IAI Msep Page 1 Instruction Manual Download

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MSEP Controller

Instruction Manual

Fourth Edition

Summary of Contents for Msep

Page 1: ...MSEP Controller Instruction Manual Fourth Edition ...

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

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Page 5: ...ns of EtherCAT Interface 26 1 4 8 PIO Input and Output Interface 27 1 5 External Dimensions 28 1 5 1 Controller Main Unit 28 1 5 2 Absolute Battery Box 29 1 6 Option 30 1 6 1 Absolute Battery Box 30 1 6 2 Regenerative Resistor Unit 31 1 7 Installation and Storage Environment 32 1 8 Noise Elimination and Mounting Method 33 Chapter 2 Wiring 35 2 1 Wiring Diagram Connection of construction devices 35...

Page 6: ... Input and Output Signal for Fieldbus Type except for SEP I O Mode 150 3 8 2 SEP I O Mode and PIO Operation for Fieldbus Type 163 3 9 About Gateway Parameter Setting Tool 175 3 9 1 Startup of Tool 175 3 9 2 Explanation of each Menu 176 3 9 3 Description of Functions 178 3 9 4 Operation Mode Setting 185 3 10 Status LED 185 Chapter 4 Absolute Reset and Absolute Battery 195 4 1 Absolute Reset 195 4 2...

Page 7: ...ator 238 7 2 2 Specifications for Pulse Motor Type Actuator 250 Chapter 8 Warranty 283 8 1 Warranty Period 283 8 2 Scope of the Warranty 283 8 3 Honoring the Warranty 283 8 4 Limited Liability 283 8 5 Conditions of Conformance with Applicable Standards Regulations Etc and Applications 284 8 6 Other Items Excluded from Warranty 284 Change History 285 ...

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Page 9: ...t safety parts of machinery Safety device etc Ɣ Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Ɣ 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...

Page 10: ... the safety factor of the hook in such factors as shear strength Ɣ Do not get on the load that is hung on a crane Ɣ Do not leave a load hung up with a crane Ɣ Do not stand under the load that is hung up with a crane 3 Storage and Preservation Ɣ The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation Ɣ...

Page 11: ...ooseness Failure to do so may cause a fire electric shock or malfunction of the product Ɣ 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 Ɣ The grounding operation should be performed to prevent an electric shock or ele...

Page 12: ... to secure safety Ɣ 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 Ɣ 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 Ɣ When the work is carried out with 2 or more persons mak...

Page 13: ...minal block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction 7 Automatic Operation Ɣ Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Ɣ Before starting automatic operation make sure that all peripheral equipment is in an automatic operation r...

Page 14: ...lt in a damage to the product Ɣ 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 Ɣ 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 Ɣ Pay attention not to lose the cover or un...

Page 15: ...he product is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning Caution This indicates a potentially hazardous situation which if the product is not handled correctly may result in minor injury or property damage Caution Notice Thi...

Page 16: ...overy action can be taken in case the controller is broken and needs to be replaced with another one How to Save Data 1 Save the data to CD R or hard disk using the PC software 2 Hard copy the information of position tables and parameters on paper 4 Set the operation patterns This product can be applied an various ways according to application requirements It can be controlled via PIO or a fieldbu...

Page 17: ...the operation of the actuator is available even with this signal not being enabled 6 Clock Setting in Calendar Function There may be a case in the first time to supply the power after delivery that Gateway Error Code 4A Real Time Clock Vibration Stop Detected is generated In the case this happens set the current time with a teaching tool If the battery is fully charged the clock data is retained f...

Page 18: ...msec while 10msec timer from 0 to 10msec for some PLC Therefore the same process as when the timer is not set is held and may cause a failure such as the actuator cannot get positioned to the indicated position number in Positioner Mode Set 2 as the minimum value for the setting of 10msec timer and when setting to 100msec use 10msec timer and set to 10 This controller scan time 1msec PLC e g scan ...

Page 19: ...ional Standards Compliances MSEP with the following overseas standard Refer to Overseas Standard Compliance Manual ME0287 for more detailed information RoHS Directive CE Marking UL To be scheduled To be scheduled ...

Page 20: ...ive Cutoff Emergency Stop Input Connector 2 Power Line Input Connector 1 FG Terminal Block 3 Model Code Record Card 11 System I O Connector 12 Status LED 13 Fieldbus PIO Connector 8 Fan Unit 16 Slot 1 Actuator Connector Upper side 3rd axis Axis No 2 AX2 Lower side 4th axis Axis No 3 AX3 15 Slot 2 Actuator Connector Upper side 5th axis Axis No 4 AX4 Lower side 6th axis Axis No 5 AX5 14 Slot 3 Actua...

Page 21: ...intenance work have a brake release switch for each axis connected to this connector to make a compulsory brake release available and the actuator can be moved manually while the servo is OFF 6 Absolute Battery Connector This connector is mounted on the absolute type An external absolute battery box for eight axes can be connected with one cable This is not mounted on the incremental type 7 Status...

Page 22: ...owing modes by the mode selection on each switch and teaching tool Condition MSEP status Switch on Front Panel Teaching Tool Note 1 Operation Mode Switchover Input Note 2 AUTO Prohibit PIO Startup OFF Input 0V AUTO Accept PIO Startup OFF Input 0V AUTO Accept PIO Startup ON Release MANU Accept PIO Startup ON Release AUTO MANU Accept PIO Startup OFF Input 0V AUTO Prohibit PIO Startup ON Release MANU...

Page 23: ... each board is available for the connection of different actuators 2 Do not attempt to insert the driver board to a slot other than the one that the board was originally inserted to The parameter dedicated for the indicated actuator is already written to the driver board at the purchase order Inserting the driver board to another slot may lead to a wrong wiring 3 On the slot without a driver board...

Page 24: ...0 defines the home position and items in are for the home reversed type option 1 Rod Type 2 Slider Type 3 Table Type 4 Arm Type Caution There are some actuators that are not applicable to the origin reversed type Check further on the catalog or the Instruction Manual of the actuator 0 0 0 0 0 0 0 0 ...

Page 25: ...hment is not included in the actuator package Please prepare separately 6 Rotary Type 330q Rotation Type 360q Rotation Type For 360q Rotation Type with the origin reversed type the directions of and are the other way around 0 330 㧙 Finger Attachment Note ...

Page 26: ...he operation mode setting switch to AUTO side 2 Output the operation command from PLC to the controller and check the system operation Check Item Any vibration or abnormal noise No ĺ ĻYes Check of Packed Items Have all the items been delivered Installation and Wiring Refer to Chapter 1 Section 2 1 and 2 3 Perform the installation of and wiring for the actuator and controller Point Check Item Is fr...

Page 27: ...Connector For CC Link Type MSTB2 5 5 ST 5 08 ABGY AU Supplier PHOENIX CONTACT 8 DeviceNet Connector For DeviceNet Type MSTB2 5 5 ST 5 08 ABGY AU Supplier PHOENIX CONTACT 9 Absolute Battery Box Option MSEP ABU Battery AB 7 For Simple Absolute Type 10 First Step Guide 11 Instruction Manual DVD 12 Safety Guide 1 1 2 Teaching Tool A teaching tool such as PC software is necessary when performing the se...

Page 28: ...nual ME0188 1 1 4 How to read the model plate Model ĺ MODEL MSEP C 5 20PI N 42PI PI 10I 20ILA DV 2 0 ABB Sereial No ĺ SERIAL No 200307221 Manufactured date ĺ PRODUCT DATE 2012 02 01 Manual No ĺ MANUAL No MJ0299 CP INPUT DC24V 2 0A Input power supply ĺ MP INPUT DC24V 7 6A AXIS No OUTPUT 0 0 24Vac 3ph 0 333Hz 1 0A 1 2 0 24Vac 3ph 0 333Hz 2 0A 3 0 24Vac 3ph 0 333Hz 2 0A 4 0 24Vac 3ph 0 333Hz 1 3A 5 0...

Page 29: ...10W servo motor 20 Applicable for 20W servo motor 20S Applicable for 20W servo motor 30 Applicable for 30W servo motor A Ineffective axis equipped with pulse motor driver P Ineffective axis equipped with servo motor driver N Not connected not equipped with motor driver Encoder Type I Incremental Option if servo motor is selected HA High Acceleration Deceleration Type LA Low Power Consumption Type ...

Page 30: ... PNP Number of max input 4 points per axis Number of max output 4 points per axis Cable length MAX 10m External Interface Fieldbus Type DeviceNet Note CC Link PROFIBUS DP CompoNet MECHATROLINK EtherNet IP and EtherCAT Refer to Section 1 4 Specifications for each Fieldbus An operation by RC Gateway Function is available Refer to the other instruction manual for more details Data Setting and Input P...

Page 31: ... all connected actuators 2 3 Current Consumption at Excitation Phase Detection Add the inrush current for all connected axes 3 4 Add the Control Power Inrush Current Number of slots 5A each 4 5 Add the Motor Power Inrush Current Number of slots 10A each 5 6 Current consumption of brake power supply Number of actuators with brake 0 15A 6 7 Selection of Power Supply Usually the rated current is to b...

Page 32: ...from DeviceNet Note 1 The cable side connector is a standard accessory PHOENIX CONTACT MSTB2 5 5 ST 5 08ABGY AU Note 2 For T branch communication refer to the Instruction Manuals for the master unit and programmable controller PLC 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 MAX four stat...

Page 33: ...he master Communication Cable Length Follows CompoNet specifications Slave Type Word Mixed Slave Available Node Addresses for Setting 0 to 63 Setting conducted on controller parameter Number of occupied channels Refer to 3 4 1 PLC Address Construction by each Operation Mode Communications Cable Note 1 Round Cable JIS C3306 VCTF2 core Flat cable I with no sheathed Flat cable II sheathed Connector C...

Page 34: ...ector RJ45 Connector 1pc Note 1 Prepare separately for the communication cable 1 4 7 Specifications of EtherCAT Interface Item Specification Communication Protocol IEC61158 type 12 Physical Layer 100Base TX IEEE802 3 Baud Rate Automatically follows the master Communication Cable Length Follows EtherCAT specifications Distance between each node 100m max Slave Type I O slave Available Node Addresses...

Page 35: ...r Source 680 5 6K P24 MSEP Input Terminal External Power Source 24V DC 15 P24 N MSEP Internal Power Source External Power Source 24V DC Output Terminal Load PNP 680 5 6K N MSEP Internal Power Source Input Terminal External Power Source 24V DC 15 P24 N MSEP Internal Power Source External Power Source 24V DC Output Terminal Load I O Cable Refer to 2 4 7 Connection of PIO 24V NPN Type 0V 24V PNP Type...

Page 36: ...Chapter 1 Specifications Check 28 1 5 External Dimensions 1 5 1 Controller Main Unit 123 115 95 111 108 7 5 59 from DIN rail center 10 5 φ5 φ5 5 5 4 4 10 5 Front View Rear View Side View ...

Page 37: ...Chapter 1 Specifications Check 29 1 5 2 Absolute Battery Box 111 108 59 from DIN rail center 10 5 φ5 φ5 5 5 4 4 123 115 98 Front View Rear View Side View ...

Page 38: ...r is to be made with the dedicated cable CB MSEP AB005 Note Cable length 0 5m Front View when Cover ON 5th Axis Battery Axis No 4 7th Axis Battery Axis No 6 1st Axis Battery Axis No 0 3rd Axis Battery Axis No 2 6th Axis Battery Axis No 5 8th Axis Battery Axis No 7 2nd Axis Battery Axis No 1 4th Axis Battery Axis No 3 Front View when Cover OFF Connector to connect with MSEP Note Do not apply force ...

Page 39: ... 6 48 25 20 500 20 30 0 3SQ SPMCU 2 K Kaneko Cord Cable Diameter φ4 6 2 8 Rectangular Wire wound Resistor BGR10THA12RJ KOA Condition to Require Regenerative Units Number of Connected Actuator 3 to 8 units of high acceleration deceleration type actuators Number of Regenerative Unit 1 Caution The regenerative resistor consumes regenerative current and converts it to heat Therefore the temperature ma...

Page 40: ...nlight x Location where the product may come in contact with water oil or chemical droplets x 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 x Location subject to electrostatic noise x Location where high electrical or magnetic field is present x Location with the mai...

Page 41: ...ves 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 100 or less Copper wire Connect a ground wire with a diameter of 1 6 mm 2mm 2 AWG14...

Page 42: ...ep it in a room temperature environment as much as possible Approximately 20qC is the recommended temperature 20mm or more 20mm or more 20mm or more 20mm or more 20mm or more 50mm or more Ensure enough space for wiring 50mm or more Air outlet Heat Radiation Air outlet Heat Radiation Air inlet Air inlet For the attachment of the unit use the fixture holes on the four corners or attach on the DIN ra...

Page 43: ...ON PTA insertion and removal of the active line is available Inserting or removing the connector while the power is turned ON causes a controller failure Teaching Pendant Touch Panel Teaching to be purchased separately Host System PLC etc Please prepare separately Power Supply for I O 24V DC Please prepare separately Actuator Emergency Stop Circuit PC software to be purchased separately Absolute B...

Page 44: ...e connector while the power is turned ON causes a controller failure Teaching Pendant Touch Panel Teaching to be purchased separately Host System Master Unit PLC etc Please prepare separately Communication power supply if necessary 24V DC Please prepare separately Actuator Emergency Stop Circuit Control Drive Power Supply 24V DC Please prepare separately PC software to be purchased separately Abso...

