battery connection off the battery connector on the front panel of controller 2 Hold the point to detach the absolute battery unit and pull the absolute battery unit off towards you 3 Attachment 1 Push the absolute battery unit along the attachment frame on the bott...

Page 255: ...ted written to the 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 risk The controller is configured to b...

Page 256: ... on positive side Note 2 7 2 2 4 A Soft Limit Negative Side LIML mm deg 9999 99 to 9999 99 Actual stroke on negative side Note 2 7 2 2 5 D Home Return Direction ORG 0 Reverse 1 Normal In accordance with actuator Note 2 7 2 3 6 C Push Hold Stop Judgment Period PSWT msec 0 to 9999 255 7 2 4 7 C Servo Gain Number PLGO 0 to 31 In accordance with actuator Note 2 7 2 5 7 3 8 B Default Velocity VCMD mm s...

Page 257: ...1 ASO1 sec 0 to 9999 0 7 2 26 37 B Auto Servo motor OFF Delay Time 2 ASO2 sec 0 to 9999 0 7 2 26 38 B Auto Servo motor OFF Delay Time 3 ASO3 sec 0 to 9999 0 7 2 26 39 B Position Complete Signal Output Method Note 3 FPIO 0 PEND 1 INP 0 7 2 27 40 C Home return Input Disable FPIO 0 Enabled 1 Disabled 0 7 2 28 46 B Velocity Override OVRD 1 to 100 100 7 2 29 47 B PIO Jog Velocity 2 IOV2 mm s deg s 1 to...

Page 258: ...00 In accordance with actuator Note 2 7 2 50 91 C Current Limit Value at Stopping Due to Miss pressing FSTP 0 Current limit during movement 1 Current limit value during pressing 0 7 2 51 92 C Use of Loadcell Selection FFRC 93 C Selection of Pressing Control FFRC 94 C Pressing operation Using Force Sensor Gain FRCG 95 C Positive Side of Force Judgment Margin FJMM 96 C Negative Side of Force Judgmen...

Page 259: ... to 31 In accordance with actuator Note 2 7 2 5 7 3 121 C Feed Forward Gain 1 PLF1 0 to 100 In accordance with actuator Note 2 7 2 41 122 C Velocity Loop Proportional Gain 1 VLG1 1 to 27661 In accordance with actuator Note 2 7 2 21 7 3 123 C Velocity Loop Integral Gain 1 VLT1 1 to 217270 In accordance with actuator Note 2 7 2 22 7 3 124 C Torque Filter Time Constant 1 TRF1 0 to 2500 In accordance ...

Page 260: ...2 35 7 3 138 C Servo Gain Switchover Time Constant GCFT ms 10 to 2000 10 7 2 82 139 A Home Preset Value PRST mm 9999 99 to 9999 99 In accordance with actuator Note 2 7 2 83 143 B Overload Level Ratio OLWL 50 to 100 100 7 2 84 147 B Total Movement Count Threshold TMCT Times 0 to 999999999 0 Disabled 7 2 85 148 B Total Operated Distance Threshold ODOT m 0 to 999999999 0 Disabled 7 2 86 149 B Zone Ou...

Page 261: ...NM2 mm deg 9999 99 to 9999 99 Actual stroke on positive side 24 Zone 2 Negative 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 setting positive side and zone setting negative side the zone signal is not output A s...

Page 262: ...itive side 80 3 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 shippe...

Page 263: ...ctuator The servo gain is also called position loop gain or position control system proportion gain The parameter defines the response when a position control loop is used Increasing the set value improves the tracking performance with respect to the position command However increasing the parameter value excessively increases the changes of overshooting When the set value is too low the follow up...

Page 264: ...eceleration 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 0 01 to 999 99 0 10 When a target position is set in an unregistered position table the setting in this parameter is automatically written in the applicable position number When the remaining moving distance enters into this ...

Page 265: ... 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 Polarity AIOF 0 to 2 In accordance with actuator The home sensor is an option Set Value Description 0 Standard specification sensor not used 1 Input is a contact 2 Input is ...

Page 266: ...e This parameter is set properly prior to the shipment according to the specification of the actuator Mechanical end Home return speed Creep Speed Creep Sensor Actuator decelerates when creep sensor signal is detected Power is turned ON here Set Value Description 0 Not to use 1 Input is a contact 2 Input is b contact 15 Servo ON input disable Parameter No 21 No Name Symbol Unit Input Range Default...

Page 267: ...xecution 2 Offset check 3 Parameter setting change 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 in...

Page 268: ...nt 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 signal output 1 point Position zone signal ...

Page 269: ...0 Set the input methods for the start signal 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 operati...

Page 270: ...stem When the set value is low When the set value is high over shoot Velocity Time 22 Velocity loop integral gain Parameter No 32 No Name Symbol Unit Input Range Default factory setting 32 Velocity Loop Integral Gain VLPT 1 to 217270 In accordance with actuator Any machine produces frictions This parameter is intended to cope with deviation generated by external causes including frictions Increasi...

Page 271: ...roduct is delivered Refer Appendix to 9 1 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 obtained also when a low...

Page 272: ...ttern 5 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 Setting 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 position...