Page 45: ...capable for the connection to RC Gateway Function Fieldbus type equipped in XSEL controller to make an operation in harmony with XSEL controller XSEL P Q MSEP 24V DC Power Supply When RC controller is connected additionally PCON DV ACON DV Junction Unit for DeviceNet ...

Page 46: ... target position and operational condition can be changed while in move if a target position change signal is input 3 2 Input 3 Point Movement 3 Forward end Backward end Intermediate Movement is made among three points with the combination of two input signals 4 3 Input 3 Point Movement 3 Forward end Backward end Intermediate Movement is made among three points with three input signals PIO Type 5 ...

Page 47: ...RES Note 2 RES A9 Input Axis No 1 IN3 SON SON SON SON SON SON A10 IN0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ASTR A11 IN1 STP ST1 Note 1 STP ST1 Note 1 STP ST1 Note 1 ST1 Note 1 ST1 Note 1 STP A12 IN2 RES SPDC RES Note 2 CN1 RES Note 2 RES ST2 RES Note 2 RES A13 Input Axis No 2 IN3 SON SON SON SON SON SON A14 IN0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ASTR A15 IN1 STP ST1 Note 1 STP ST1 Note 1 STP ST1 Note 1 ST...

Page 48: ...LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 B20 OUT2 HEND SV HEND SV HEND SV HEND SV LS2 PE2 LS2 PE2 B21 Output Axis No 4 OUT3 ALM SV ALM SV ALM SV ALM SV ALM SV ALM SV B22 OUT0 LS0 PE0 LS0 PE0 LS0 PE0 LS0 PE0 LS0 PE0 LS0 PE0 B23 OUT1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 B24 OUT2 HEND SV HEND SV HEND SV HEND SV LS2 PE2 LS2 PE2 B25 Output Axis No 5 OUT3 ALM SV ALM SV ALM SV ALM SV AL...

Page 49: ...tion condition When this signal is turned ON or OFF during the operation the position data is changed Note This signal is available only in the operation pattern 2 3 8 2 11 Input ASTR Continuous Reciprocating Operation A back and forth movement is performed repeatedly between the forward end and the backward end while this signal is ON When this signal is turned OFF during the movement operation a...

Page 50: ...h using a 24V DC having it turned ON OFF keep the 0V connected and have the 24V supplied cut cut one side only Note 6 By cutting out the connection between EMG SLOT and EMGINSLOT only the disconnected slot number can be made in the condition of an emergency stop Slot Number EMGINSLOT0 EMGINSLOT1 EMGINSLOT2 EMGINSLOT3 Emergency Stop Reset Switch Emergency Stop Switch CR1 SIO Connector CR1 24V 0V Em...

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

Page 52: ...al of each actuator for the details connection layout diagram of each cable 1 Connection to RCP2 Series 2 Connection to RCP3 RCP4 RCA2 and RCL Series 3 Connection to RCP2 Small Rotary Series MSEP AX0 to 7 Actuator Connector Connection Cable Note 1 MSEP AX0 to 7 Actuator Connector Connection Cable Note 1 MSEP AX0 to 7 Actuator Connector Connection Cable Note 1 AX0 1st axis AX1 2nd axis AX2 3rd axis...

Page 53: ...te Battery Unit for Simple Absolute Type Only Note Do not apply force not being perpendicular to the connector when insert or detach the cable 3 Layout for Mode Switchover AUTO MANU Circuit When a switchover of the operation modes AUTO MANU is required with an external input connect a device such as a switch between AUTO MANU terminal and AUTO MANU terminal If not switching externally apply a jump...

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

Page 55: ... Positioning Completion Home Return Completion Servo ON Alarm Output Servo ON Backward End Position Detection Backward End Point Positioning Completion Forward End Position Detection Forward End Point Positioning Completion Home Return Completion Servo ON Alarm Output Servo ON Backward End Position Detection Backward End Point Positioning Completion Forward End Position Detection Forward End Point...

Page 56: ...rward End Position Detection Forward End Point Positioning Completion Home Return Completion Servo ON Alarm Output Servo ON Backward End Position Detection Backward End Point Positioning Completion Forward End Position Detection Forward End Point Positioning Completion Home Return Completion Servo ON Alarm Output Servo ON Backward End Position Detection Backward End Point Positioning Completion Fo...

Page 57: ...letion Forward End Position Detection Forward End Point Positioning Completion Home Return Completion Servo ON Alarm Output Servo ON Backward End Position Detection Backward End Point Positioning Completion Forward End Position Detection Forward End Point Positioning Completion Home Return Completion Servo ON Alarm Output Servo ON Backward End Position Detection Backward End Point Positioning Comp...

Page 58: ...ignal Alarm Output Servo ON Backward End Position Detection Backward End Point Positioning Completion Forward End Position Detection Forward End Point Positioning Completion Intermediate Point Detection Intermediate Point Positioning Completion Signal Alarm Output Servo ON Backward End Position Detection Backward End Point Positioning Completion Forward End Position Detection Forward End Point Pos...

Page 59: ... Positioning Completion Intermediate Point Detection Intermediate Point Positioning Completion Signal Alarm Output Servo ON Backward End Position Detection Backward End Point Positioning Completion Forward End Position Detection Forward End Point Positioning Completion Intermediate Point Detection Intermediate Point Positioning Completion Signal Alarm Output Servo ON Backward End Position Detectio...

Page 60: ...ard End Position Detection Backward End Point Positioning Completion Forward End Position Detection Forward End Point Positioning Completion Home Return Completion Servo ON Alarm Output Servo ON Backward End Position Detection Backward End Point Positioning Completion Forward End Position Detection Forward End Point Positioning Completion Home Return Completion Servo ON Alarm Output Servo ON Backw...

Page 61: ...minal V Terminal Resistance 121Ω Master Unit Terminal Resistance 121Ω 24V Power Supply 2 CC Link Type Slave Devices MSEP CC Link Type SLD and FG are internally connected Terminal Resistance is required to be mounted on the terminal The terminal resistor differs depending on the type of the dedicated cable for CC Link Cable FANC SBH 130Ω1 2W High Performance Cable dedicated for CC Link Cable FANC S...

Page 62: ... BS BDL BDH BS BS BDL BDH BS BS BDL BDH BS Master Unit Slave Devices Terminal Resistance 121Ω MSEP CompoNet Type Connect the terminal resistor if the unit is placed at the end of the network 24V Power Supply Supply power separately to the slave devices that requires the communication power supply It is not necessary to supply communication power to MSEP Unit however there is no problem even if com...

Page 63: ...ance JEPMC W6022 Connect the terminal resistor if the unit is placed at the end of the network 130Ω SH DATA DATA NC Connect shield to connector shell Connect shield to connector shell SH DATA DATA NC SH DATA DATA NC Master Unit Slave Devices EtherNet Straight Cable Category 5e or more Double shielded cable braided with aluminum foil recommended Note Terminal resistance is not required MSEP Unit Et...

Page 64: ...e Power Line Input Connector Cable Side FKC2 5HC 4 ST 5 08 Enclosed in standard package Manufactured by PHOENIX CONTACT Controller Side MSTBA2 5HC 4 G 5 08 Pin No Signal Name Description Applicable cable diameter 1 0V 1 2 3 4 2 CP 24V Power Input for Control 24V DC 10 KIV0 3mm2 AWG22 3 0V Front view of connector on controller side 4 MP 24V Power Input for Motor Drive 24V DC 10 KIV2 5 to 0 5mm2 AWG...

Page 65: ... the cable to the terminal Connector Name System I O Connector Cable Side FMCD1 5 4 ST 3 5 Enclosed in standard package Manufactured by PHOENIX CONTACT 1 2 3 4 6 7 8 5 Controller Side MCDN1 5 4 G1 3 5P26THR Pin No Signal Name Description Applicable cable diameter 1 EMG 24V 24V power output for emergency stop 2 S2 For external emergency stop signal input 3 S1 For external emergency stop signal outp...

Page 66: ...t slot 0 Axis No 0 and 1 4 MPISLOT0 For motor power input slot 0 Axis No 0 and 1 KIV1 25 to 0 5mm2 AWG16 to 20 Select the cable thickness allowable for the current figured out in the power capacity 1 2 3 4 5 7 8 6 9 10 11 12 13 14 15 16 Front view of connector on controller side 5 EMG 24VSLOT1 For emergency stop power output slot 1 Axis No 2 and 3 6 EMGINSLOT1 For emergency stop power input slot 1...

Page 67: ...r Driving A phase 6 I B Motor Driving B phase 7 LS Limit Switch Positive Side 8 LS Limit Switch Negative Side 9 BK Brake Release Positive Side 10 BK Brake Release Negative Side 11 NC Not for use 12 NC Not for use 13 A Encoder A phase differential input 14 A Encoder A phase differential input 15 B Encoder B phase differential input 16 B Encoder B phase differential input 17 5V Encoder Power Supply ...

Page 68: ... 0V A7 BATTMP AXIS No 4 Axis No 4 Absolute Battery Temperature Sensor A8 BATTMP AXIS No 5 Axis No 5 Absolute Battery Temperature Sensor A9 BATTMP AXIS No 6 Axis No 6 Absolute Battery Temperature Sensor A10 BATTMP AXIS No 7 Axis No 7 Absolute Battery Temperature Sensor B10 GND 0V B9 BAT AXIS No 0 Axis No 0 Absolute Battery B8 BAT AXIS No 1 Axis No 1 Absolute Battery B7 BAT AXIS No 2 Axis No 2 Absol...

Page 69: ... by PHOENIX CONTACT Controller Side MCDN1 5 5 G1 3 5P26THR Pin No Signal Name Description Applicable cable diameter 1 BKRLS AXIS No 3 Axis No 3 Brake Release Input 2 BKRLS AXIS No 2 Axis No 2 Brake Release Input 3 BKRLS AXIS No 1 Axis No 1 Brake Release Input 4 BKRLS AXIS No 0 Axis No 0 Brake Release Input 5 GND 0V 6 BKRLS AXIS No 7 Axis No 7 Brake Release Input 7 BKRLS AXIS No 6 Axis No 6 Brake R...

Page 70: ...PC Software MSEP 㩷 Connector Name SIO Connector Cable Side miniDIN 8 pin Controller Side TCS7587 0121077 Pin No Signal Name Description Applicable cable diameter 1 SGA Teaching Tool Signal 2 SGB Teaching Tool Signal 3 5V Power supply for teaching tool 4 ENB Enable signal input 5 EMGA Emergency Stop Signal A 6 24V Power supply for teaching tool 7 0V 0V 8 EMGB Emergency Stop Signal B Shell 0V 0V Cab...

Page 71: ...34A BR 1 1A 34A 34B 1A 1B Half Pitch MIL Socket HIF6 68D 1 27R Hirose Electric A B L No treatment conducted No treatment conducted No Cable Color Wiring No Cable Color Wiring 1A BR 1 1B BR 5 2A RD 1 2B RD 5 3A OR 1 3B OR 5 4A YW 1 4B YW 5 5A GN 1 5B GN 5 6A BL 1 6B BL 5 7A PL 1 7B PL 5 8A GY 1 8B GY 5 9A WT 1 9B WT 5 10A BK 1 10B BK 5 11A BR 2 11B BR 6 12A RD 2 12B RD 6 13A OR 2 13B OR 6 14A YW 2 ...

Page 72: ...ENIX CONTACT Controller Side MSTBA2 5 5 G 5 08 ABGY AU Pin No Signal Name Color Description Applicable cable diameter 1 2 3 4 5 1 V BK Power Supply Cable Negative Side Front view of connector on controller side 2 CAN L BL Communication Data Low Side 3 Shield None Shield 4 CAN H WT Communication Data High Side 5 V RD Power Supply Cable Positive Side Dedicated cable for DeviceNet Note Connect a term...

Page 73: ...diameter 1 DA BL Communication Line A 1 2 3 4 5 2 DB WT Communication Line B 3 DG YW Digital GND 4 SLD Connect the shield of the shielded cable Connect the FG of the 5 pins and controller FG internally Front view of connector on controller side 5 FG Frame Ground Connect the SLD of the 4 pins and controller FG internally Dedicated cable for CC Link Note Connect a terminal resistor between DA and DB...

Page 74: ...n No Signal Name Description Applicable cable diameter 1 NC Disconnected 2 NC Disconnected 1 6 9 5 3 B Line Communication Line B RS485 4 RTS Request for Sending 5 GND Signal GND Insulation Front view of connector on controller side 6 5V 5V Output Insulation 7 NC Disconnected 8 A Line Communication Line A RS485 9 NC Disconnected PROFIBUS DP Dedicated Cable Note Connect a terminal resistor 220 betwe...

Page 75: ... supply to other slave devices via communication cables there is no problem with connecting the power supply to BS and BS terminals Note 2 Connect a terminal resistor 121 between BDH and BDL if the unit comes to the end of the network Refer to 2 3 8 Wiring Layout for Fieldbus 5 EtherNet IP Type Connector Name EtherNet IP Connector Cable Side 8P8C Modular Plug Controller Side 8P8C Modular Jack Pin ...

Page 76: ...ote Connect a terminal resistor unit JEPMC W6022 between DATA and DATA if the unit comes to the end of the network Refer to 2 3 8 Wiring Layout for Fieldbus 7 EtherCAT Type Connector Name EtherCAT Connector Cable Side 8P8C Modular Plug Controller Side 8P8C Modular Jack Pin No Signal Name Description Applicable cable diameter 1 TD Data sending 2 TD Data sending 3 RD Data receiving 4 Disconnected 5 ...

Page 77: ...ntroller PLC Teaching Tool Complete Signal Signal Signal Move Signal Enter a data including position speed acceleration or deceleration etc No G 0 1 100 00 0 30 0 30 2 200 00 0 30 0 30 100 00 200 00 Acceleration Deceleration Speed mm mm s G Position 1 Conduct the settings for the target position such as forward end or backward end speed and acceleration deceleration data that are necessary to be f...

Page 78: ...inder PLC P Air Movement Signal ST0 Forward Position Movement Signal ST1 Backward Position Detection LS0 Forward Position Detection LS1 PIO Pattern 1 Single Solenoid System Point to Point Movement Movement Speed Setting 24V PLC Movement Signal ST0 Movement Speed Change Signal SPDC Backward Position Detection LS0 Forward Position Detection LS1 Dedicated Cable Electric Cylinder MSEP Spring R2 R1 B A...

Page 79: ...tion is available Speed and acceleration settings in the actuator movement are available Pressing operation is available at the points except for the intermediate point 24V PLC Movement Signal 1 ST0 Movement Signal 2 ST1 Backward Position Detection LS0 Forward Position Detection LS1 Intermediate Position Detection LS2 Dedicated Cable Electric Cylinder MSEP Air Cylinder PLC P Air P Air P Air Moveme...

Page 80: ...3 1 Basic Operation 72 2 Fieldbus Type Slave Slave Transfer data with Fieldbus Actuator Controller PLC position speed etc Command target Confirmation of movement complete read status signal ...

Page 81: ...formation such as the target position and speed to be used in the position data 4 Field Network Settings Refer to 3 4 1 and 3 4 2 Assign MSEP as the PLC Master Unit Refer to the instruction manuals of the master unit and PLC 5 Link to Network 1 Set the operation mode setting switch on the front panel of MSEP to AUTO side and reboot the power Field network line becomes valid by setting the switch t...

Page 82: ...Communication with Fieldbus 24V Target Position Positioning Width Speed Acceleration Deceleration Push Control Signal PLC Current Position Current Value Command Value Current Speed Command Value Alarm Code Status Signal Dedicated Cable Electric Cylinder Positioner 2 Mode This is the operation mode of the position data of 256 points at maximum set in the position table The monitoring of the current...

Page 83: ...eration range for definition of the stroke end prevention of interferences with peripherals and safety Zone Output Set to require signal outputs in an arbitrary position zone within the operation zone Parameters should be set to meet the use of the controller prior to operation Once set they may not set every operation Check the Chapter 5 for the parameter types and the details ...

Page 84: ...instruction to conduct the setting properly Preparation Install RC PC Software and Gateway Parameter Setting Tool For Gateway Parameter Setting Tool install the file stored in the CD ROM for PC software or download from our website intelligentactuator com Refer to the instruction manual of the PC software for the details of the PC software Make sure the power system I O connector wires and operati...

Page 85: ...ck on OK button Statement in a bracket is the setting at the delivery Operation Pattern Available for Setting No Setting Item Setting Range Set in delivery Description 0 1 2 3 4 5 1 Solenoid System Single Double Double Single Actuator is operated with a control same as Single Solenoid Double Actuator is operated with a control same as Double Solenoid System 2 Stop Signal Use Not to Use Not to Use ...

Page 86: ...eration AUTO MANU MANU If AUTO is selected the home return operation is started automatically when the servo is turned for the first time after the power is supplied MANU is selected the home return operation is performed with the first movement signal ST0 input 7 Output Signal Type Limit Switch Output Completed Position Output Limit Switch Select the output system for the positioning complete sig...

Page 87: ...nation of the used output signals considering the operation pattern Select 0 if Not to Use is selected For Operation Patterns 0 to 2 and 5 select from the combinations 0 to 2 below 0 OUT2 HEND OUT3 ALM No servo on signal output 1 OUT2 SV OUT3 ALM 2 OUT2 HEND OUT3 SV For Operation Patterns 3 and 4 select from the combinations 0 and 1 below 0 OUT3 ALM No servo on signal output 1 OUT3 SV Refer to Sec...

Page 88: ... are connected repeat the Steps 2 to 6 Once the setting on all the connected axes is finished close RC PC Software We now move on the Gateway operation mode setting Step 8 Start up Gateway Parameter Setting Tool The following window appears Select MSEP GW and click OK Step 9 The connected MSEP unit number becomes available to select Select the unit number to be connected and click on the OK button...

Page 89: ...w is displayed Step 11 Reading is started from MSEP to PC Click on the Read button and a confirmation window appears Click on the Yes button Once the parameter reading is completed in normal condition the reading complete window opens Click OK ...

Page 90: ...following slave set the value the number of occupied station is added to the current station number Step 13 Set the number of axes two axes in unit used in each operation mode If the system is used in Positioner Modes 1 to 3 Simple Direct Mode or Positioning Mode input the total number of the axes in 1 in the figure below Input the total number of axes in 2 if using in SEP I O Mode Note that 1 and...

Page 91: ... up for 2 axes together If clicking a cell showing the mark turns to means it is a reserved axis which is to be set when not using even though the actuator is connected If clicking on a cell with mark for the reserved axes shown on the two axes the cell turns back to blank Note Even if the total number of the used axes is an odd number make the last axis in reservation to get an even number Step 1...

Page 92: ... reboot Step 19 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 1 Reference The settings are conducted in the special parameters for the process of communication error...

Page 93: ...ssing Force 5 Pressing Width mm 6 Acceleration G 7 Deceleration G 8 Energy Saving Setting Backward End Position 0 00 50 00 0 0 0 1 0 1 0 Forward End Position 200 00 50 00 70 1 00 0 1 0 1 1 Intermediate Point Position 100 00 50 00 0 0 0 1 0 1 0 Example for Position Table Setting when Operation Pattern 6 and except for SEP I O Mode 1 Position Name 2 Position mm 3 Speed mm s 4 Pressing Force 5 Pressi...

Page 94: ...alue other than 0 here and the pressing operation is available Set a pressing torque limit current value in The setting range differs depending on the actuator Refer to the instruction manual of each actuator or the section for pressing force and current limit in the appendix for the details If the value is set to 0 the normal positioning operation is performed The speed for the pressing operation...

Page 95: ...te signal output Speed Backward End Pressing Start Position Forward End Intermediate Time Pressing Width Pressing towards Backward End or Intermediate Position Pulling Action Speed Backward End Intermediate Pressing Start Position Forward End Time Pressing Width Pressing Complete Position complete signal output Backward ...

Page 96: ...e shortened extremely fast 3 For the gripper type have the setting done for the speed and acceleration deceleration in the basis of one finger Therefore note that the relative speed and acceleration deceleration speed become twice as it is set for the two fingers 8 Energy Saving Setting Set this to 1 effective and the servo is turned OFF automatically in a certain time after the positioning is com...

Page 97: ...n 2 and Backward End Position 2 after the target position change can be additionally set Example for Position Table Setting 1 Position Name 2 Position mm 3 Speed mm s 4 Pressing Force 5 Pressing Width mm 6 Acceleration G 7 Deceleration G 8 Energy Saving Setting Backward End Position 1 0 00 50 00 0 0 00 0 10 0 10 1 Forward End Position 1 200 00 50 00 70 30 00 0 10 0 10 0 11 Backward End Position 2 ...

Page 98: ... No 0 n 11 Control Signal Axis No 0 Control Signal Axis No 0 Positioning Width Axis No 0 Assignment Domain for Axis No 1 n 12 Speed Axis No 0 n 13 Occupied Domain Note 3 Acceleration Deceleration Axis No 0 n 14 Pressing Current Limit Axis No 0 n 15 Assignment Domain for Axis No 1 Assignment Domain for Axis No 1 Control Signal Axis No 0 Assignment Domain for Axis No 2 to 7 n 16 to n 23 Assignment D...

Page 99: ...rrent Axis No 0 Assignment Domain for Axis No 1 n 12 Current Speed Axis No 0 n 13 Occupied Domain Axis No 0 n 14 Alarm Code Axis No 0 n 15 Assignment Domain for Axis No 1 Status Signal Axis No 0 Assignment Domain for Axis No 2 to 7 n 16 to n 23 Assignment Domain for Axis No 1 Connected Axes Response Area n 24 to n 71 Assignment Domain for Axis No 2 and later Assignment Domain for Axis No 2 and lat...

Page 100: ...ing displayed on Gateway Parameter Setting Tool to the host Refer to 3 2 Initial Setting Connection cannot be established with other ways Caution If SEP I O Mode is selected all the axes connected to MSEP are involved in SEP I O Mode This controller is able to control 2 axes with one driver board 1 slot however different operation mode cannot be selected in the same driver board Example Set the 1s...

Page 101: ...Control Information n 8 to n 11 Axis No 0 Status Information n 12 to n 15 Axis No 1 Control Information n 12 to n 15 Axis No 1 Status Information n 16 to n 19 Axis No 2 Control Information n 16 to n 19 Axis No 2 Status Information n 20 to n 23 Axis No 3 Control Information n 20 to n 23 Axis No 3 Status Information n 24 to n 27 Axis No 4 Control Information n 24 to n 27 Axis No 4 Status Information...

Page 102: ...o 7 Control Information n 44 to n 47 Axis No 7 Status Information Combination Example 3 When number of Simple Direct Mode axes is 2 and number of Direct Indication Mode 6 n is the top channel number for each PLC input and output between MSEP and PLC PLC ĺ MSEP MSEP ĺ PLC CH No Description CH No Description n to n 1 Gateway Control n to n 1 Gateway Status n 2 to n 7 Demand Command n 2 to n 7 Respon...

Page 103: ...mation n 60 to n 63 Axis No 6 Status Information n 64 to n 67 n 64 to n 67 n 68 to n 71 Axis No 7 Control Information n 68 to n 71 Axis No 7 Status Information 2 CC Link Combination Example 1 When number of Simple Direct Mode axes is 8 and number of Direct Indication Mode 0 Extended Cyclic Setting Number of Occupied Stations 4 times 2 stations PLC ĺ MSEP MSEP ĺ PLC Address Description Address Desc...

Page 104: ...0B Axis No 2 Control Information RWr 08 to 0B Axis No 2 Status Information RWw 0C to 0F Axis No 3 Control Information RWr 0C to 0F Axis No 3 Status Information RWw 10 to 13 Axis No 4 Control Information RWr 10 to 13 Axis No 4 Status Information RWw 14 to 17 Axis No 5 Control Information RWr 14 to 17 Axis No 5 Status Information RWw 18 to 1B RWr 18 to 1B RWw 1C to 1F Axis No 6 Control Information R...

Page 105: ... to 37 Axis No 7 Status Information RWw 38 to 3B Cannot be used RWr 38 to 3B Cannot be used RWw 3C to 3F Cannot be used RWr 3C to 3F Cannot be used Combination Example 4 When number of Simple Direct Mode axes is 0 and number of Direct Indication Mode 8 Extended Cyclic Setting Number of Occupied Stations 8 times 2 stations PLC ĺ MSEP MSEP ĺ PLC Address Description Address Description RY 000 to 01F ...

Page 106: ...tion n 64 to n 71 Axis No 6 Status Information n 72 to n 79 Axis No 7 Control Information n 72 to n 79 Axis No 7 Status Information Combination Example 2 When number of Simple Direct Mode axes is 6 and number of Direct Indication Mode 2 n is the top node address for each PLC input and output between MSEP and PLC PLC ĺ MSEP MSEP ĺ PLC Node Address Byte Address Description Node Address Byte Address ...

Page 107: ... 120 to n 127 Axis No 7 Control Information n 120 to n 127 Axis No 7 Status Information Combination Example 4 When number of Simple Direct Mode axes is 0 and number of Direct Indication Mode 8 n is the top node address for each PLC input and output between MSEP and PLC PLC ĺ MSEP MSEP ĺ PLC Node Address Byte Address Description Node Address Byte Address Description n to n 3 Gateway Control n to n ...

Page 108: ...formation n 20 to n 21 Axis No 6 Control Information n 20 to n 21 Axis No 6 Status Information n 22 to n 23 Axis No 7 Control Information n 22 to n 23 Axis No 7 Status Information 2 CC Link Extended Cyclic Setting Number of Occupied Stations 1 times 4 stations PLC ĺ MSEP MSEP ĺ PLC Address Description Address Description RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status RY 20 to 6F Demand Com...

Page 109: ...n 43 Axis No 6 Control Information n 40 to n 43 Axis No 6 Status Information n 44 to n 47 Axis No 7 Control Information n 44 to n 47 Axis No 7 Status Information 3 Address Map for Positioner 3 Mode Shown below is the address map for each Fieldbus when eight axes of MSEP are operated in Positioner 3 Mode 1 DeviceNet CompoNet n is the top channel number for each PLC input and output between MSEP and...

Page 110: ...ontrol Information RW 07 Axis No 7 Status Information RWw 08 to 0F Cannot be used RWr 08 to 0F Cannot be used 3 PROFIBUS DPP EtherNet IP MECHATROLINK EtherCAT n is the top node address for each PLC input and output between MSEP and PLC PLC ĺ MSEP MSEP ĺ PLC Node Address Byte Address Description Node Address Byte Address Description n to n 3 Gateway Control n to n 3 Gateway Status n 4 to n 15 Deman...