Page 273: ...stance 2 Parameter No 48 No 49 No Name Symbol Unit Input Range Default factory setting 48 PIO Inching Distance IOID mm deg s 0 01 to 1 00 0 1 49 Note 1 PIO Inching Distance 2 IOD2 mm deg s 0 01 to 1 00 0 1 When the selected PIO pattern is 1 teaching mode this parameter defines the inching distance to be applied when inching input commands are received from the PLC The maximum allowable value is 1 ...

Page 274: ...y setting 54 Current Control Width Number CLPF 0 to 4 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 dangerous situationmay result 36 Position command primary f...

Page 275: ...ve swing width 0 1 Solid line shown 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...

Page 276: ... shorter positioning time The gain adjustment of position speed and current loop in feedback control can directly change the response of the servo control system Thus improper adjustment 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 neit...

Page 277: ...function is provided to prevent actuator malfunction or breakdown of parts caused by an abnormal voltage of the 24V brake power supply when an actuator with brake is used Normally this parameter need not be changed because it has been set properly prior to the shipment in accordance with the actuator i e whether or not the actuator is equipped with brake Set Value Description 0 Disabled no brake 1...

Page 278: ...In accordance with actuator This parameter defines the type of the actuator used Connected Actuator Set Value Reference Linear Axis 0 Actuator other than rotational axis Rotary Axis 1 Rotary Axis RS 30 60 RCS2 RT6 RT6R RT7 RT7R RTC8L RTC8HL RTC10L RTC12L Caution Do not change the setting of this parameter Failure to follow this may cause an alarm or fault to occur ME0306 2A ...

Page 279: ...y setting 80 Rotational Axis Shortcut Selection ATYP 0 Disabled 1 Enabled In accordance with actuator Select whether valid invalid the shortcut when positioning is performed except for when having the relative position movement in the multiple rotation type rotary actuator The shortcut means that the actuator is rotated to the next position in the rotational direction of the smaller travel distanc...

Page 280: ...tricted current value at stopping due to miss pressing This restricted current value locks the servo till the next moving command Parameter No 91 Description 0 Current limit value during movement 2 8 to 4 times of rating value depending on actuator characteristics 1 Press motion current limiting value 52 Use of loadcell selection Parameter No 92 This is the parameter for the future extension Do no...

Page 281: ...Function Option for details 57 Default vibration suppress No Parameter No 109 This parameter is exclusively used for vibration suppress control Refer to Chapter 4 Vibration Suppress Control Function Option for details 58 Stop method at servo OFF Parameter No 110 This parameter defines how to stop the actuator at issue of servo OFF command emergency stop or occurrence of an error operation release ...

Page 282: ...the monitoring mode is selected By setting the value in this parameter bigger the frequency of data obtaining can be made longer It is set to 1ms in the initial setting Up to 100ms can be set 1ms frequency setting 100ms frequency setting Up to 15 seconds in 4CH 15000 record mode Up to 1500 seconds 25 minutes in 4CH 15000 record mode Up to 7 5 seconds in 8CH 7500 record mode Up to 750 seconds 12 5 ...

Page 283: ...This parameter decides the filter time constant for the torque command Refer to description of Parameter No 33 69 Current control width number 1 Parameter No 125 This parameter defines the control width of the current control system Refer to description of Parameter No 54 70 Servo gain number 2 Parameter No 126 This parameter determines the response of the position control loop Refer to descriptio...

Page 284: ... gain 3 Parameter No 135 This parameter determines the response of the speed control loop Refer to description of Parameter No 32 80 Torque filter time constant 3 Parameter No 136 This parameter decides the filter time constant for the torque command Refer to description of Parameter No 33 81 Current control width number 3 Parameter No 137 This parameter defines the control width of the current co...

Page 285: ...ctuator of incremental specification always set this parameter to 0 00 Setting example 1 With ball screw lead length 4mm and home return offset level 10mm set this parameter to 8mm Home Return Offset Level 10mm Home Position Preset Value 8mm Ball Screw Lead Length 4mm Ball Screw Lead Length 4mm Home Return Completion Position 8mm Home Position 0mm Ball Screw Lead Length 4mm 84 Overload level ratio...

Page 286: ...e 0 In Remote I O Mode the effective zone signals are determined by the setting of this parameter and the setting of Parameter No 25 PIO Pattern Select The relationship between the parameter settings and effective zone signal outputs are as shown in the table below Parameter No 149 Zone Output Changeover Operation Mode Parameter No 25 PIO pattern selection 0 1 0 ZONE1 PZONE ZONE1 ZONE2 1 2 PZONE Z...

Page 287: ...off 2 Operation Cancel Level or When cold start level alarm is issued Drive Cutoff 91 Active Inactive axis select Parameter No 158 No Name Symbol Unit Input Range Default factory setting 158 Active Inactive Axis Select ATYP 0 Enabled 1 Disabled 0 In the case an operation is desired to be made with less axes than what were purchased by setting this parameter to ineffective an alarm would not be gen...

Page 288: ... 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 Decrease the val...

Page 289: ...uator motor The servo is extremely sensitive to the inertia of the load If the inertia moment of the load is too large in comparison with the inertia moment of the servo motor 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 b...

Page 290: ...Chapter 7 Parameter 282 ME0306 2A ...

Page 291: ...nectors for disconnection or connection error 9 Check the cables for connection error disconnection or pinching Before performing a continuity check turn off the power to prevent electric shocks and disconnect the cables of measuring instruments to prevent accidental power connection due to sneak current path 10 Check the I O signals Using the host controller PLC etc or a teaching tool such as PC ...

Page 292: ... is not conducted or the time data is lost it will be the time passed since 2000 1 1 00 00 00 when the power is turned ON Even if the date and time data is lost the generated error code is retained Alarms subject to this function only include those in 8 4 Alarm but do not include errors in the teaching tool such as PC software Request In troubleshooting exclude normal portions from suspicious targ...

Page 293: ...ued to a stop position 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 Is the LED SV ALM on the driver board that the axis to be operated is connected turned ON in green Refer to Name for Each Parts and Their Functions Turn ON the servo on signal SON 2 Turn OFF the pause signal STP 3 Check the sequence or th...

Page 294: ... and check whether the slider can move smoothly If the slider can move smoothly check if there is a deformation on the attached surface and install the actuator 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 st...

Page 295: ...able with host unit 1 Communication rates do not match 2 The station number node address 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 the station number node address setting Station number node addres...

Page 296: ...ieldbus 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 etc and wiring layout 60 860 Master Slave Axes Communication Error ERR T Cause It is an internal error of MSCON ...

Page 297: ...ndition of emergency stop and then cancel the emergency stop 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 AC 8AC Continuous Regenerative Excessive Discharge...

Page 298: ...085 Position Command Data Error 0A3 Command Deceleration Error 0A7 z z z z 4 Mismatched PCB 0F4 z z z 6 Parameter data error 0A1 Position data error 0A2 Unsupported motor encoder type 0A8 z z 7 Z Phase Position Error 0B5 Home sensor non detection 0BA Home return timeout 0BE Creep sensor not detected 0BF z z z z 8 Actual Speed Excessive 0C0 Overrun detected 0C2 z z z 9 Electromagnetic Brake Unrelea...

Page 299: ...ror Alarm level ALM lamp ALM signal Status when an error occurred Concent of alarm Message OFF No output No stop Alarm of maintenance output such as excess of number of movement times or of the teaching tool such as PC software Refer to Instruction Manual of each tool for details Operation release ON Output Servo OFF after deceleration to stop Alarm reset by teaching tool Cold start ON Output Serv...

Page 300: ...confirming that home return has been completed HEND is ON 083 Numerical command in incomplete home return Cause An absolute position command was issued by numerical specification before home return was completed direct command from Field Network Treatment Issue a numeric specification after performing home return operation and confirming the complete signal HEND 084 Movement command during home re...

Page 301: ... soft limit positive side was 200 3mm Treatment Change the value to the appropriate one 0A2 Operation release Position data error Cause 1 A move command was input when no target position was set in the Position field of a position No in the position table 2 The value of the target value in the Position field exceeded the Parameter No 3 and 4 Soft limit set value 3 A target position was specified i...

Page 302: ...t either of the functions is effective 0A5 Operation release Electromagnetic brake unreleased error Cause The brake cannot be released Treatment Supplied the 24V power unit for the electromagnetic brake 0A6 Cold start Dynamic brake not released Cause The dynamic brake cannot be released when the servo is ON due to noise and electrostatic etc Treatment Implement measures to eliminate noise or elect...

Page 303: ...t completed in normal condition 1 Work is interfering with peripheral equipment in the middle of home return 2 Large slide resistance of the actuator itself 3 Installation failure breakdown or disconnection of the home sensor Treatment In the case that the work does not interfere with anything the cause 2 or 3 is supposed In such case please contact IAI 0BE Home return timeout Cause Home return do...

Page 304: ... did not function correctly normal detection 3 The home position achieved is not correct or in the case of an absolute type controller the coordinates have shifted due to an inappropriate absolute reset position 4 There is a mismatch between the sensor characteristics and the setting in Parameter No 19 Overrun sensor input polarity or the wiring layout is wrong 5 There is a mistake in the mating o...

Page 305: ...rn the insulation is deteriorated if the values are different in large amount Please contact IAI 0CA Overheated Cause This indicates overheat 75 C or more of the components inside the controller 1 Operation is performed with the load condition exceeding the specified range 2 High temperature around the controller 3 A faulty part inside the controller Treatment 1 Revise the operation condition such...

Page 306: ...able 2 The actuator touched the work during the approach movement before the pressing movement Treatment 1 Revise the setting and adjust it so the force to push back gets smaller 2 Set the Position setting in front in the position table to shorten the approach distance 0E0 Cold start Overload Cause 1 The work weight exceeds the rated weight or an external force is applied and the load increased 2 ...

Page 307: ...l is 0001H 2 Effect of noise If the detail code in the error list of the teaching tool is 0002H 3 Malfunction of component communication part inside the actuator 4 A faulty part inside the controller communication part Treatment 1 Check if any wire breakage on a connector and the condition of wire connections 2 Interrupt the power to the peripheral equipment and activate only the actuator If any e...