Page 111: ...PLC ĺ MSEP MSEP ĺ PLC Address Description Address Description RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status RY 20 to 6F Demand Command RX 20 to 6F Response Command RY 70 to 7F Cannot be used RX 70 to 7F Cannot be used RWw 00 Axis No 0 to 7 Control Information RWr 00 Axis No 0 to 7 Status Information RWw 01 to 0F Cannot be used RWr 01 to 0F Cannot be used 3 PROFIBUS DP EtherNet IP MECHATRO...

Page 112: ...b0 Control signal 0 MON RTE 䎃䎃䎃䎃 Address n 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control signal 1 䎃 PLC Input 䎃 Address n b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control signal 0 RUN LERC ERRT MOD ALMH ALML SEMG ALMC 128 ALMC64 ALMC32 ALMC16 ALMC8 ALMC4 ALMC2 ALMC1 䎃䎃䎃 Address n 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control signal 1 MNT7 MNT6 ...

Page 113: ...available while it is ON b14 Cannot be used b13 RTE Retained condition of ERR T or ERR C during an operation is cancelled if it is ON It is the cancel signal when ERR T or ERR C occurrence is set to latch in Gateway Parameter Setting Tool b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 Control signal 0 b0 Cannot be used b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 PLC Output Control signal 1 b0 Canno...

Page 114: ...g in the parameters can be considered Check the parameters settings b10 ALML This signal turns ON when a light error caused by the Gateway is occurred It is considered that there shall be a loss of the calendar data Check the parameters settings b9 Cannot be used b8 SEMG This signal turns ON when EMGIN input of the system I O connector is OFF emergency stop When this bit is turned ON all the conne...

Page 115: ...Home return operation Positioning operation ٌ Positioner 1 Mode These items must be set in the position data table Simple Direct Mode 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 feed incremental ٌ These items must be set in the parameters Pressing operation ٌ...

Page 116: ... data is available and values from 0 to 255 can be used Caution Set the operational condition in advance with using a teaching tool such as PC software in the position number to be used Selecting a position number with no setting conducted will generate the alarm code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number 䎃 Address m b15 b14 b13 b12 b11 b10 b9 b8 ...

Page 117: ...0 b9 b8 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 䎃 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 䎃 Address m 3 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status Signal EMGS CRDY ZONE1 ZONE2 MEND ALML PSFL SV ALM M...

Page 118: ...put with a binary number Indicating a value out of the range or operating with a position number with no setting conducted will generate the alarm code 0A2 䙼Position Data Error䙽 3 8 1 21 b15 BKRL Brake release ON Brake release OFF Brake activated 3 8 1 15 b14 b13 b12 b11 b10 b9 Cannot be used b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop...

Page 119: ...by 3 8 1 1 b13 ZONE2 ON for the current position within the zone 2 set range The zone range setting is necessary for the parameter b12 ZONE1 ON for the current position within the zone 1 set range The zone range setting is necessary for the parameter 3 8 1 11 b11 b10 b9 Cannot be used b8 MEND This signal turns ON at either of positioning complete home return complete pressing complete or pressing ...

Page 120: ...䎃 Speed and acceleration deceleration setting 䎃 Pitch feed inching 䎃 Pressing operation 䎃 Selection can be made from the pressing method same as CON type such as PCON and that same as SEP type such as PSEP Speed change during movement 䎃 Operation at different acceleration and deceleration u䎃 Pause 䎃 Zone signal output 䦲䎃 Parameters must be set PIO pattern selection u䎃䎃 1 PLC Address Composition m...

Page 121: ...100 0 to FFH can be set in PLC Caution Have the setting with values available in the range of for speed acceleration deceleration and pressing current of the actuator Refer to the catalog or instruction manual of the actuator Otherwise it may cause an abnormal condition of the servo or a malfunction of the actuator such as the alarm codes 0A3 Position Command Information Data Error 0C0 Excess Actu...

Page 122: ...2 048 1 024 512 256 128 64 32 16 8 4 2 1 䎃 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 䎃 Address m 4 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Speed 32 768 16 384 8 192 4 096 2 048 1 024 512 256 128 64 32 16 8 4 2 1 䎃 Address m 5 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Acceleration Decelerat...

Page 123: ...68 16 384 8 192 4 096 2 048 1 024 512 256 128 64 32 16 8 4 2 1 䎃 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 䎃 Address m 4 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current Speed Note If the current speed is a negative value it is indicated by a two s complement 䎃 Address m 5 b15 b14 b13 b12 b11 b10 b9 b8 b...

Page 124: ... 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 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 8 1 22 Acceleration Deceleration 16 bits Data 1...

Page 125: ...tioning operation 3 8 1 16 b11 b10 b9 Cannot be used b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 8 1 12 b6 Cannot be used b5 JISL Jog inching switching ON Inching OFF Jog 3 8 1 14 b4 SON Servo ON command ON Servo ON OFF Servo OFF 3 8 1 5 b3 RES Reset A reset is performed when this signal turns ON 3 8 1 4 b2 STP Pause ON Pause OFF Pau...

Page 126: ...ncy stop 3 8 1 2 b14 CRDY This signal turns ON when the controller is standing by 3 8 1 1 b13 ZONE2 ON for the current position within the zone 2 set range The zone range setting is necessary for the parameter b12 ZONE1 ON for the current position within the zone 1 set range The zone range setting is necessary for the parameter 3 8 1 11 b11 b10 b9 Cannot be used b8 MEND This signal turns ON at eit...

Page 127: ...scribed in the following table ROBO cylinder function䎃 Direct control ٌ Indirect control u Disabled䎃 Remarks䎃 Home return operation Positioning operation Speed and acceleration deceleration setting ٌ Pitch feed inching u Pressing operation ٌ Speed change during movement ٌ Operation at different acceleration and deceleration ٌ These items must be set in the position data table Pause Zone signal out...

Page 128: ...tting conducted will generate the alarm code 0A2 Position Data Error 䎃 PLC Output m is PLC output top word address for each axis number 䎃 Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Specified Position No PC128 PC64 PC32 PC16 PC8 PC4 PC2 PC1 䎃 Address m 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control Signal BKRL JOG JOG JISL SON RES STP HOME CSTR 䎃 PLC Input m is...

Page 129: ...ion Data Error 3 8 1 23 b15 BKRL Brake release ON Brake release OFF Brake activated 3 8 1 15 b14 b13 b12 b11 b10 b9 Cannot be used b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 8 1 12 b6 Cannot be used b5 JISL Jog inching switching ON Inching OFF Jog 3 8 1 14 b4 SON Servo ON command ON Servo ON OFF Servo OFF 3 8 1 5 b3 RES Reset A rese...

Page 130: ...rameter b12 ZONE1 ON for the current position within the zone 1 set range The zone range setting is necessary for the parameter 3 8 1 11 b11 b10 b9 Cannot be used b8 MEND This signal turns ON at either of positioning complete home return complete pressing complete or pressing failure and turns OFF at movement start It is OFF before movement 3 8 1 19 b7 ALML Light error alarm output It turns ON whe...

Page 131: ...le ROBO cylinder function䎃 Direct control ٌ Indirect control u Disabled䎃 Remarks䎃 Home return operation Positioning operation Speed and acceleration deceleration setting ٌ Pitch feed inching u Pressing operation ٌ Speed change during movement ٌ Operation at different acceleration and deceleration ٌ These items must be set in the position data table Pause Zone signal output ٌ Zones are set using pa...

Page 132: ...electing a position number with no setting conducted will generate the alarm code 0A2 Position Data Error 䎃 PLC Output m is PLC output top word address for each axis number 䎃 Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control Signal Specified Position No BKRL SON RES STP HOME CSTR PC128 PC64 PC32 PC16 PC8 PC4 PC2 PC1 䎃䎃 PLC Input m is PLC input top word address for each axis ...

Page 133: ...ange or operating with a position number with no setting conducted will generate the alarm code 0A2 Position Data Error 3 8 1 23 b15 EMGS This signal turns ON during an emergency stop 3 8 1 2 b14 ZONE1 ON for the current position within the zone 1 set range The zone range setting is necessary for the parameter 3 8 1 11 b13 PSFL This signal turns ON when the actuator missed the load in push motion ...

Page 134: ...o signals 4 3 Input 3 Point Movement 3 positioning points no pause available Specify the movement position with a combination of three signals 5 Automatic Back and Forth Operation 2 positioning points pause available Movement is made repeatedly between 2 points 6 Cannot be used The ROBO Cylinder functions capable to control in this mode are as described in the table below Operation Pattern PIO Pat...

Page 135: ...ls vary depending on the selection of PIO pattern Refer to 3 5 Control Signals for PIO Operation for the relation between pin numbers and signals PLC Output m is PLC input and output top word address for each axis number 䎃 Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Controller Input Port Pin No A17 A16 A15 A14 A13 A12 A11 A10 A9 A8 A7 A6 A5 A4 A3 A2 䎃 Address m 1 b15 b14 b13 b1...

Page 136: ...P ĺ PLC PLC Input Demand Command n 2 Response Command n 2 Data 0 n 3 Data 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 䎃 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 sp...

Page 137: ... conducted on Gateway Parameter Setting Tool Ɣ The Acceleration and Deceleration are expressed using 1 word 16 bits binary data The figures from 1 to 300 Unit 0 01G can be set in PLC Ɣ The pressing current limit value is expressed using 1 word 16 bits binary data The figures from 0 0 to 255 100 can be set in PLC Ɣ Binary data of 1 word 16 bits for the axis numbers and values from 0 No 0 to 7 No in...

Page 138: ...0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 䎃 2 Writing of Target Position PLC Output Address n is the input and output top address for MSEP 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 䎃䎃 Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1...

Page 139: ...ressing Width Upper word Writing of Pressing Width n 6 Data 3 Axis No 4 2 1 䎃 4 Writing of Speed PLC Output Address n is the input and output top address for MSEP 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 䎃 Bit Address b15 b14 b13 b12 ...

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

Page 141: ...the response command If an error is generated an error response is returned Refer to this Section 16 䎃 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 Li...

Page 142: ...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 Target Position n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MSEP 䎃 Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1040h 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 n 3 Data 0 Position No 128 64 32 16 8 4 2 1 n 4 Data 1 Target Position Lower word n...

Page 143: ... 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 Pressing Width n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MSEP 䎃 Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1041h 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 n 3 Data 0 Position No 128 64 32 16 8 4 2 1 n 4 Data 1 Pressing Width Lower word n ...

Page 144: ... 5 Data 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 MSEP 䎃 Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1042h 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 n 3 Data 0 Position No 128 64 32 16 8 4 2 1 n 4 Data 1 Speed Lower word 32768 16384 8192 4096 2048 1024 512 256 128 64 32 ...

Page 145: ... 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 Acceleration n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MSEP 䎃 Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1045h 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 n 3 Data 0 Position No 128 64 32 16 8 4 2 1 n 4 Data 1 Acceleration 256 128 64 32 16 8 4 2 1 ...

Page 146: ... 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 Deceleration n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MSEP 䎃 Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1046h 0 0 0 1 0 0 0 0 0 1 0 0 0 1 1 0 n 3 Data 0 Position No 128 64 32 16 8 4 2 1 n 4 Data 1 Deceleration 256 128 64 32 16 8 4 2 1 ...

Page 147: ... 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 Current Limit n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for MSEP 䎃 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 32 16 ...

Page 148: ... 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 MSEP 䎃 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 Normal Status of 7 th Axis Stat...

Page 149: ...0 0 0 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 MSEP 䎃 Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 4001h 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 n 3 Data 0 0...

Page 150: ...䎃 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 0104H Communication error 0105H Controller Execution Impossible n 5 Data 2 Undefined Error Response Command n ...

Page 151: ...with a combination of two signals 4 3 Input 3 Point Movement 3 positioning points no pause available Specify the movement position with a combination of three signals 5 Automatic Back and Forth Operation 2 positioning points pause available Movement is made repeatedly between 2 points 6 Cannot be used The ROBO Cylinder functions capable to control in this mode are as described in the table below O...

Page 152: ...ST0 ST0 ASTR A11 IN1 STP ST1 Note 1 STP ST1 Note 1 STP ST1 Note 1 ST1 Note 1 ST1 Note 1 STP A12 IN2 RES SPDC RES Note 2 CN1 RES Note 2 RES ST2 RES Note 2 RES A13 Input Axis No 2 IN3 SON SON SON SON SON SON A14 IN0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ASTR A15 IN1 STP ST1 Note 1 STP ST1 Note 1 STP ST1 Note 1 ST1 Note 1 ST1 Note 1 STP A16 IN2 RES SPDC RES Note 2 CN1 RES Note 2 RES ST2 RES Note 2 RES A17 ...

Page 153: ...0 B19 OUT1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 B20 OUT2 HEND SV HEND SV HEND SV HEND SV LS2 PE2 LS2 PE2 B21 Output Axis No 4 OUT3 ALM SV ALM SV ALM SV ALM SV ALM SV ALM SV B22 OUT0 LS0 PE0 LS0 PE0 LS0 PE0 LS0 PE0 LS0 PE0 LS0 PE0 B23 OUT1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 B24 OUT2 HEND SV HEND SV HEND SV HEND SV LS2 PE2 LS2 PE2 B25 Output Axis No 5 OUT3 ALM SV ALM SV ALM S...