Page 308: ...ded load parameter motor type mismatched noise malfunction of controller etc Treatment Please contact IAI 0F4 Mismatched PCB This controller uses a different print circuit board depending on the motor capacity Mismatch of connected motor and the PCB is detected in the startup check Cause The actuator may not match the controller Check the model Treatment Should this error occur please contact IAI ...

Page 309: ...Cause Treatment 0FB Cold start FPGA error Faulty component The FPGA is not operating properly Cause 1 Malfunction due to the effect of noise etc 2 Faulty FPGA 3 Faulty circuit component around the FPGA 4 Inappropriate board installation in the controller Treatment Turn the power OFF and reboot If the error occurs again check for presence of noise If a spare controller is available replace the prob...

Page 310: ...Chapter 8 Troubleshooting 302 ME0306 2A ...

Page 311: ...h Accel Decel Type 1 0 0 3 6 300 High Accel Decel Type 1 0 RA4C Note 30 16384 3 Horizontal Vertical 150 0 2 12 600 0 3 6 300 0 3 20 3 150 0 2 0 3 12 600 High Accel Decel Type 1 0 0 3 6 300 High Accel Decel Type 1 0 RGS4C 30 16384 3 Horizontal Vertical 150 0 2 12 600 0 3 6 300 0 3 20 3 150 0 2 0 3 12 600 High Accel Decel Type 1 0 0 3 6 300 High Accel Decel Type 1 0 RGD4C 30 16384 3 Horizontal Verti...

Page 312: ...ertical 150 0 3 12 600 0 3 6 300 0 3 20 3 150 0 2 12 600 0 3 6 300 0 3 RCS2 Rod Type RGD4R 30 16384 3 Horizontal Vertical 150 0 2 16 800 at 50 to 250st 755 at 300st 0 3 8 400 at 50 to 250st 377 at 300st 0 3 4 200 at 50 to 250st 188 at 300st 0 2 0 3 16 800 at 50 to 250st 755 at 300st High Accel Decel Type 1 0 0 3 8 400 at 50 to 250st 377 at 300st High Accel Decel Type 1 0 RCS2 Rod Type RA5C Note 60...

Page 313: ... Accel Decel Type 1 0 0 3 6 400 at 50 to 250st 377 at 300st High Accel Decel Type 1 0 RGS5C 100 16384 3 Horizontal Vertical 200 at 50 to 250st 188 at 300st 0 2 16 800 at 50 to 250st 755 at 300st 0 3 8 400 at 50 to 250st 377 at 300st 0 3 60 4 200 at 50 to 250st 188 at 300st 0 2 16 800 at 50 to 250st 755 at 300st 0 3 8 400 at 50 to 250st 377 at 300st 0 3 RGD5C 100 16384 4 Horizontal Vertical 200 at ...

Page 314: ... Accel Decel Type 1 0 0 3 5 330 High Accel Decel Type 1 0 SA4C Note 20 16384 2 5 Horizontal Vertical 165 0 2 10 665 0 3 5 330 0 3 RCS2 Slider Type SA4D Note 20 16384 2 5 Horizontal Vertical 165 0 2 Note The model stated in the hatched area is applicable for the offboard tuning function except for the setting for the high acceleration deceleration type if any For the off board tuning function refer...

Page 315: ... Note 20 16384 3 Horizontal Vertical 200 at 50 to 450st 190 at 500st 0 2 12 800 at 50 to 450st 760 at 500st 0 3 6 400 at 50 to 450st 380 at 500st 0 3 SA5R Note 20 16384 3 Horizontal Vertical 200 at 50 to 450st 190 at 500st 0 2 Horizontal 1300 at 50 to 500st 1160 at 550st 990 at 600st High Accel Decel Type 1 0 20 Vertical 800 0 2 0 3 12 Horizontal Vertical 800 at 50 to 450st 760 at 500st 640 at 550...

Page 316: ...16384 3 Horizontal Vertical 200 at 50 to 450st 190 at 500st 160 at 550st 135 at 600st 0 2 0 3 16 800 at 50 to 600st 640 at 700st 480 at 800st High Accel Decel Type 1 0 0 3 8 400 at 50 to 650st 320 at 700st 240 at 800st High Accel Decel Type 0 8 SA7C Note 60 16384 4 Horizontal Vertical 200 at 50 to 650st 160 at to 700st 120 at to 800st 0 2 16 800 at 50 to 600st 640 at 700st 480 at 800st 0 3 8 400 a...

Page 317: ...50 to 600st 960 at to 700st 765 at to 800st 625 at to 900st 515 at to 1000st 0 3 100 16384 10 Horizontal Vertical 500 at 50 to 600st 480 at to 700st 380 at to 800st 310 at to 900st 255 at to 1000st 0 3 20 1000 at 50 to 600st 960 at to 700st 765 at to 800st 625 at to 900st 515 at to 1000st 0 3 RCS2 Slider Type SS8C 150 16384 10 Horizontal Vertical 500 at 50 to 600st 480 at to 700st 380 at to 800st ...

Page 318: ...000st 0 3 5 300 at 50 to 650st 260 at to 700st 230 at to 750st 200 at to 800st 180 at to 850st 170 at to 900st 150 at to 950st 135 at to 1000st 120 at to 1050st 110 at to 1100st 0 3 RCS3 Slider Type SA8 Note 100 16384 10 Horizontal Vertical 600 at 50 to 650st 530 at to 700st 470 at to 750st 410 at to 800st 370 at to 850st 340 at to 900st 310 at to 950st 270 at to 1000st 250 at to 1050st 230 at to ...