Page 154: ...ignal of this controller has the input time constant of 7ms considering the prevention of wrong operation by chattering and noise Therefore input each input signal for 7ms or more Note continuously The signal cannot be identified if it is less than 7ms Input Signal Input Signal Identify Not Identify 7ms ...

Page 155: ...elay Time Xt Slave ĺ Master Station Transmission Delay Time Mt MSEP internal communication sending time Ttx MSEP internal communication receiving time Trx Refer to the instruction manual of the mounted PLC for the master station ĺ slave transfer delay time Yt and the slave ĺ master station transfer delay time Xt Response Process Time 2 PLC Sequence Program Control Signal Status Signal Gateway Cont...

Page 156: ...m 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 Gateway clear...

Page 157: ...eans of inputting the SON signal Note 2 Input the movement command after having a delay time of 1 6sec or more for the magnetic pole phase detection of the motor at the first servo on input after the power is turned ON In the second time or later make the delay time of 60ms or more Note 3 If the mode is set to MANU for the home position operation in the initial setting the home return operation is...

Page 158: ...s signal is turned ON When the cause of the alarm is eliminated and the reset RES signal is turned ON the alarm is turned OFF in the case that it is the alarm with the operation cancellation level In the case of the alarm with the cold start level re injection of the power is required 4 Reset RES PLC Output Signal This signal has two functions It can reset the controller alarm and cancel the remin...

Page 159: ...ignal is turned ON the homing operation can be performed HOME PLC MSEP HEND MSEP PLC PEND MSEP PLC MOVE MSEP PLC Actuator operation Mechanical end Stop at the Home Position Caution In the Position 1 Simplified Direct Value Mode when the positioning command is issued without performing the homing operation after the power injection the positioning is performed after the automatic homing operation E...

Page 160: ...ioning homing or pressing operation or during the pause condition this signal is turned OFF 9 Positioning completion signal PEND PLC Input Signal This signal is turned ON when the actuator is moved to the target position and reaches the positioning width and the pressing is completed Speed Movement distance Target position Positioning width Time Timing at which the position complete signal turns O...

Page 161: ... Boundary 2 Side The Zone 1 Signal and Zone 2 Signal become effective when the homing operation is completed After that even during the servo OFF it is effective Zone Signal Actuator operation Home Zone setting Zone setting direction 12 Jog JOG PLC Output Signal Jog JOG PLC Output Signal This signal is the command for the jog operation startup or inching operation startup If a command is issued th...

Page 162: ...roke limit is disabled before the homing operation the actuator might run against the mechanism end Take the greatest care 13 Incremental Command INC PLC Output Signal If this signal is ON and a movement command is executed the actuator moves for the distance set in the target position register from the current position 14 Jog inching switching JISL PLC Output Signal This signal changes over the j...

Page 163: ...te 1 In Direct Indication Mode it is the value input in the target position register Speed Movement distance Target position Pressing width Max pressing level Position where the actuator is pushed against the work and the pressing completion is judged so the positioning completion signal is turned ON Pressing Operation SEP Method The pressing operation is performed with the start position set at t...

Page 164: ...med and the actuator moved the travel distance set in the controller position table positioning width or set using the PLC s positioning width register but it was not pushed against the work this signal is turned ON 19 Positioning completion signal MEND PLC Input Signal This signal turns ON when the actuator has moved to the target position and reached the positioning width or finished pressing op...

Page 165: ...5 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 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...

Page 166: ...ete PEND MSEP PLC Current Position MSEP PLC Moving MOVE MSEP 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 Tpdf To turn OFF TwcsOFF have an interval of time more than Tpdf Tpdf Yt 10 Xt minimum value to Yt 10 Xt 20 maximum value ...

Page 167: ...g start CSTR signal The data 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...

Page 168: ...ositioning Start CSTR PLC MSEP Position Complete Pressing and a Miss PEND PSFL MSEP PLC Current Position MSEP PLC Moving MOVE MSEP PLC Actuator Movement Pressing Operation CON related Actuator Movement Pressing Operation SEP related Actuator Movement Normal Positioning 10ms or less 10ms or less n2 Push Push Target Position Target Position Positioning Width Pressing Width Positioning Width 0ms or m...

Page 169: ...e 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 amount of the actuat...

Page 170: ...2 Indicated Position Number PLC MSEP p1 Positioning Start CSTR PLC MSEP Positioning Completion PEND MSEP PLC Moving MOVE MSEP PLC Actuator Movement Positioning Width p2 p3 twcsOFF twcsON tpdf 10ms or less 10ms or less 6 5 4 3 1 2 0ms or more ...

Page 171: ...or RCA and RCL and then servo is turned OFF and the motor gets into Free run Mode The brake actuator option is of release in excitation type Therefore making the excitation ON will release the brake while making it OFF will lock the brake SON SV Brake Excitation Lock Release T Varies depending on actual speed T before detecting excitation Note SON signal identification 7ms Excitation detection tim...

Page 172: ... Deceleration Acceleration Deceleration Pause signal input OFF 1 5 4 3 2 Deceleration and stop with pause turned OFF Movement restart with pause turned ON Movement Signal Input Movement Start Position complete signal output Moving comp Ŷ Control method Pause is possible during movement In addition the remaining moving distance can be cancelled to interrupt the operation The pause signal is an inpu...

Page 173: ...ltaneously Entering the ST signal of another position during positioning is invalid If the ST signal of another position is turned ON during positioning the operation is terminated after the completion of the positioning being operated 5 Positioning ST0 to ST2 LS0 to LS2 PIO Signal ST0 ST1 ST2 LS0 LS1 LS2 Operation Pattern 0 to 2 u u Operation Pattern 3 u Operation Pattern 4 Operation Pattern 5 u ...

Page 174: ... 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 LS signal would not be output if the positioning width is set less than the minimum resolution Start signal ST1 PLC ĺ Controller Turned ON after entering into positioning width zone Target position Position sensing output LS1 Controller ĺ PLC ...

Page 175: ...rward position and stops for positioning Movement signal ST0 Home return completion HEND Forward end position detecting output LS0 Actuator operation Reverse at Mechanical End Home Position Forward End Position 2 If the operation pattern is Point to Point Movement Double Solenoid and 3 Point Movement After returning to home position the actuator stops at the backward position for positioning Home ...

Page 176: ...ion The movement amount at this time is determined for each actuator and cannot be changed Caution In the home reverse specification the actuator moves in the reverse direction Operation of Rotary Actuator 1 330 Rotation Specification 1 The actuator rotates in CCW counterclockwise direction from the view point of the load side The speed is either 20deg s 2 It reverses at the mechanical stopper and...

Page 177: ...e on the opposite side of the home position and confirms the home sensor is turned OFF 8 Starts reversed rotation 9 Confirms the home sensor turns ON 10 Goes to a point exceeded the home sensor detection range on the home position side and confirms the home sensor is turned OFF 11 Based on the result gained from 6 7 9 and 10 the center of the home sensor detection range is calculated 12 The actuat...

Page 178: ...d end position detection output LS1 Actuator operation Backward end Forward end Backward end Positioning width Parameter No 1 Positioning width Parameter No 1 2 Double Solenoid System With the combination of ST0 and ST1 the actuator performs a positioning at the target position Forward end movement signal ST1 Backward end movement signal ST0 Backward end position detection output LS0 Backward end ...

Page 179: ...ovement Forward end point positioning completion output PE1 Forward end position detection output LS1 Backward end movement signal ST0 ST0 and ST1 are OFF Forward end movement signal ST1 Actuator operation Pause Forward end Positioning width Parameter No 1 10 Speed Change during Movement Operation Timing for Operation Patterns 1 1 Single Solenoid System With the movement speed change signal SPDC t...

Page 180: ... in the position data when moving towards the backward end Shown below is an example for the forward end position movement Target position change signal CN1 Movement signal ST0 Forward end point positioning completion output PE1 Forward end position detection output LS1 Actuator operation Setting of Forward End 1 Setting of Forward End 2 Positioning width Parameter No 1 Positioning width Parameter...

Page 181: ...end position detection output LS0 Intermediate position detecting output LS2 Actuator operation Refer to the table below for the c ombination of movement signals Passing the intermediate point Passing the intermediate point Forward end Backward end Intermediate Positioning width Parameter No 1 Following table shows the combination of the movement signals by each PIO pattern and the destination det...

Page 182: ...ositioning width Parameter No 1 14 Timing for Pressing Operation All Operation Patterns If the settings of pressing force and pressing width is conducted in the position data and operate the actuator the actuator performs a pressing operation towards the target position Shown below is an example for the forward end position movement Movement signal ST0 ST1 ST2 Backward end point positioning comple...

Page 183: ...e select Shown below is how to use the tool 3 9 1 Startup of Tool 1 Boot the Gateway Parameter Setting Tool after the power to MSEP is turned ON and the window shown below appears Select MSEP GW if MSEP is connected and click OK 2 Once MSEP is detected the detected unit numbers become available to select Select the unit number to be connected and click the OK button ...

Page 184: ...e transfer cannot be made if there is a blank like Address and Baud Rate in the figure below Main Window Initial condition 3 9 2 Explanation of each Menu 1 File Menu In the main window click on the file menu on the top left corner and the menu list pops up as shown in the figure above New file Create new network parameters and operation mode parameters Open Open the saved parameter files to show o...

Page 185: ... unit number of MSEP and top axis number in that unit Refer to 3 9 3 5 Unit No EherNet IP Setting For EtherNet IP type this menu is displayed Set IP address etc Refer to 3 9 3 6 EherNet 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 o...

Page 186: ...RC is occurred unit velocity Only Full 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 Param2 Fulltime Fan run Select whether to always drive the fan even in AUTO mode Fan round monitor Select whether to not to monitor the fan rotation speed with the monitor function BATT Ch...

Page 187: ... this section Enable SW in AUTO mode Select whether to activate inactivate the enable switch in AUTO mode PUSH type only Full mode Select the pressing method from SEP and CON methods 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 MSEP Input register MSEP Output register ON OFF Hexadecimal data Hexadecima...

Page 188: ... and lower in the W word sized sent and received data in word unit Set this considering the connected host system if necessary MSEP Input register ON OFF Hexadecimal data ON OFF PLC RWwnn Hexadecimal data Hexadecimal data Hexadecimal data ON OFF ON OFF ON OFF PLC RWrnn MSEP Output register ...

Page 189: ...he clock calendar function in MSEP can be retained for approximately 10 days reference after the power to MSEP is turned OFF Once the clock data is lost the time passed since the power is turned back ON as 2000 1 1 0 00 00 is displayed as the current time 5 Unit Number Setting This setting is to be conducted when 2 units of MSEP are to be connected to the PC software at the same time It is not nec...

Page 190: ...bout Gateway Parameter Setting Tool 182 6 EtherNet IP Setting Setting to be established for EtherNet IP type IP Address Set IP address for MSEP Subnet Mask Set subnet mask Default Gateway Set default gateway ...

Page 191: ...ect 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 8 Diagnostic Information The number of the communication error ERRC and ERRT occurrence and number of the emergency stop EMG detection can be counted Data Reading Frequency Dis...

Page 192: ...g Tool 184 9 Alarm List Click on the Update button and the alarm list is read again from MSEP Click on the Clear button and the alarm list retained in MSEP are all deleted Refer to Chapter 6 Troubleshooting for the details of the alarms ...

Page 193: ...lot for MSEP If clicking on a cell is displayed for two axes at the same time Any blank cell can be selected as long as it is in two axes unit Click on a cell with shown in the mark is changed to means it is a reserved axis which is to be set when not using and when ineffective axis even though the actuator is connected If clicking on a cell with both axes in reservation the cell returns to blank ...

Page 194: ...ion Color Description Green Ready Orange Alarm generated SYS System Status Power is OFF or in initializing Red Emergency stop EMG Emergency Stop Status Normal Green AUTO Mode MODE AUTO MANU Status MANU Mode Orange Controller internal communication error T ERR Controller internal communication status Normal ...

Page 195: ...Controller internal communication status Normal Orange Fieldbus communication error C ERR Fieldbus communication status Normal Green Online Normal ڏ Green Online Even though the network is established normally the master does not identify as MSEP Orange An error occurs ڏ Orange No response returned from another slave device NS ڏ Green Orange Blink by turn In self checking process Green Communicati...

Page 196: ...rgency stop status Normal Green AUTO Mode MODE AUTO MANU status MANU Mode Orange Controller internal communication error T ERR Controller internal communication status Normal Orange Fieldbus communication error C ERR Fieldbus communication status Normal Orange An error occurs CRC error station No setting error or baud rate setting error ڏ Orange Station number or baud rate changed after the power ...

Page 197: ...status MANU Mode Orange Controller internal communication error T ERR Controller internal communication status Normal Orange Fieldbus communication error C ERR Fieldbus communication status Normal Green Online Normal ڏ Green Online Even though the network is established normally the master does not identify as MSEP NS Orange An error occurs Parameter error or initializing error Green Initializing ...

Page 198: ...rmal Orange Fieldbus communication error C ERR Fieldbus communication status Normal Green Online Normal ڏ Green Online Even though the network is established normally awaiting for being identified as MSEP by master Orange Node address duplication error slave address wrongly established ڏ Orange No response returned from another slave device NS Power is OFF under reset operation under initializing ...

Page 199: ...tion status Normal Green Online Communication in normal condition ڏ Green Online Even though the network is established normally the master does not identify as MSEP Orange Communication error such as IP address duplication ڏ Orange Communication error Communication timeout has been detected NS Power is OFF or IP address not established Green Communication in normal condition ڏ Green Construction ...

Page 200: ...ontroller internal communication error T ERR Controller internal communication status Normal Orange Fieldbus communication error C ERR Fieldbus communication status Normal Green Receiving CONNECT Communicating Orange Communication error detected self station receiving status error synchronizing frame status error STS1 DISCONNECT received in initializing process Green Initializing complete in norma...

Page 201: ...ange Fieldbus communication error C ERR Fieldbus communication status Normal Orange Communication component module error ڏ Orange Note 1 ON 200ms OFF 200ms Construction information settings error Information received from the master cannot be set ڏ Orange Note 3 Communication section circuit error Watchdog timer timeout ERR No abnormality or the power is OFF Green Normal communication OPERATION co...

Page 202: ...3 10 Status LED 194 Note 1 blinking Note 2 single flash Note 3 double flash Timing of LED flashing ...

Page 203: ...absolute status is expressed of the patterns of the light in I 0 and I 1 I 1 I 0 Green Light is turned ON Red Light is turned ON Green Light is turned ON Absolute reset complete Absolute reset incomplete Red Light is turned ON Alarm generated I 1 I 2 Absolute Status 2 for driver for upper connector connection axes numbers 0 2 4 and 6 Axis Green Light is turned ON Battery fully charged Orange Light...

Page 204: ...edicated cable Refer to Chapters 1 and 2 3 Connect a teaching tool and turn ON the power supply to controller 4 The absolute encoder error appears on the teaching tool Perform alarm reset 5 Perform home return operation Once the home return is complete the point of origin is memorized at the same time the origin point is established In below explains the procedure using each teaching tool 1 For PC...

Page 205: ...apter 4 Absolute Reset and Absolute Battery 197 2 For CON PTA PDA PGA 1 Press Reset Alm 2 Press Trial Operation on the Menu 1 screen 3 Press Jog_Inching on Trial screen 4 Press Home on Job Inching screen ...

Page 206: ...d 5th Axis Battery Axis No 4 7th Axis Battery Axis No 6 1st Axis Battery Axis No 0 3rd Axis Battery Axis No 2 6th Axis Battery Axis No 5 8th Axis Battery Axis No 7 2nd Axis Battery Axis No 1 4th Axis Battery Axis No 3 Connector to connect with MSEP 8th Axis Battery Axis No 7 Connector inserting position for cable 7th Axis Battery Axis No 6 Connector inserting position for cable 6th Axis Battery Ax...

Page 207: ...duration for data holding will decrease Replace the battery with a new one if the retaining time is remarkably dropped even with enough charging time Example From Monday to Friday charge for 8 hours per day discharge for 16 hours Saturday and Sunday When using with discharge Connected axis Any model except for RCA2 N Storage for 120 H if fully charged 1 If parameter No 19 3 setting Total charge am...

Page 208: ... Detection 3 Note 1 ALM are the signals of active low After the power is supplied to the controller they are usually ON and turned OFF when an error is detected If the alarm is generated it will be necessary to absolute reset after the battery replacement The controller checks the battery voltage at the time the power is supplied The controller would not detect it even if the battery voltage is de...

Page 209: ...tting change The change to the parameters will be activated after they are edited written to the flash FeRAM then either software reset or reboot of the power It will not be active only with writing on the teaching tool Warning 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 ...

Page 210: ...1 In accordance with actuator Note 2 5 2 5 6 C Speed loop integral gain VLPT 1 to 217270 In accordance with actuator Note 2 5 2 6 7 C Press speed PSHV mm s deg s 1 to actuator s max pressing speed In accordance with actuator Note 2 5 2 7 8 C Press hold stop judgment period PSWT msec 0 to 9999 255 5 2 8 9 C Current limit value at stopping due to miss pressing PSFC 0 1 Current limit during movement ...

Page 211: ...24 31 B Overload level ratio OLWL 50 to 100 100 5 2 25 32 B Light error alarm output select OALL 0 Output when overload warning 1 Overload warning and message level alarm output 0 5 2 26 33 B Active Inactive axis select EFCT 0 Enabled 1 Disabled 0 5 2 27 34 B Default movement direction for excitation phase signal detection PHSP 0 Reverse 1 Forward In accordance with actuator Note 2 5 2 28 35 B Exi...

Page 212: ...10 If the remaining movement amount gets into this width the positioning complete signal is output Caution Positioning width of servo motor L Actuator lead length Number of encoder pulse Positioning width of pulse motor L Actuator lead length Number of encoder pulse 3 Refer to the appendix in the last pages for the number of encoder pulse 2 Jog speed Parameter No 2 No Name Symbol Unit Input Range ...

Page 213: ...nd it takes longer time to complete the positioning For a system of low mechanical rigidity or low natural frequency every object has its own natural frequency setting a large servo gain number may generate mechanical resonance which then cause not only vibrations and or noises but also overload error to occur When the set value is high over shoot When the set value is low Speed Time 4 Torque filt...

Page 214: ...hanical system When the set value is high over shoot When the set value is low Speed Time 6 Speed loop integral gain Parameter No 6 No Name Symbol Unit Input Range Default factory setting 6 Speed loop integral gain VLPT 1 to 217270 In accordance with actuator Any machine produces friction This parameter is intended to cope with deviation generated by external causes including friction Increasing t...

Page 215: ...e position table is set below this parameter the pressing speed will become the same as the positioning speed 8 Press hold stop judgment period Parameter No 8 No Name Symbol Unit Input Range Default factory setting 8 Press hold stop judgment period PSWT msec 0 to 9999 255 Judging completion of pressing operation This function monitors the torque current limit set in in Pressing or Pressing Force i...

Page 216: ...a certain time that was set in this parameter has passed after the positioning is completed 11 Stop mode selection Parameter No 11 Pulse motor type only No Name Symbol Unit Input Range Default factory setting 11 Stop mode selection PHSP 0 Full stop 1 Servo stop 0 If 0 is selected the current passion is retained with the torque set in Parameter No 12 after the positioning process If 1 is selected t...

Page 217: ...is set to Operation Pattern 5 2 Point Back and Forth Movement Set the duration after reaching the target position and before the movement starts toward the next target when the automatic operation signal ASTR is ON 15 Soft limit Parameter No 15 No Name Symbol Unit Input Range Default factory setting 15 Soft limit LIMM mm deg 0 01 to 9999 99 Actual stroke on side The effective stroke of the actuato...

Page 218: ...e Return Offset Normal excitation detection cannot be performed and there may be a risk of generating the excitation detection error or causing abnormal noise In case the there is a necessity of setting a value less than the initial setting contact IAI 17 Home return direction Parameter No 17 No Name Symbol Unit Input Range Default factory setting 17 Home return direction ORG 0 Reverse 1 Forward I...

Page 219: ...may be moved by an external force follow the table below and calculate Note 1 the number of rotation from the moved speed and set this parameter to the value faster than this value If the motor rotation setting value exceeds the set value the position information will be lost Upper limit of encoder revolution at power off rpm Parameter No 19 setting When the connected actuator is a model other tha...

Page 220: ... is set to both zone setting and zone setting the zone signal is not output A setting sample is shown below Example of linear axis 0mm 30mm 70mm ON ON ON 100mm Current Position Zone signal output Zone signal output Set Value Zone setting 70mm Zone setting 30mm Set Value Zone setting 30mm Zone setting 70mm Caution The signal cannot be output unless the range of the zone detection is set to a value ...

Page 221: ...s on when exceeding the set ratio of the rated current The judgment would not be made if the value is set to 100 26 Light error alarm output select Parameter No 32 No Name Symbol Unit Input Range Default factory setting 32 Light error alarm output select OALL 0 Overload alarm 1 Light error 0 If 0 is selected ALML is output when the rated current ratio exceeds the value set in Parameter No 31 Overl...

Page 222: ...n phase signal detection time PHSP msec 1 to 999 In accordance with actuator Excitation detection Note starts when the servo is turned ON for the first time after the power is supplied Detection direction at this time is determined Even though it is generally unnecessary to change this setting changing the setting of this parameter may be effective when excitation error is generated or abnormal op...

Page 223: ...roportional gain by about 20 of the default Prior to the setting adjust Parameter No 3 Servo gain number 2 Vibration is generated at acceleration deceleration x 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 x Decrease the values of acceleration deceleration s...

Page 224: ... proper torque 4 There is no waviness on the actuator mounting surface Trace precision is desired to be improved Equi speed performance is desired to be improved 5 Response is desired to be improved x Make the condition optimized with Parameter No 3 Servo gain number and Parameter No 5 Speed loop proportional gain adjusted by referring to the way to adjust stated in No 1 to 3 in the previous page ...

Page 225: ...software 7 Check the connectors for disconnection or connection error 8 Check the cables for connection error disconnection or pinching Cut off the main power of the system which this controller is installed in and remove the cables around the measurement point to avoid conductivity through the surrounding circuit before checking the conductivity 9 Check the I O signals Using the host controller P...

Page 226: ... 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 Are SYS I SYS II LEDs on the driver board that the operated axes are connected turned ON Refer to Name for Each Parts and Their Functions Turn ON the servo on signal SON 2 Operation is available when pause signal STP is ON and pause when it ...

Page 227: ...ated in Instruction Manual 4 Please contact IAI Shocks at start and or stop Acceleration deceleration is set too high Decrease the settings of acceleration deceleration Overshoot during deceleration to stop The load inertia is large Decrease the setting of deceleration Positioning of poor precision Uneven speed during movement Acceleration deceleration not smooth bad speed response Refer to 5 3 Se...

Page 228: ...munication Situation Possible cause Check Treatment Not connectable with host machine㩷 1 Communication rates do not match 2 The machine number station number is set to be duplicate with that of another unit or out of the range 3 Poor wiring or disconnection of communication cable㩷 1 Set the communication rate to match that of the host machine Refer to the Instruction Manual of the host unit 2 Corr...

Page 229: ...lease ON Output Servo OFF after deceleration to stop Reset the alarm by the PIO or teaching tool Cold start ON Output Servo OFF after deceleration to stop Software reset or power reconnection by teaching tool Home return is required for any actuators of other than simple absolute specification Caution Reset each alarm after identifying and removing the cause If the cause of the alarm cannot be rem...

Page 230: ...ccurs again please contact IAI 50 Fieldbus Communication Error ERR C Cause It is a Fieldbus link error If the flip flop is set in Gateway Parameter Setting Tool during this error the actuator is stopped in the condition of the error and any command is ignored until it receives a release signal Treatment Check the settings for Fieldbus node addresses communication speed etc and wiring layout 60 Mas...

Page 231: ...acity or not to use the remote sensing function If the voltage is normal please contact IAI A1 Control Power Voltage Drop Cause The control power voltage dropped less than the voltage drop threshold 70 of 24V DC 16 8V 1 The voltage of 24V DC power is low 2 A faulty part inside the controller Treatment Check the power voltage If the voltage is normal please contact IAI A2 Motor Power Voltage Error ...

Page 232: ...ge Cause The regenerative electric power exceeded what can be dealt with the regenerative resistor Treatment Decrease the acceleration deceleration speed revise the operation interval or connect an external optional regenerative resistor RER 1 FF Power on Log It is the log at the power being on it is not an error ...

Page 233: ...me return is not yet completed 083 Movement command during home return operation 084 Position No error during movement 085 Position command information data error 0A3 Command deceleration error 0A7 z z z z 4 Mismatched PCB 0F4 z z z 5 Motor drive source line connection error 0AA z z z 6 Parameter data error 0A1 Position data error 0A2 Position command data error 0A3 Unsupported motor encoder type ...

Page 234: ...Motor power source voltage excessive 0D2 Overload 0E0 Driver logic error 0F0 z z 13 Encoder receipt error 0E5 A B and Z phase wire breaking 0E7 A and B phase wire breaking 0E8 Absolute encoder error detection 1 0ED Absolute encoder error detection 2 0EE Absolute encoder error detection 3 0EF z z 14 CPU error 0FA Logic error 0FC z 15 Nonvolatile memory write verify error 0F5 Nonvolatile memory writ...

Page 235: ...umerical 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 Absolute position move command when home return is not yet completed Cause A move command was issued when home return was still in progress Treatment Issue a movement command after perfor...

Page 236: ... for the deceleration speed change 0A8 Unsupported motor encoder types Cause A motor or encoder not applicable for this controller is connected and the motor or encoder cannot be classified Treatment Contact us in case this alarm is issued with the applicable actuator or occurs again even after the power is rebooted 0B4 Servo motor Only when connected Cold start Electric angling mismatching Cause ...

Page 237: ...lly by moving with hand If the actuator itself is suspected to be the cause please contact IAI 0B7 Servo motor Only when connected Cold start Magnetic pole indeterminacy Cause It shows the magnetic pole phase could not be detected after a certain time being passed even though the process for the magnetic pole phase detection was executed at the first servo on after the power is turned ON 1 Connect...

Page 238: ...ause This indicates that the home return operation of the actuator equipped with origin sensor option for those except for rotary actuator is not completed in normal condition 1 The work piece has interfered with the peripherals during the home return operation 2 The resistance in the actuator sliding operation is large 3 Attachment error malfunction or wire breakage of origin sensor Treatment If ...

Page 239: ...on controller can be considered Please contact IAI 0CA Overheat Cause This indicates overheat 90qC 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 Load to the motor is high due to external force 4 A faulty part inside the controller Treatment 1 Revise the operation condition su...