Page 319: ...ical 1800 at 50 to 650st 1610 at to 700st 1420 at to 750st 1260 at to 800st 1120 at to 850st 1010 at to 900st 910 at to 950st 830 at to 1000st 760 at to 1050st 690 at to 1100st 0 7 RCS3 Slider Type SA8 Note 150 16384 10 Horizontal Vertical 600 at 50 to 650st 530 at to 700st 470 at to 750st 410 at to 800st 370 at to 850st 340 at to 900st 310 at to 950st 270 at to 1000st 250 at to 1050st 230 at to 1...

Page 320: ... 16384 30 Vertical 1800 at 50 to 650st 1610 at to 700st 1420 at to 750st 1260 at to 800st 1120 at to 850st 1010 at to 900st 910 at to 950st 830 at to 1000st 760 at to 1050st 690 at to 1100st 0 7 RCS3 Slider Type SS8 Note 100 16384 5 Horizontal Vertical 300 at 50 to 600st 275 at to 650st 240 at to 700st 215 at to 750st 190 at to 800st 170 at to 850st 150 at to 900st 140 at to 950st 125 at to 1000st...

Page 321: ... 50 to 600st 1105 at to 650st 970 at to 700st 860 at to 750st 770 at to 800st 690 at to 850st 625 at to 900st 565 at to 950st 515 at to 1000st 0 7 Horizontal 1 0 RCS3 Slider Type SS8 Note 100 16384 30 Vertical 1800 at 50 to 600st 1660 at to 650st 1460 at to 700st 1295 at to 750st 1155 at to 800st 1035 at to 850st 935 at to 900st 850 at to 950st 775 at to 1000st 0 7 Note The model stated in the hat...

Page 322: ...al 1200 at 50 to 600st 1105 at to 650st 970 at to 700st 860 at to 750st 770 at to 800st 690 at to 850st 625 at to 900st 565 at to 950st 515 at to 1000st 0 7 Horizontal 1 0 RCS3 Slider Type SS8 Note 150 16384 30 Vertical 1800 at 50 to 600st 1660 at to 650st 1460 at to 700st 1295 at to 750st 1155 at to 800st 1035 at to 850st 935 at to 900st 850 at to 950st 775 at to 1000st 0 7 Note The model stated ...

Page 323: ...650st 500 at to 700st 440 at to 750st 390 at to 800st 350 at to 850st 320 at to 900st 290 at to 950st 260 at to 1000st 240 at to 1050st 220 at to 1100st 0 5 RCS3CR Slider Type SA8 Note 100 16384 20 Horizontal Vertical 1200 at 50 to 650st 1010 at to 700st 890 at to 750st 790 at to 800st 710 at to 850st 640 at to 900st 580 at to 950st 530 at to 1000st 480 at to 1050st 440 at to 1100st 0 7 Note The m...

Page 324: ...rtical 600 at 50 to 650st 500 at to 700st 440 at to 750st 390 at to 800st 350 at to 850st 320 at to 900st 290 at to 950st 260 at to 1000st 240 at to 1050st 220 at to 1100st 0 5 RCS3CR Slider Type SA8 Note 150 16384 20 Horizontal Vertical 1200 at 50 to 650st 1010 at to 700st 890 at to 750st 790 at to 800st 710 at to 850st 640 at to 900st 580 at to 950st 530 at to 1000st 480 at to 1050st 440 at to 1...

Page 325: ...0st 0 7 5 Horizontal Vertical 300 at 50 to 600st 275 at to 650st 240 at to 700st 215 at to 750st 190 at to 800st 170 at to 850st 150 at to 900st 140 at to 950st 125 at to 1000st 0 3 RCS3CR Slider Type SS8 Note 100 16384 10 Horizontal Vertical 600 at 50 to 600st 550 at to 650st 485 at to 700st 430 at to 750st 385 at to 800st 345 at to 850st 310 at to 900st 280 at to 950st 255 at to 1000st 0 5 Note ...

Page 326: ... 30 Vertical 1800 at 50 to 600st 1660 at to 650st 1460 at to 700st 1295 at to 750st 1155 at to 800st 1035 at to 850st 935 at to 900st 850 at to 950st 775 at to 1000st 0 7 RCS3CR Slider Type SS8 Note 150 16384 10 Horizontal Vertical 600 at 50 to 600st 550 at to 650st 485 at to 700st 430 at to 750st 385 at to 800st 345 at to 850st 310 at to 900st 280 at to 950st 255 at to 1000st 0 5 Note The model s...

Page 327: ...60 at to 700st 1295 at to 750st 1155 at to 800st 1035 at to 850st 935 at to 900st 850 at to 950st 775 at to 1000st 0 7 10 330 0 2 A4R 20 16384 5 Horizontal Vertical 165 0 2 12 400 0 2 A5R 20 16384 6 Horizontal Vertical 200 0 2 12 400 0 2 RCS2 Arm Type A6R 30 16384 6 Horizontal Vertical 200 0 2 RCS2 Gripper Type GR8 60 16384 Gear Ratio 1 5 400 0 3 16 800 0 3 8 400 0 3 60 4 200 0 2 16 800 0 3 8 400 ...