Page 240: ... the position deviation counter has overflowed 1 The speed dropped or the actuator stopped due to the effect of external force or overload 2 The excited phase detection operation following the power on is unstable Treatment 1 This error occurs when the actuator cannot be operated as it is commanded Check the load conditions such as if the work is touching to the surrounding object or brake is prop...

Page 241: ...before turning ON the power to prevent the motor coil from burning 0E5 Encoder receipt error Cause This indicates that the data was not received to the controller in the normal condition from the simple absolute area 1 Connector connection error If the detail code in the error list of the teaching tool is 0002H 2 Effect of noise If the detail code in the error list of the teaching tool is 0001H 3 ...

Page 242: ... in the error list of the teaching tool is 0002H 4 Changed the parameters of controller Treatment 2 Supply the power for 72 hours or more and after charging the battery enough perform the absolute reset operation If the same failure occurs often even with enough battery charge it is considered the end of the battery life Replace the battery Conduct an absolute reset for 1 2 and 4 Refer to Chapter ...

Page 243: ...nvolatile memory Treatment When the error is caused even when the power is re input please contact IAI 0FA CPU error The CPU operation is not normal Cause 1 Faulty CPU 2 Malfunction due to noise Treatment When the error is caused even when the power is re input please contact IAI 0FC Cold start Logic error Component error in controller The controller is not operating properly Cause 1 Malfunction d...

Page 244: ...Chapter 6 Troubleshooting 236 ...

Page 245: ...ion Parameter Configuration tool 89E Fun error Step 1 Prepare a new fan unit and remove the screw holding the fan unit Step 2 Rotate the fan unit holder till it goes out of the fan unit interference Step 3 Grab the lattice on the fan unit with a tool such as needle nose plier and pull out the fan unit The lattice on the fan unit is disposable Step 4 The new fan unit is to be pushed in to be settle...

Page 246: ...Horizontal vertical 3 12 125 High acc dec spec 0 2 Energy saving spec 0 3 10 Horizontal vertical 12 5 500 High acc dec spec 1 0 Energy saving spec 0 3 5 Horizontal vertical 6 25 250 High acc dec spec 1 0 Energy saving spec 0 2 RGS3C Ball screw 20 800 2 5 Horizontal vertical 3 12 125 High acc dec spec 0 2 Energy saving spec 0 3 10 Horizontal vertical 12 5 500 High acc dec spec 1 0 Energy saving spe...

Page 247: ...c dec spec 1 0 Energy saving spec 0 2 RA4C Ball screw 30 800 3 Horizontal vertical 3 75 150 High acc dec spec 0 2 Energy saving spec 0 3 12 Horizontal vertical 15 600 High acc dec spec 1 0 Energy saving spec 0 3 6 Horizontal vertical 7 5 300 High acc dec spec 1 0 Energy saving spec 0 2 20 3 Horizontal vertical 3 75 150 High acc dec spec 0 2 Energy saving spec 0 3 12 Horizontal vertical 15 600 High...

Page 248: ...tal vertical 15 600 0 3 6 Horizontal vertical 7 5 300 0 3 20 3 Horizontal vertical 3 75 150 0 2 12 Horizontal vertical 15 600 0 3 6 Horizontal vertical 7 5 300 0 3 RGS4D Ball screw 30 800 3 Horizontal vertical 3 75 150 0 2 12 Horizontal vertical 15 600 0 3 6 Horizontal vertical 7 5 300 0 3 20 3 Horizontal vertical 3 75 150 0 2 12 Horizontal vertical 15 600 0 3 6 Horizontal vertical 7 5 300 0 3 RGD...

Page 249: ... 2 SA4C Ball screw 20 800 2 5 Horizontal vertical 3 12 165 High acc dec spec 0 2 10 Horizontal vertical 12 5 665 0 3 5 Horizontal vertical 6 25 330 0 3 SA4D Ball screw 20 800 2 5 Horizontal vertical 3 12 165 0 2 10 Horizontal vertical 12 5 665 0 3 5 Horizontal vertical 6 25 330 0 3 SA4R Ball screw 20 800 2 5 Horizontal vertical 3 12 165 0 2 Horizontal 1300 Energy saving spec 0 3 20 Vertical 25 800...

Page 250: ... 600st High acc dec spec 0 2 12 Horizontal vertical 15 800 at 50 to 450st 760 at 500st 640 at 550st 540 at 600st 0 3 6 Horizontal vertical 7 5 400 at 50 to 450st 380 at 500st 320 at 550st 270 at 600st 0 3 SA6D Ball screw 30 800 3 Horizontal vertical 3 75 200 at 50 to 450st 190 at 500st 160 at 550st 135 at 600st 0 2 12 Horizontal vertical 15 800 at 50 to 450st 760 at 500st 640 at 550st 540 at 600st...

Page 251: ... 15 400 0 2 A5R Ball screw 20 800 6 Horizontal vertical 7 5 200 0 2 12 15 400 0 2 RCA arm type A6R Ball screw 30 800 6 Horizontal vertical 7 5 200 0 2 4 3 81 200 2 1 90 100 RN3N Lead screw 10 1048 1 Horizontal vertical 0 95 50 0 2 4 3 81 200 2 1 90 100 RP3N Lead screw 10 1048 1 Horizontal vertical 0 95 50 0 2 4 3 81 200 2 1 90 100 GS3N Lead screw 10 1048 1 Horizontal vertical 0 95 50 0 2 4 3 81 20...

Page 252: ...al 0 2 Ball screw 2 Vertical 1 90 100 0 2 Horizontal 0 2 6 Vertical 5 72 220 0 2 Horizontal 0 2 4 Vertical 3 81 200 0 2 Horizontal 0 2 GS4N Lead screw 20 1048 2 Vertical 1 90 100 0 2 Horizontal 270 0 3 6 Vertical 5 72 220 0 2 Horizontal 0 3 4 Vertical 3 81 200 0 2 Horizontal 0 2 Ball screw 2 Vertical 1 90 100 0 2 Horizontal 0 2 6 Vertical 5 72 220 0 2 Horizontal 0 2 4 Vertical 3 81 200 0 2 Horizon...

Page 253: ...0 2 SA3C Ball screw 10 800 2 Vertical 2 5 100 0 2 Horizontal 0 3 6 Vertical 7 5 300 0 2 Horizontal 0 3 4 Vertical 5 200 0 2 Horizontal 0 2 SA3R Ball screw 10 800 2 Vertical 2 5 100 0 2 Horizontal 0 3 10 Vertical 12 5 380 at 50st 500 at 100 to 500st 0 2 Horizontal 0 3 5 Vertical 6 25 250 0 2 Horizontal 0 2 SA4C Ball screw 20 800 2 5 Vertical 3 12 125 0 2 Horizontal 0 3 10 Vertical 12 5 380 at 50st ...

Page 254: ...at 50st 540 at 100st 600 at 150 to 550st 570 at 600st 490 at 650st 425 at 700st 370 at 750st 330 at 800st 0 2 Horizontal 0 3 6 Vertical 7 5 300 at 50 to 550st 285 at 600st 245 at 650st 210 at 700st 185 at 750st 165 at 800st 0 2 Horizontal 0 2 SA5C Ball screw 20 800 3 Vertical 3 75 150 at 50 to 550st 140 at 600st 120 at 650st 105 at 700st 90 at 750st 80 at 800st 0 2 Horizontal 0 3 12 Vertical 15 38...

Page 255: ...at 50st 540 at 100st 600 at 150 to 550st 570 at 600st 490 at 650st 425 at 700st 370 at 750st 330 at 800st 0 2 Horizontal 0 3 6 Vertical 7 5 300 at 50 to 550st 285 at 600st 245 at 650st 210 at 700st 185 at 750st 165 at 800st 0 2 Horizontal 0 2 SA6C Ball screw 30 800 3 Vertical 3 75 150 at 50 to 550st 140 at 600st 120 at 650st 105 at 700st 90 at 750st 80 at 800st 0 2 Horizontal 0 3 12 Vertical 15 38...

Page 256: ...zontal 0 2 6 Vertical 5 72 220 0 2 Horizontal 0 2 4 Vertical 3 81 200 0 2 Horizontal 0 2 TC4N Lead screw 20 1048 2 Vertical 1 90 100 0 2 Horizontal 270 0 3 6 Vertical 5 72 220 0 2 Horizontal 0 3 4 Vertical 3 81 200 0 2 Horizontal 0 2 Ball screw 2 Vertical 1 90 100 0 2 Horizontal 0 2 6 Vertical 5 72 220 0 2 Horizontal 0 2 4 Vertical 3 81 200 0 2 Horizontal 0 2 TW4N Lead screw 20 1048 2 Vertical 1 9...

Page 257: ... Vertical 7 5 300 0 2 Horizontal 0 2 TA6C Ball screw 20 800 3 Vertical 3 75 150 0 2 Horizontal 560 0 3 12 Vertical 15 500 0 2 Horizontal 0 3 6 Vertical 7 5 300 0 2 Horizontal 0 2 TA6R Ball screw 20 800 3 Vertical 3 75 150 0 2 Horizontal 600 0 3 12 Vertical 15 580 0 2 Horizontal 0 3 6 Vertical 7 5 300 0 2 Horizontal 0 2 TA7C Ball screw 30 800 3 Vertical 3 75 150 0 2 Horizontal 600 0 3 12 Vertical 1...

Page 258: ...rew No of encoder pulses mm Mounting direction mm s mm s G N N mm s RA2C Ball screw 800 1 Horizontal vertical 1 25 25 0 05 50 100 3 5 Horizontal vertical 6 25 187 21 73 5 RA3C Ball screw 800 2 5 Horizontal vertical 3 12 114 0 2 50 156 8 20 5 Horizontal vertical 6 25 187 21 73 5 Horizontal 114 RGD3C Ball screw 800 2 5 Vertical 3 12 93 0 2 50 156 8 20 10 Horizontal vertical 12 5 458 at to 250st 350 ...

Page 259: ... 8 Horizontal vertical 10 210 130 470 RA6C Ball screw 800 4 Horizontal vertical 5 130 0 2 300 800 20 Horizontal 450 16 Vertical 20 400 75 240 8 Horizontal vertical 10 210 130 470 RGS6C Ball screw 800 4 Horizontal vertical 5 130 0 2 300 800 20 Horizontal 450 16 Vertical 20 400 75 240 8 Horizontal vertical 10 210 130 470 RGD6C Ball screw 800 4 Horizontal vertical 5 130 0 2 300 800 20 5 Horizontal ve...

Page 260: ...st 600 at 150 to 550st 540 at 600st 460 at 650st 400 at 700st 360 at 750st 300 at 800st 0 3 40 115 Horizontal 0 7 6 Vertical 7 5 295 at 50st 300 at 100 to 550st 270 at 600st 230 at 650st 200 at 700st 180 at 750st 150 at 800st 0 3 70 210 Horizontal 0 7 SA5C Ball screw 800 3 Vertical 3 75 150 at to 550st 135 at 600st 115 at 650st 100 at 700st 90 at 750st 75 at 800st 0 3 140 330 20 Horizontal 0 3 12 ...

Page 261: ...st 600 at 150 to 550st 540 at 600st 460 at 650st 400 at 700st 360 at 750st 300 at 800st 0 3 40 115 Horizontal 0 7 6 Vertical 7 5 295 at 50st 300 at 100 to 550st 270 at 600st 230 at 650st 200 at 700st 180 at 750st 150 at 800st 0 3 70 210 Horizontal 0 7 SA6C Ball screw 800 3 Vertical 3 75 150 at to 550st 135 at 600st 115 at 650st 100 at 700st 90 at 750st 75 at 800st 0 3 140 330 20 Horizontal 0 3 12 ...

Page 262: ...l 0 3 12 Vertical 15 600 at 50 to 500st 470 at 600st 0 2 40 120 Horizontal 0 3 6 Vertical 7 5 300 at 50 to 500st 230 at 600st 0 2 75 220 Horizontal 0 2 SS7C Ball screw 800 3 Vertical 3 75 150 at 50 to 500st 115 at 600st 0 2 140 350 20 Horizontal 600 at 50 to 500st 470 at 600st 0 3 12 Vertical 15 440 at 50 to 500st 440 at 600st 0 2 Horizontal 0 3 6 Vertical 7 5 250 at 50 to 500st 230 at 600st 0 2 H...

Page 263: ...0st 0 2 Horizontal 1200 at 50 to 800st 1000 at to 900st 800 at to 1000st 0 3 HS8C Ball screw 800 30 Vertical 37 5 750 at 50 to 800st 750 at to 900st 750 at to 1000st 0 2 Horizontal 1200 at 50 to 800st 1000 at to 900st 800 at to 1000st 0 3 RCP2 slider type HS8R Ball screw 800 30 Vertical 37 5 750 at 50 to 800st 750 at to 900st 750 at to 1000st 0 2 BA6 BA6U Belt 800 Equivalent to 54 Horizontal 67 5 ...

Page 264: ... s RTCSL 800 Gear ratio 1 45 10 deg s 266 deg s Gear ratio 1 20 22 5 deg s 600 deg s RTB 800 Gear ratio 1 30 15 deg s 400 deg s Gear ratio 1 20 22 5 deg s 600 deg s RTBL 800 Gear ratio 1 30 15 deg s 400 deg s Gear ratio 1 20 22 5 deg s 600 deg s RTC 800 Gear ratio 1 30 15 deg s 400 deg s Gear ratio 1 20 22 5 deg s 600 deg s RTCL 800 Gear ratio 1 30 15 deg s 400 deg s Gear ratio 1 20 22 5 deg s 600...