Page 328: ... deg s RT7R 60 16384 Gear Ratio 1 4 500 deg s RTC8L 12 16384 Gear Ratio 1 24 750 deg s Gear Ratio 1 15 1200 deg s RTC8HL 20 16384 Gear Ratio 1 24 750 deg s Gear Ratio 1 15 1200 deg s RTC10L 60 16384 Gear Ratio 1 24 750 deg s Gear Ratio 1 18 800 deg s RCS2 Rotary Type RTC12L 150 16384 Gear Ratio 1 30 600 deg s Horizontal 1 0 16 Vertical 960 0 7 Horizontal 0 6 8 Vertical 480 0 5 Horizontal 0 5 SXM S...

Page 329: ...0st 1 0 Horizontal 1 0 20 Vertical 1200 at 100 to 700st 860 at to 800st 695 at to 900st 570 at to 1000st 0 8 Horizontal 0 6 10 Vertical 600 at 100 to 700st 430 at to 800st 345 at to 900st 280 at to 1000st 0 5 Horizontal 0 5 MXM MYM 100 16384 5 Vertical 300 at 100 to 700st 215 at to 800st 170 at to 900st 140 at to 1000st 0 3 10 Vertical 600 at 100 to 700st 430 at 800st 345 at 900st 280 at 1000st 0 ...

Page 330: ...00st 570 at to 1000st 0 8 Horizontal 0 6 MXM MYM 200 16384 10 Vertical 600 at 100 to 700st 430 at to 800st 345 at to 900st 280 at to 1000st 0 5 MZM 200 16384 10 Vertical 600 at 100 to 700st 430 at 800st 345 at 900st 280 at 1000st 0 5 30 Horizontal 1800 at 800 to 1100st 1650 at 1200st 1500 at 1300st 1425 at 1400st 1200 at 1500st 1050 at 1600st 900 at 1700st 825 at 1800st 750 at 1900st 675 at 2000st...

Page 331: ...t to 1100st 270 at to 1200st 0 5 LZM 200 16384 10 Vertical 600 at 100 to 800st 460 at to 900st 380 at to 1000st 320 at to 1100st 270 at to 1200st 0 5 LXMX 200 16384 20 Horizontal 1200 at 1000 to 1200st 1150 at 1300st 1000 at 1400st 950 at 1500st 830 at 1600st 740 at 1700st 650 at 1800st 590 at 1900st 540 at 2000st 490 at 2100st 440 at 2200st 410 at 2300st 370 at 2400st 340 at 2500st 0 3 ISA ISPA S...

Page 332: ...cal 960 at 50 to 600st 655 at to 700st 515 at to 800st 415 at to 900st 0 8 Horizontal 0 5 4 Vertical 240 at 130 to 580st 165 at to 680st 130 at to 780st 100 at to 880st 0 4 Horizontal 0 7 8 Vertical 480 at 130 to 580st 330 at to 680st 260 at to 780st 210 at to 880st 0 6 Horizontal 1 2 ISB ISPB Slider Type SXL Note 50 16384 16 Vertical 960 at 130 to 580st 655 at to 680st 515 at to 780st 415 at to 8...

Page 333: ...30 at to 800st 345 at to 900st 280 at to 1000st 230 at to 1100st 0 6 Horizontal 1 2 20 Vertical 1200 at 100 to 700st 860 at to 800st 695 at to 900st 570 at to 1000st 460 at to 1100st 1 0 ISB ISPB Slider Type MXM Note 100 200 16384 30 Horizontal Vertical 1800 at 100 to 700st 1290 at to 800st 1045 at to 900st 860 at to 1000st 690 at to 1100st 1 2 Note The model stated in the hatched area is applicab...

Page 334: ...430 at to 770st 345 at to 870st 280 at to 970st 230 at to 1070st 0 6 Horizontal 1 2 20 Vertical 1200 at 120 to 670st 860 at to 770st 695 at to 870st 570 at to 970st 460 at to 1070st 1 0 ISB ISPB Slider Type MXL Note 100 200 16384 30 Horizontal Vertical 1800 at 120 to 670st 1290 at to 770st 1045 at to 870st 860 at to 970st 690 at to 1070st 1 2 Note The model stated in the hatched area is applicable...

Page 335: ...s 20 Horizontal 1200 at800 to 1100st 1100 at to 1200st 1000 at to 1300st 950 at to 1400st 800 at to 1500st 700 at to 1600st 600 at to 1700st 550 at to 1800st 500 at to 1900st 450 at to 2000st 0 4 ISB ISPB Slider Type MXMX 200 16384 30 Horizontal 1800 at800 to 1100st 1650 at to 1200st 1500 at to 1300st 1425 at to 1400st 1200 at to 1500st 1050 at to 1600st 900 at to 1700st 825 at to 1800st 750 at to...