Page 265: ... to 150st 0 6 11 9 4 5 180 at 25st 200 at 50 to 150st 0 9 16 1 Lead screw 800 2 Horizontal vertical 2 5 100 0 2 1 9 28 3 5 Horizontal 0 3 6 Vertical 7 5 180 at 25st 280 at 50st 300 at 75 to 150st 0 2 1 8 14 3 Horizontal 0 3 4 Vertical 5 180 at 25st 200 at 50 to 150st 0 2 3 6 20 9 Horizontal 0 3 2 Vertical 2 5 100 0 2 7 2 42 0 Horizontal 0 3 Ball screw Standard type 1 Vertical 1 25 50 0 2 14 4 82 8...

Page 266: ...75 to 150st 4 5 180 at 25st 200 at 50 to 150st SA2BR Lead screw 800 2 Horizontal 2 5 100 0 2 Horizontal 0 3 6 Vertical 7 5 300 0 2 9 15 Horizontal 0 3 4 Vertical 5 200 0 2 14 22 Horizontal 0 2 SA3C Ball screw 800 2 Vertical 2 5 100 0 2 27 44 20 Horizontal 0 3 6 Vertical 7 5 300 0 2 9 15 Horizontal 0 3 4 Vertical 5 200 0 2 14 22 Horizontal 0 2 SA3R Ball screw 800 2 Vertical 2 5 100 0 2 27 44 Horizo...

Page 267: ...st to 550st 570 at 600st 490 at 650st 425 at 700st 370 at 750st 330 at 800st 0 3 28 47 Horizontal 0 7 6 Vertical 7 5 300 at 50st to 550st 285 at 600st 245 at 650st 210 at 700st 185 at 750st 165 at 800st 0 3 57 95 Horizontal 0 7 SA5C Ball screw 800 3 Vertical 3 75 150 at 50st to 550st 140 at 600st 120 at 650st 105 at 700st 90 at 750st 80 at 800st 0 3 113 189 20 Horizontal 0 3 12 Vertical 15 380 at ...

Page 268: ...st to 550st 570 at 600st 490 at 650st 425 at 700st 370 at 750st 330 at 800st 0 3 28 47 Horizontal 0 7 6 Vertical 7 5 300 at 50st to 550st 285 at 600st 245 at 650st 210 at 700st 185 at 750st 165 at 800st 0 3 57 95 Horizontal 0 7 SA6C Ball screw 800 3 Vertical 3 75 150 at 50st to 550st 140 at 600st 120 at 650st 105 at 700st 90 at 750st 80 at 800st 0 3 113 189 20 Horizontal 0 3 12 Vertical 15 380 at ...

Page 269: ...A4C Ball screw 800 2 Vertical 2 5 100 0 2 26 4 44 20 Horizontal 0 3 6 Vertical 7 5 300 0 2 9 15 Horizontal 0 3 4 Vertical 5 200 0 2 13 2 22 Horizontal 0 2 TA4R Ball screw 800 2 Vertical 2 5 100 0 2 26 4 44 20 Horizontal 465 0 3 10 Vertical 12 5 400 0 2 20 34 Horizontal 0 3 5 Vertical 6 25 250 0 2 40 68 Horizontal 0 2 TA5C Ball screw 800 2 5 Vertical 3 12 125 0 2 82 136 20 Horizontal 465 0 3 10 Ver...

Page 270: ... 785 at 700st 690 at 750st 610 at 800st 0 7 20 Vertical 25 Note It is the value when high thrust function is ineffective 960 at 50 to 600st 1225 at 550st 1045 at 600st 900 at 650st 785 at 700st 690 at 750st 610 at 800st 0 2 16 56 20 Horizontal 0 7 12 Vertical 15 Note It is the value when high thrust function is ineffective 600 at 50 to 550st 795 at 500st 665 at 550st 570 at 600st 490 at 650st 425 ...

Page 271: ...05 at 650st 785 at 700st 690 at 750st 615 at 800st 0 3 16 56 Horizontal 0 7 12 Vertical 15 Note It is the value when high thrust function is ineffective 600 at 50 to 550st 795 at 500st 670 at 550st 570 at 600st 490 at 650st 430 at 700st 375 at 750st 335 at 800st 0 3 26 93 20 Horizontal 0 7 6 Vertical 7 5 Note It is the value when high thrust function is ineffective 300 at 50 to 550st 395 at 500st ...

Page 272: ...e 560 at 50 to 750st 515 at 800st 0 2 48 168 20 Horizontal 0 3 8 Vertical 10 Note It is the value when high thrust function is ineffective 280 at 50 to 750st 255 at 800st 0 2 96 336 Horizontal 0 2 RCP4 slider type SA7C Ball screw 800 4 Vertical 5 Note It is the value when high thrust function is ineffective 140 at 50 to 750st 125 at 800st 0 2 192 673 Horizontal 0 5 20 Vertical 25 640 0 2 16 56 Hor...

Page 273: ... 12 SS8C 20 SA6C 12 SA5C 12 SA7C 16 SA6C 12 SA5C 12 SS7C 12 SS8C 20 SS8C 10 SA7C 8 SS7C 6 SA6C 6 SA5C 6 SS8C 10 SA7C 8 SS7C 6 SA6C 6 SA5C 6 SA7C 4 SS7C 3 SA6C 3 SA5C 3 SS8C 5 SS8C 5 SS7C 3 SA6C 3 SA5C 3 SA7C 4 0 100 200 300 400 500 600 700 45 40 35 30 25 20 15 10 5 0 0 100 200 300 400 500 600 700 6 5 4 3 2 1 0 0 50 100 150 200 250 300 350 60 50 40 30 20 10 0 14 12 10 8 6 4 2 0 0 50 100 150 200 250...

Page 274: ...00 600 700 40 35 30 25 20 15 10 5 0 12 10 8 6 4 2 0 0 20 40 60 80 100 120 140 160 180 0 20 40 60 80 100 120 140 160 60 50 40 30 20 10 0 25 20 15 10 5 0 SA7R 16 SA6R 12 SA5R 12 SA7R 8 SA6R 6 SA5R 6 SA7R 4 SA6R 3 SA5R 3 SA6R 12 SA5R 12 SA7R 16 SA7R 8 SA6R 6 SA5R 6 SA7R 4 SA6R 3 SA5R 3 Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm ...

Page 275: ...0 300 0 20 40 60 80 100 120 140 60 50 40 30 20 10 0 30 25 20 15 10 5 0 25 20 15 10 5 0 0 50 100 150 200 250 300 0 20 40 60 80 100 120 140 Horizontal installation Note 1 Vertical installation High speed type Medium speed type Low speed type Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capac...

Page 276: ... 60 80 100 120 140 6 5 4 3 2 1 0 30 25 20 15 10 5 0 0 50 100 150 200 250 300 0 20 40 60 80 100 120 140 4 5 4 3 5 3 2 5 2 1 5 1 0 5 0 18 16 14 12 10 8 6 4 2 0 Horizontal installation Vertical installation High speed type Medium speed type Low speed type Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm s...

Page 277: ... 20 40 60 80 100 120 140 6 5 4 3 2 1 0 30 25 20 15 10 5 0 0 20 40 60 80 100 120 140 5 5 5 4 5 4 3 5 3 2 5 2 1 5 1 0 5 0 18 16 14 12 10 8 6 4 2 0 0 50 100 150 200 250 300 4 5 4 3 5 3 2 5 2 1 5 1 0 5 0 Horizontal installation Vertical installation High speed type Medium speed type Low speed type Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity k...

Page 278: ... 5 RA4C 5 RA6C 8 Horizontal installation Note 1 Vertical installation Note 2 High speed type Medium speed type Low speed type Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Note In the above graphs the number after the type code indicates the lead Note 1 The figures ...

Page 279: ... 4 Lead 6 4 3 2 1 0 05 0 100 150 200 250 300 Lead 6 Lead 3 Lead 12 12 10 8 6 4 2 0 0 100 200 300 400 500 600 Lead 6 Lead 3 Lead 12 5 4 3 2 1 0 0 100 200 300 400 500 600 Lead 6 Lead 3 Lead 12 12 10 8 6 4 2 0 0 100 200 300 400 500 600 Horizontal installation Vertical installation Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec L...

Page 280: ...6 4 2 0 100 200 300 400 500 600 0 Lead 3 Lead 6 Lead 12 10 8 6 4 2 0 100 200 300 400 500 600 0 Lead 3 Lead 6 Lead 12 10 8 6 4 2 0 100 200 300 400 500 600 0 Lead 3 Lead 6 Lead 12 Lead 2 5 Lead 5 Lead 10 Horizontal installation Vertical installation Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Lo...

Page 281: ...00 The values for Lead 3 6 12 are when operated with 0 3G The values for Lead 3 6 12 are when operated with 0 3G Lead 12 Lead 3 Lead 6 Lead 20 0 5G Operation Lead 20 0 5G Operation 12 10 8 6 4 2 0 0 200 400 600 800 1000 1200 The values for Lead 3 6 12 are when operated with 0 3G The values for Lead 3 6 12 are when operated with 0 3G Lead 3 Lead 6 Lead 12 Lead 20 0 3G Operation Lead 20 0 3G Operati...

Page 282: ... 4 Lead 8 Lead 24 0 3G Lead 16 60 50 40 30 20 10 0 0 100 200 300 400 500 600 700 Lead 3 Lead 6 Lead 20 Lead 12 0 100 200 300 400 500 600 700 The values shown below are when operated with 0 2G The values shown below are when operated with 0 2G 25 20 15 10 5 0 The values for Lead 3 6 12 are when operated with 0 2 G Lead 3 Lead 6 Lead 12 Lead 20 0 3G Lead 20 0 3G 45 40 35 30 25 20 15 10 5 0 0 100 200...

Page 283: ... 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 200 180 160 140 120 100 80 60 40 20 0 300 250 200 150 100 50 0 300 250 200 150 100 50 0 80 70 60 50 40 30 20 10 0 800 700 600 500 400 300 200 100 0 400 350 300 250 200 150 100 50 0 500 450 400 350 300 250 200 150 100 50 0 RA4C 10 RGS4C 10 RGD4C 1...

Page 284: ...0 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 SA5C 6 SA6C 6 SS7C 6 SA5C 12 SA6C 12 SS7C 12 350 300 250 200 150 100 50 0 800 700 600 500 400 300 200 100 0 800 700 600 500 400 300 200 100 0 SA7C 4 SA7C 8 SA7C 16 SS8C 5 SS8C 10 SS8C 20 Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Current lim...

Page 285: ...iting value ratio 0 10 20 30 40 50 60 70 80 Push force N 45 40 35 30 25 20 15 10 5 0 16 14 12 10 8 6 4 2 0 7 6 5 4 3 2 1 0 25 20 15 10 5 0 100 80 60 40 20 0 Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Standard type High speed type ...

Page 286: ...inger Gripper 25 20 15 10 5 25 20 15 10 5 120 100 80 60 40 20 60 50 40 30 20 10 Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N ...

Page 287: ...alue ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Inside the red box is the specification value RA2AC RA2AR Lead 4 RA2AC RA2AR Lead 1 RA2AC RA2AR Lead 2 RA2BC RA2BR Lead 2 RA2BC RA2BR Lead 4 RA2BC RA2BR Lead 6 ...

Page 288: ...20 100 80 60 40 20 0 50 45 40 35 30 25 20 15 10 5 0 SA3 2 SA3 4 SA3 6 SA4 2 5 SA4 5 SA4 10 SA5 3 SA6 3 SA5 6 SA6 6 SA 12 SA6 12 Lead 2 Lead 4 Lead 6 Lead 2 Lead 4 Lead 6 TA5 2 5 TA5 5 TA5 10 TA6 3 TA7 3 TA6 6 TA7 6 TA6 12 TA7 12 Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Cur...

Page 289: ...2 Lead 20 SA5C SA6C Type SA7C Type RA5C Type RA6C Type 800 700 600 500 400 300 200 100 0 0 10 20 30 40 50 60 70 80 Lead 4 Lead 8 Lead 16 Lead 24 1200 1000 800 600 400 200 0 0 10 20 30 40 50 60 70 80 Lead 4 Lead 8 Lead 16 Lead 24 Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N RCP...

Page 290: ...Chapter 7 Appendix 282 ...

Page 291: ...arranty 1 Anything other than our product 2 Modification or repair performed by a party other than us unless we have approved such modification or repair 3 Anything that could not be easily predicted with the level of science and technology available at the time of shipment from our company 4 A natural disaster man made disaster incident or accident for which we are not liable 5 Natural fading of ...

Page 292: ...pertaining to maintenance or management of human life or health 2 A mechanism or mechanical equipment intended to move or transport people such as a vehicle railway facility or aviation facility 3 Important safety parts of mechanical equipment such as safety devices 4 Equipment used to handle cultural assets art or other irreplaceable items 3 Contact us at the earliest opportunity if our product i...

Page 293: ...Revision Description 2012 02 2012 03 2012 04 2012 10 First Edition Second Edition Note corrected Third Edition Complied with CompoNet MECHATROLINK EtherCAT and EtherNet IP Fourth Edition Command availability in MECHATROLINK added and corrections made ...

Page 294: ......

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Page 296: ... 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 1261 Hamilton Parkway Itasca IL 60143 TEL...

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