Page 336: ... 6 Horizontal 1 2 20 Vertical 1200 at 100 to 800st 920 at to 900st 765 at to 1000st 645 at to 1100st 550 at to 1200st 440 at to 1300st 1 0 ISB ISPB Slider Type LXM Note 200 16384 40 Horizontal Vertical 2400 at 100 to 800st 1840 at to 900st 1530 at to 1000st 1290 at to 1100st 1100 at to 1200st 880 at to 1300st 1 2 Note The model stated in the hatched area is applicable for the offboard tuning funct...

Page 337: ... 6 1 2 20 Horizontal Vertical 1200 at 120 to 770st 920 at to 870st 765 at to 970st 645 at to 1070st 550 at to 1170st 440 at to 1270st 1 0 ISB ISPB Slider Type LXL Note 200 16384 40 Horizontal Vertical 2400 at 120 to 770st 1840 at to 870st 1530 at to 970st 1290 at to 1070st 1100 at to 1170st 880 at to 1270st 1 2 Note The model stated in the hatched area is applicable for the offboard tuning functio...

Page 338: ...imum Pressing Force Rated Pressing Speed W mm mm s G N N mm s ISB ISPB Slider Type LXMX LXUWX 200 16384 20 Horizontal 1200 at 1000 to 1200st 1150 at to 1300st 1000 at to 1400st 950 at to 1500st 830 at to 1600st 740 at to 1700st 650 at to 1800st 590 at to 1900st 540 at to 2000st 490 at to 2100st 440 at to 2200st 410 at to 2300st 370 at to 2400st 340 at to 2500st 0 4 ME0306 2A ...

Page 339: ...o 750st 240 at to 800st 0 6 Horizontal 1 S Note 60 16384 16 Vertical 960 at 100 to 500st 920 at to 550st 795 at to 600st 690 at to 650st 610 at to 700st 540 at to 750st 480 at to 800st 0 8 Horizontal 0 5 ISDB ISPDB Slider Type M Note 100 200 16384 5 Vertical 300 at 100 to 600st 270 at to 650st 240 at to 700st 215 at to 750st 190 at to 800st 170 at to 850st 155 at to 900st 140 at to 950st 130 at to...

Page 340: ...85 at to 950st 260 at to 1000st 240 at to 1050st 220 at to 1100st 0 6 Horizontal 1 ISDB ISPDB Slider Type M Note 100 200 16384 20 Vertical 1200 at 100 to 600st 1085 at to 650st 960 at to 700st 855 at to 750st 765 at to 800st 690 at to 850st 625 at to 900st 570 at to 950st 520 at to 1000st 475 at to 1050st 440 at to 1100st 1 Note The model stated in the hatched area is applicable for the offboard t...

Page 341: ...900st 850 at to 950st 780 at to 1000st 715 at to 1050st 660 at to 1100st 1 20 Horizontal 1200 at 800 to 1100st 1100 at to 1200st 1000 at to 1300st 950 at to 1400st 800 at to 1500st 700 at to 1600st 0 4 ISDB ISPDB Slider Type MX 200 16384 30 Horizontal 1800 at 800 to 1100st 1650 at to 1200st 1500 at to 1300st 1425 at to 1400st 1200 at to 1500st 1050 at to 1600st 0 4 Note The model stated in the hat...

Page 342: ...55 at to 1150st 235 at to 1200st 220 at to 1250st 205 at to 1300st 1 Horizontal 1 ISDB ISPDB Slider Type L Note 200 16384 20 Vertical 1200 at 100 to 650st 1165 at to 700st 1045 at to 750st 940 at to 800st 850 at to 850st 770 at to 900st 705 at to 950st 645 at to 1000st 595 at to 1050st 545 at to 1100st 505 at to 1150st 470 at to 1200st 440 at to 1250st 410 at to 1300st 1 Note The model stated in t...

Page 343: ...st 1185 at to 1050st 1095 at to 1100st 1015 at to 1150st 940 at to 1200st 875 at to 1250st 815 at to 1300st 1 20 Horizontal 1200 at 1000 to 1200st 1150 at to 1300st 1000 at to 1400st 950 at to 1500st 830 at to 1600st 0 4 ISDB ISPDB Slider Type LX 200 16384 40 Horizontal 1800 at to 1500st 1660 at to 1600st 0 4 Note The model stated in the hatched area is applicable for the offboard tuning function ...

Page 344: ...izontal 0 7 8 Vertical 480 at 100 to 500st 460 at to 550st 400 at to 600st 345 at to 650st 305 at to 700st 270 at to 750st 240 at to 800st 0 6 Horizontal 1 ISDBCR ISPDBCR Slider Type S Note 60 16384 16 Vertical 960 at 100 to 500st 920 at to 550st 795 at to 600st 690 at to 650st 610 at to 700st 540 at to 750st 480 at to 800st 0 8 Note The model stated in the hatched area is applicable for the offbo...

Page 345: ...at to 950st 130 at to 1000st 120 at to 1050st 110 at to 1100st 0 4 Horizontal 0 7 ISDBCR ISPDBCR Slider Type M Note 100 200 16384 10 Vertical 600 at 100 to 600st 545 at to 650st 480 at to 700st 430 at to 750st 380 at to 800st 345 at to 850st 310 at to 900st 285 at to 950st 260 at to 1000st 240 at to 1050st 220 at to 1100st 0 6 Note The model stated in the hatched area is applicable for the offboar...

Page 346: ...at to 950st 520 at to 1000st 475 at to 1050st 440 at to 1100st 1 Horizontal 1 ISDBCR ISPDBCR Slider Type M Note 100 200 16384 30 Vertical 1800 at 100 to 600st 1630 at to 650st 1440 at to 700st 1280 at to 750st 1150 at to 800st 1035 at to 850st 935 at to 900st 850 at to 950st 780 at to 1000st 715 at to 1050st 660 at to 1100st 1 Note The model stated in the hatched area is applicable for the offboar...

Page 347: ...0 Horizontal 1200 at 800 to 1100st 1100 at to 1200st 1000 at to 1300st 950 at to 1400st 800 at to 1500st 700 at to 1600st 600 at to 1700st 550 at to 1800st 500 at to 1900st 450 at to 2000st 0 4 ISDBCR ISPDBCR Slider Type MX 200 16384 30 Horizontal 1800 at 800 to 1100st 1650 at to 1200st 1500 at to 1300st 1425 at to 1400st 1200 at to 1500st 1050 at to 1600st 900 at to 1700st 825 at to 1800st 750 at...

Page 348: ...5 at to 1150st 235 at to 1200st 220 at to 1250st 205 at to 1300st 1 Horizontal 1 ISDBCR ISPDBCR Slider Type L Note 200 16384 20 Vertical 1200 at 100 to 650st 1165 at to 700st 1045 at to 750st 940 at to 800st 850 at to 850st 770 at to 900st 705 at to 950st 645 at to 1000st 595 at to 1050st 545 at to 1100st 505 at to 1150st 470 at to 1200st 440 at to 1250st 410 at to 1300st 1 Note The model stated i...

Page 349: ...Note 200 16384 40 Vertical 1800 at 100 to 800st 1700 at to 850st 1540 at to 900st 1410 at to 950st 1290 at to 1000st 1185 at to 1050st 1095 at to 1100st 1015 at to 1150st 940 at to 1200st 875 at to 1250st 815 at to 1300st 1 Note The model stated in the hatched area is applicable for the offboard tuning function except for the setting for the high acceleration deceleration type if any For the off b...

Page 350: ...to 1300st 1000 at to 1400st 950 at to 1500st 830 at to 1600st 740 at to 1700st 650 at to 1800st 590 at to 1900st 540 at to 2000st 490 at to 2100st 440 at to 2200st 410 at to 2300st 370 at to 2400st 340 at to 2500st 0 4 ISDBCR ISPDBCR Slider Type LX 200 16384 40 Horizontal 1800 at 1000 to 1500st 1660 at to 1600st 1480 at to 1700st 1300 at to 1800st 1180 at to 1900st 1080 at to 2000st 980 at to 2100...

Page 351: ...o 850st 320 at to 900st 290 at to 950st 260 at to 1000st 240 at to 1050st 220 at to 1100st 0 6 Horizontal 1 0 20 Vertical 1200 at 100 to 600st 1120 at to 650st 990 at to 700st 880 at to 750st 780 at to 800st 710 at to 850st 640 at to 900st 580 at to 950st 530 at to 1000st 480 at to 1050st 440 at to 1100st 1 0 Horizontal 1 2 SSPA SXM 200 16384 30 Vertical 1800 at 100 to 600st 1680 at to 650st 1480 ...

Page 352: ...o 850st 280 at to 900st 260 at to 950st 240 at to 1000st 220 at to 1050st 200 at to 1100st 0 6 Horizontal 1 0 20 Vertical 1100 at 100 to 550st 1090 at to 600st 970 at to 650st 860 at to 700st 770 at to 750st 690 at to 800st 630 at to 850st 570 at to 900st 520 at to 950st 480 at to 1000st 440 at to 1050st 400 at to 1100st 1 0 Horizontal 1 2 SSPDACR S 200 16384 30 Vertical 1600 at 100 to 600st 1450 ...

Page 353: ...4 12 Vertical 600 0 7 30 1800 1 0 MXMS 200 16384 20 Horizontal 1200 0 8 30 1800 1 0 MXMM 200 16384 20 Horizontal 1200 0 8 30 1800 0 3 MXMXS 200 16384 20 Horizontal 1200 0 3 MZMS 200 16384 20 Vertical 1000 0 5 NS MZMM 200 16384 20 Vertical 1000 0 5 60 Horizontal 0 3 SA 100 16384 35 Horizontal 1750 0 3 IF MA 200 16384 35 Horizontal 1750 0 3 60 Horizontal 0 3 NM 100 16384 25 Horizontal 1250 0 3 100 H...

Page 354: ...Chapter 9 Appendix 346 ME0306 2A ...

Page 355: ... 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 paint o...

Page 356: ...ining 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 is to ...

Page 357: ... 3 1 Gateway Alarm Codes Detail addresses added in 8 3 2 Alarm Code for Each Axis 0A3 Statements deleted for MECHATROLINK Second Edition Pg 11 Complied with CE Marking 1 1 5 Options not available for selection of model code deleted 3 4 1 Correction made to address map in PLC address construction by each operation mode 3 7 Descriptions revised and notes added for explanation of JVEL JISL Notes adde...

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Page 360: ...INESS 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 678 354 9471 website www intell...

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